eive/eive-obsw
eive/eive-obsw
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Merge branch 'develop' into acs-ctrl-finite-check
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This commit is contained in:
Marius Eggert 2023-03-14 13:40:26 +01:00
commit 038a529b06
47 changed files with 554 additions and 156 deletions
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7
CHANGELOG.md
View File

@ -19,6 +19,7 @@ will consitute of a breaking change warranting a new major release:
## Added
- Added `EXECUTE_SHELL_CMD` action command for `CoreController` to execute arbitrary Linux commands.
- Add `PcduHandlerDummy` component.
- Added NaN and Inf check for the `MEKF`. If these are detected, the `AcsController` will reset
the `MEKF` on its own.
@ -27,6 +28,12 @@ will consitute of a breaking change warranting a new major release:
- Pointing control of the `AcsController` was still expecting submodes instead of modes.
- Limitation of RW speeds was done before converting them to the correct unit scale.
- The Syrlinks task now has a proper name instead of `MAIN_SPI`.
- Make whole EIVE system initial transition work for the EM. This was also made possible by
always scheduling most EIVE components instead of tying the scheduling to preprocessor defines.
## Changed
- Set `OBSW_ADD_TCS_CTRL` to 1. Always add TCS controller now for both EM and FM.
# [v1.37.0] 2023-03-11

2
CMakeLists.txt
View File

@ -110,7 +110,7 @@ set(OBSW_TC_FROM_PDEC
1
CACHE STRING "Poll telecommand from PDEC IP core")
set(OBSW_ADD_TCS_CTRL
${INIT_VAL}
1
CACHE STRING "Add TCS controllers")
set(OBSW_ADD_HEATERS
${INIT_VAL}

22
bsp_q7s/core/CoreController.cpp
View File

@ -32,8 +32,13 @@ xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;
CoreController::CoreController(object_id_t objectId)
: ExtendedControllerBase(objectId, 5), cmdExecutor(4096), cmdReplyBuf(4096, true), cmdRepliesSizes(128),
opDivider5(5), opDivider10(10), hkSet(this) {
: ExtendedControllerBase(objectId, 5),
cmdExecutor(4096),
cmdReplyBuf(4096, true),
cmdRepliesSizes(128),
opDivider5(5),
opDivider10(10),
hkSet(this) {
cmdExecutor.setRingBuffer(&cmdReplyBuf, &cmdRepliesSizes);
try {
sdcMan = SdCardManager::instance();
@ -102,14 +107,14 @@ void CoreController::performControlOperation() {
sdStateMachine();
performMountedSdCardOperations();
readHkData();
if(shellCmdIsExecuting) {
if (shellCmdIsExecuting) {
bool replyReceived = false;
// TODO: We could read the data in the ring buffer and send it as an action data reply.
if(cmdExecutor.check(replyReceived) == CommandExecutor::EXECUTION_FINISHED) {
if (cmdExecutor.check(replyReceived) == CommandExecutor::EXECUTION_FINISHED) {
actionHelper.finish(true, successRecipient, EXECUTE_SHELL_CMD);
shellCmdIsExecuting = false;
cmdReplyBuf.clear();
while(not cmdRepliesSizes.empty()) {
while (not cmdRepliesSizes.empty()) {
cmdRepliesSizes.pop();
}
successRecipient = MessageQueueIF::NO_QUEUE;
@ -316,14 +321,15 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
// Warning: This function will never return, because it reboots the system
return actionReboot(data, size);
}
case(EXECUTE_SHELL_CMD): {
case (EXECUTE_SHELL_CMD): {
std::string cmd = std::string(cmd, size);
if(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING or shellCmdIsExecuting) {
if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING or
shellCmdIsExecuting) {
return HasActionsIF::IS_BUSY;
}
cmdExecutor.load(cmd, false, false);
ReturnValue_t result = cmdExecutor.execute();
if(result != returnvalue::OK) {
if (result != returnvalue::OK) {
return result;
}
shellCmdIsExecuting = true;

55
bsp_q7s/core/ObjectFactory.cpp
View File

@ -68,6 +68,9 @@
#include "mission/tmtc/tmFilters.h"
#include "mission/utility/GlobalConfigHandler.h"
#include "tmtc/pusIds.h"
using gpio::Direction;
using gpio::Levels;
#if OBSW_TEST_LIBGPIOD == 1
#include "linux/boardtest/LibgpiodTest.h"
#endif
@ -254,106 +257,110 @@ ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF,
return returnvalue::OK;
}
void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF,
SerialComIF* uartComIF, PowerSwitchIF& pwrSwitcher) {
using namespace gpio;
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
void ObjectFactory::createAcsBoardGpios(GpioCookie& cookie) {
std::stringstream consumer;
GpiodRegularByLineName* gpio = nullptr;
consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
cookie.addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GYRO_1_L3G_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
cookie.addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
cookie.addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GYRO_3_L3G_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
cookie.addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::MGM_0_LIS3_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
cookie.addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::MGM_1_RM3100_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
cookie.addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::MGM_2_LIS3_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
cookie.addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::MGM_3_RM3100_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_3_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
cookie.addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
// GNSS reset pins are active low
gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), Direction::OUT,
Levels::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
cookie.addGpio(gpioIds::GNSS_0_NRESET, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), Direction::OUT,
Levels::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
cookie.addGpio(gpioIds::GNSS_1_NRESET, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
// Enable pins must be pulled low for regular operations
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(), Direction::OUT,
Levels::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
cookie.addGpio(gpioIds::GYRO_0_ENABLE, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ENABLE, consumer.str(), Direction::OUT,
Levels::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
cookie.addGpio(gpioIds::GYRO_2_ENABLE, gpio);
// Enable pins for GNSS
consumer.str("");
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(), Direction::OUT,
Levels::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_ENABLE, gpio);
cookie.addGpio(gpioIds::GNSS_0_ENABLE, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_1_ENABLE, consumer.str(), Direction::OUT,
Levels::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_ENABLE, gpio);
cookie.addGpio(gpioIds::GNSS_1_ENABLE, gpio);
// Select pin. 0 for GPS side A, 1 for GPS side B
consumer.str("");
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), Direction::OUT,
Levels::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
cookie.addGpio(gpioIds::GNSS_SELECT, gpio);
}
void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF,
SerialComIF* uartComIF, PowerSwitchIF& pwrSwitcher) {
using namespace gpio;
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
createAcsBoardGpios(*gpioCookieAcsBoard);
gpioChecker(gpioComIF->addGpios(gpioCookieAcsBoard), "ACS Board");
AcsBoardFdir* fdir = nullptr;
static_cast<void>(fdir);
@ -606,7 +613,7 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
std::stringstream consumer;
auto* camSwitcher =
new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, pcdu::PDU2_CH8_PAYLOAD_CAMERA);
camSwitcher->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
camSwitcher->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
#if OBSW_ADD_PLOC_MPSOC == 1
consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
auto gpioConfigMPSoC = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_MPSOC_UART,
@ -622,7 +629,7 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
auto* mpsocHandler = new PlocMPSoCHandler(
objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie, plocMpsocHelper,
Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF), objects::PLOC_SUPERVISOR_HANDLER);
mpsocHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
mpsocHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
#if OBSW_ADD_PLOC_SUPERVISOR == 1
consumer << "0x" << std::hex << objects::PLOC_SUPERVISOR_HANDLER;
@ -639,7 +646,7 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
auto* supvHandler = new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
pcdu::PDU1_CH6_PLOC_12V, *supvHelper);
supvHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
supvHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
static_cast<void>(consumer);
}
@ -894,7 +901,7 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
plPcduHandler->setToGoToNormalModeImmediately(true);
plPcduHandler->enablePeriodicPrintout(true, 10);
#endif
plPcduHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
plPcduHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
}
void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {

1
bsp_q7s/core/ObjectFactory.h
View File

@ -55,6 +55,7 @@ void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);
void createTmpComponents();
ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
void createAcsBoardGpios(GpioCookie& cookie);
void createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
PowerSwitchIF& pwrSwitcher);
void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,

4
bsp_q7s/core/scheduling.cpp
View File

@ -337,9 +337,7 @@ void scheduling::initTasks() {
"PL_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
plTask->addComponent(objects::CAM_SWITCHER);
scheduling::addMpsocSupvHandlers(plTask);
#if OBSW_ADD_SCEX_DEVICE == 1
scheduling::scheduleScexDev(plTask);
#endif
#if OBSW_ADD_SCEX_DEVICE == 1
PeriodicTaskIF* scexReaderTask;
@ -501,7 +499,6 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
}
#endif
#if OBSW_ADD_GOMSPACE_PCDU == 1
FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
"GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
result = pst::pstGompaceCan(gomSpacePstTask);
@ -511,7 +508,6 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
}
}
taskVec.push_back(gomSpacePstTask);
#endif
}
void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,

26
bsp_q7s/em/emObjectFactory.cpp
View File

@ -1,6 +1,9 @@
#include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
#include <dummies/ComCookieDummy.h>
#include <dummies/PcduHandlerDummy.h>
#include <fsfw/health/HealthTableIF.h>
#include <fsfw/power/DummyPowerSwitcher.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
#include <mission/system/tree/system.h>
#include <mission/utility/DummySdCardManager.h>
@ -23,8 +26,12 @@ void ObjectFactory::produce(void* args) {
HealthTableIF* healthTable = nullptr;
PusTmFunnel* pusFunnel = nullptr;
CfdpTmFunnel* cfdpFunnel = nullptr;
StorageManagerIF* ipcStore = nullptr;
StorageManagerIF* tmStore = nullptr;
PersistentTmStores stores;
ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
*SdCardManager::instance());
*SdCardManager::instance(), &ipcStore, &tmStore, stores);
LinuxLibgpioIF* gpioComIF = nullptr;
SerialComIF* uartComIF = nullptr;
@ -51,7 +58,8 @@ void ObjectFactory::produce(void* args) {
PowerSwitchIF* pwrSwitcher = nullptr;
#if OBSW_ADD_GOMSPACE_PCDU == 0
pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
auto* comCookieDummy = new ComCookieDummy();
pwrSwitcher = new PcduHandlerDummy(objects::PCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
#else
createPcduComponents(gpioComIF, &pwrSwitcher);
#endif
@ -77,6 +85,11 @@ void ObjectFactory::produce(void* args) {
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(gpioComIF, uartComIF, *pwrSwitcher);
#else
// Still add all GPIOs for EM.
GpioCookie* acsBoardGpios = new GpioCookie();
createAcsBoardGpios(*acsBoardGpios);
gpioChecker(gpioComIF->addGpios(acsBoardGpios), "ACS Board");
#endif
#if OBSW_ADD_MGT == 1
@ -98,11 +111,16 @@ void ObjectFactory::produce(void* args) {
#if OBSW_ADD_STAR_TRACKER == 1
createStrComponents(pwrSwitcher);
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#if OBSW_ADD_CCSDS_IP_CORES == 1
CcsdsIpCoreHandler* ipCoreHandler = nullptr;
createCcsdsComponents(gpioComIF, &ipCoreHandler);
CcsdsComponentArgs ccsdsArgs(*gpioComIF, *ipcStore, *tmStore, stores, *pusFunnel, *cfdpFunnel,
&ipCoreHandler);
createCcsdsComponents(ccsdsArgs);
#if OBSW_TM_TO_PTME == 1
ObjectFactory::addTmtcIpCoresToFunnels(*ipCoreHandler, *pusFunnel, *cfdpFunnel);
if (ccsdsArgs.liveDestination != nullptr) {
pusFunnel->addLiveDestination("VC0 LIVE TM", *ccsdsArgs.liveDestination, 0);
}
#endif
#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
/* Test Task */

1
bsp_q7s/fmObjectFactory.cpp
View File

@ -77,6 +77,7 @@ void ObjectFactory::produce(void* args) {
#if OBSW_ADD_STAR_TRACKER == 1
createStrComponents(pwrSwitcher);
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#if OBSW_ADD_CCSDS_IP_CORES == 1
CcsdsIpCoreHandler* ipCoreHandler = nullptr;
CcsdsComponentArgs ccsdsArgs(*gpioComIF, *ipcStore, *tmStore, stores, *pusFunnel, *cfdpFunnel,

7
dummies/AcuDummy.cpp
View File

@ -7,9 +7,9 @@ AcuDummy::AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
AcuDummy::~AcuDummy() {}
void AcuDummy::doStartUp() {}
void AcuDummy::doStartUp() { setMode(MODE_NORMAL); }
void AcuDummy::doShutDown() {}
void AcuDummy::doShutDown() { setMode(MODE_OFF); }
ReturnValue_t AcuDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
@ -37,6 +37,7 @@ uint32_t AcuDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return
ReturnValue_t AcuDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(ACU::pool::ACU_TEMPERATURES, new PoolEntry<float>(3));
localDataPoolMap.emplace(ACU::pool::ACU_TEMPERATURES,
new PoolEntry<float>({10.0, 10.0, 10.0}, true));
return returnvalue::OK;
}

4
dummies/BpxDummy.cpp
View File

@ -7,9 +7,9 @@ BpxDummy::BpxDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
BpxDummy::~BpxDummy() {}
void BpxDummy::doStartUp() {}
void BpxDummy::doStartUp() { setMode(MODE_NORMAL); }
void BpxDummy::doShutDown() {}
void BpxDummy::doShutDown() { setMode(MODE_OFF); }
ReturnValue_t BpxDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }

8
dummies/BpxDummy.h
View File

@ -34,10 +34,10 @@ class BpxDummy : public DeviceHandlerBase {
PoolEntry<uint16_t> dischargeCurrent = PoolEntry<uint16_t>({0});
PoolEntry<uint16_t> heaterCurrent = PoolEntry<uint16_t>({0});
PoolEntry<uint16_t> battVolt = PoolEntry<uint16_t>({0});
PoolEntry<int16_t> battTemp1 = PoolEntry<int16_t>({0});
PoolEntry<int16_t> battTemp2 = PoolEntry<int16_t>({0});
PoolEntry<int16_t> battTemp3 = PoolEntry<int16_t>({0});
PoolEntry<int16_t> battTemp4 = PoolEntry<int16_t>({0});
PoolEntry<int16_t> battTemp1 = PoolEntry<int16_t>({10}, true);
PoolEntry<int16_t> battTemp2 = PoolEntry<int16_t>({10}, true);
PoolEntry<int16_t> battTemp3 = PoolEntry<int16_t>({10}, true);
PoolEntry<int16_t> battTemp4 = PoolEntry<int16_t>({10}, true);
PoolEntry<uint32_t> rebootCounter = PoolEntry<uint32_t>({0});
PoolEntry<uint8_t> bootCause = PoolEntry<uint8_t>({0});
PoolEntry<uint8_t> battheatMode = PoolEntry<uint8_t>({0});

1
dummies/CMakeLists.txt
View File

@ -7,6 +7,7 @@ target_sources(
ComCookieDummy.cpp
RwDummy.cpp
Max31865Dummy.cpp
PcduHandlerDummy.cpp
StarTrackerDummy.cpp
SyrlinksDummy.cpp
ImtqDummy.cpp

4
dummies/GyroAdisDummy.cpp
View File

@ -7,9 +7,9 @@ GyroAdisDummy::GyroAdisDummy(object_id_t objectId, object_id_t comif, CookieIF *
GyroAdisDummy::~GyroAdisDummy() {}
void GyroAdisDummy::doStartUp() {}
void GyroAdisDummy::doStartUp() { setMode(MODE_NORMAL); }
void GyroAdisDummy::doShutDown() {}
void GyroAdisDummy::doShutDown() { setMode(MODE_OFF); }
ReturnValue_t GyroAdisDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;

4
dummies/GyroL3GD20Dummy.cpp
View File

@ -7,9 +7,9 @@ GyroL3GD20Dummy::GyroL3GD20Dummy(object_id_t objectId, object_id_t comif, Cookie
GyroL3GD20Dummy::~GyroL3GD20Dummy() {}
void GyroL3GD20Dummy::doStartUp() {}
void GyroL3GD20Dummy::doStartUp() { setMode(MODE_NORMAL); }
void GyroL3GD20Dummy::doShutDown() {}
void GyroL3GD20Dummy::doShutDown() { setMode(MODE_OFF); }
ReturnValue_t GyroL3GD20Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;

4
dummies/ImtqDummy.cpp
View File

@ -7,9 +7,9 @@ ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCooki
ImtqDummy::~ImtqDummy() = default;
void ImtqDummy::doStartUp() {}
void ImtqDummy::doStartUp() { setMode(MODE_NORMAL); }
void ImtqDummy::doShutDown() {}
void ImtqDummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
ReturnValue_t ImtqDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }

4
dummies/MgmLIS3MDLDummy.cpp
View File

@ -7,9 +7,9 @@ MgmLIS3MDLDummy::MgmLIS3MDLDummy(object_id_t objectId, object_id_t comif, Cookie
MgmLIS3MDLDummy::~MgmLIS3MDLDummy() {}
void MgmLIS3MDLDummy::doStartUp() {}
void MgmLIS3MDLDummy::doStartUp() { setMode(MODE_NORMAL); }
void MgmLIS3MDLDummy::doShutDown() {}
void MgmLIS3MDLDummy::doShutDown() { setMode(MODE_OFF); }
ReturnValue_t MgmLIS3MDLDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;

14
dummies/MgmRm3100Dummy.cpp
View File

@ -7,18 +7,22 @@ MgmRm3100Dummy::MgmRm3100Dummy(object_id_t objectId, object_id_t comif, CookieIF
MgmRm3100Dummy::~MgmRm3100Dummy() = default;
void MgmRm3100Dummy::doStartUp() {}
void MgmRm3100Dummy::doStartUp() { setMode(MODE_NORMAL); }
void MgmRm3100Dummy::doShutDown() {}
void MgmRm3100Dummy::doShutDown() { setMode(MODE_OFF); }
ReturnValue_t MgmRm3100Dummy::buildNormalDeviceCommand(DeviceCommandId_t* id) { return OK; }
ReturnValue_t MgmRm3100Dummy::buildNormalDeviceCommand(DeviceCommandId_t* id) {
return NOTHING_TO_SEND;
}
ReturnValue_t MgmRm3100Dummy::buildTransitionDeviceCommand(DeviceCommandId_t* id) { return OK; }
ReturnValue_t MgmRm3100Dummy::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
return NOTHING_TO_SEND;
}
ReturnValue_t MgmRm3100Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData,
size_t commandDataLen) {
return OK;
return NOTHING_TO_SEND;
}
ReturnValue_t MgmRm3100Dummy::scanForReply(const uint8_t* start, size_t len,

10
dummies/P60DockDummy.cpp
View File

@ -7,9 +7,9 @@ P60DockDummy::P60DockDummy(object_id_t objectId, object_id_t comif, CookieIF *co
P60DockDummy::~P60DockDummy() {}
void P60DockDummy::doStartUp() {}
void P60DockDummy::doStartUp() { setMode(MODE_NORMAL); }
void P60DockDummy::doShutDown() {}
void P60DockDummy::doShutDown() { setMode(MODE_OFF); }
ReturnValue_t P60DockDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
@ -40,7 +40,9 @@ uint32_t P60DockDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { re
ReturnValue_t P60DockDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(P60Dock::pool::P60DOCK_TEMPERATURE_1, new PoolEntry<float>({0}));
localDataPoolMap.emplace(P60Dock::pool::P60DOCK_TEMPERATURE_2, new PoolEntry<float>({0}));
localDataPoolMap.emplace(P60Dock::pool::P60DOCK_TEMPERATURE_1,
new PoolEntry<float>({10.0}, true));
localDataPoolMap.emplace(P60Dock::pool::P60DOCK_TEMPERATURE_2,
new PoolEntry<float>({10.0}, true));
return returnvalue::OK;
}

62
dummies/PcduHandlerDummy.cpp Normal file
View File

@ -0,0 +1,62 @@
#include "PcduHandlerDummy.h"
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
PcduHandlerDummy::PcduHandlerDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie), dummySwitcher(objectId, 18, 18, false) {}
PcduHandlerDummy::~PcduHandlerDummy() {}
void PcduHandlerDummy::doStartUp() { setMode(MODE_NORMAL); }
void PcduHandlerDummy::doShutDown() { setMode(MODE_OFF); }
ReturnValue_t PcduHandlerDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t PcduHandlerDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t PcduHandlerDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
return returnvalue::OK;
}
ReturnValue_t PcduHandlerDummy::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
return returnvalue::OK;
}
ReturnValue_t PcduHandlerDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
return returnvalue::OK;
}
void PcduHandlerDummy::fillCommandAndReplyMap() {}
uint32_t PcduHandlerDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
ReturnValue_t PcduHandlerDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
return returnvalue::OK;
}
ReturnValue_t PcduHandlerDummy::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
return dummySwitcher.sendSwitchCommand(switchNr, onOff);
}
ReturnValue_t PcduHandlerDummy::sendFuseOnCommand(uint8_t fuseNr) {
return dummySwitcher.sendFuseOnCommand(fuseNr);
}
ReturnValue_t PcduHandlerDummy::getSwitchState(power::Switch_t switchNr) const {
return dummySwitcher.getSwitchState(switchNr);
}
ReturnValue_t PcduHandlerDummy::getFuseState(uint8_t fuseNr) const {
return dummySwitcher.getFuseState(fuseNr);
}
uint32_t PcduHandlerDummy::getSwitchDelayMs(void) const { return dummySwitcher.getSwitchDelayMs(); }

39
dummies/PcduHandlerDummy.h Normal file
View File

@ -0,0 +1,39 @@
#pragma once
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/power/DummyPowerSwitcher.h>
class PcduHandlerDummy : public DeviceHandlerBase, public PowerSwitchIF {
public:
static const DeviceCommandId_t SIMPLE_COMMAND = 1;
static const DeviceCommandId_t PERIODIC_REPLY = 2;
static const uint8_t SIMPLE_COMMAND_DATA = 1;
static const uint8_t PERIODIC_REPLY_DATA = 2;
PcduHandlerDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
virtual ~PcduHandlerDummy();
protected:
DummyPowerSwitcher dummySwitcher;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) override;
ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
ReturnValue_t getSwitchState(power::Switch_t switchNr) const override;
ReturnValue_t getFuseState(uint8_t fuseNr) const override;
uint32_t getSwitchDelayMs(void) const override;
};

6
dummies/PduDummy.cpp
View File

@ -8,9 +8,9 @@ PduDummy::PduDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
PduDummy::~PduDummy() {}
void PduDummy::doStartUp() {}
void PduDummy::doStartUp() { setMode(MODE_NORMAL); }
void PduDummy::doShutDown() {}
void PduDummy::doShutDown() { setMode(MODE_OFF); }
ReturnValue_t PduDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
@ -38,7 +38,7 @@ uint32_t PduDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return
ReturnValue_t PduDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(PDU::pool::PDU_TEMPERATURE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(PDU::pool::PDU_TEMPERATURE, new PoolEntry<float>({10.0}, true));
localDataPoolMap.emplace(PDU::pool::PDU_VOLTAGES, &pduVoltages);
localDataPoolMap.emplace(PDU::pool::PDU_CURRENTS, &pduCurrents);
return returnvalue::OK;

6
dummies/PlPcduDummy.cpp
View File

@ -7,9 +7,9 @@ PlPcduDummy::PlPcduDummy(object_id_t objectId, object_id_t comif, CookieIF *comC
PlPcduDummy::~PlPcduDummy() {}
void PlPcduDummy::doStartUp() {}
void PlPcduDummy::doStartUp() { setMode(MODE_NORMAL); }
void PlPcduDummy::doShutDown() {}
void PlPcduDummy::doShutDown() { setMode(MODE_OFF); }
ReturnValue_t PlPcduDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
@ -40,6 +40,6 @@ uint32_t PlPcduDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { ret
ReturnValue_t PlPcduDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::TEMP, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::TEMP, new PoolEntry<float>({0.0}, true));
return returnvalue::OK;
}

4
dummies/PlocMpsocDummy.cpp
View File

@ -5,9 +5,9 @@ PlocMpsocDummy::PlocMpsocDummy(object_id_t objectId, object_id_t comif, CookieIF
PlocMpsocDummy::~PlocMpsocDummy() {}
void PlocMpsocDummy::doStartUp() {}
void PlocMpsocDummy::doStartUp() { setMode(MODE_ON); }
void PlocMpsocDummy::doShutDown() {}
void PlocMpsocDummy::doShutDown() { setMode(MODE_OFF); }
ReturnValue_t PlocMpsocDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;

4
dummies/PlocSupervisorDummy.cpp
View File

@ -6,9 +6,9 @@ PlocSupervisorDummy::PlocSupervisorDummy(object_id_t objectId, object_id_t comif
PlocSupervisorDummy::~PlocSupervisorDummy() {}
void PlocSupervisorDummy::doStartUp() {}
void PlocSupervisorDummy::doStartUp() { setMode(MODE_ON); }
void PlocSupervisorDummy::doShutDown() {}
void PlocSupervisorDummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
ReturnValue_t PlocSupervisorDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;

4
dummies/ScexDummy.cpp
View File

@ -5,9 +5,9 @@ ScexDummy::ScexDummy(object_id_t objectId, object_id_t comif, CookieIF *comCooki
ScexDummy::~ScexDummy() {}
void ScexDummy::doStartUp() {}
void ScexDummy::doStartUp() { setMode(MODE_ON); }
void ScexDummy::doShutDown() {}
void ScexDummy::doShutDown() { setMode(MODE_OFF); }
ReturnValue_t ScexDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }

4
dummies/SusDummy.cpp
View File

@ -5,9 +5,9 @@ SusDummy::SusDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
SusDummy::~SusDummy() {}
void SusDummy::doStartUp() {}
void SusDummy::doStartUp() { setMode(MODE_NORMAL); }
void SusDummy::doShutDown() {}
void SusDummy::doShutDown() { setMode(MODE_OFF); }
ReturnValue_t SusDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }

6
dummies/Tmp1075Dummy.cpp
View File

@ -6,8 +6,10 @@ using namespace returnvalue;
Tmp1075Dummy::Tmp1075Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie), set(this) {}
void Tmp1075Dummy::doStartUp() { setMode(MODE_ON); }
void Tmp1075Dummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
void Tmp1075Dummy::doStartUp() { setMode(MODE_NORMAL); }
void Tmp1075Dummy::doShutDown() { setMode(MODE_OFF); }
ReturnValue_t Tmp1075Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}

23
dummies/helpers.cpp
View File

@ -26,6 +26,8 @@
#include <dummies/SyrlinksDummy.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <mission/system/objects/CamSwitcher.h>
#include <mission/system/objects/ImtqAssembly.h>
#include <mission/system/objects/StrAssembly.h>
#include <mission/system/objects/TcsBoardAssembly.h>
#include "TemperatureSensorInserter.h"
@ -56,17 +58,21 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
rws[3] = new RwDummy(objects::RW4, objects::DUMMY_COM_IF, comCookieDummy);
ObjectFactory::createRwAssy(pwrSwitcher, pcdu::Switches::PDU2_CH2_RW_5V, rws, rwIds);
new SaDeplDummy(objects::SOLAR_ARRAY_DEPL_HANDLER);
auto* strAssy = new StrAssembly(objects::STR_ASSY);
strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
auto* strDummy =
new StarTrackerDummy(objects::STAR_TRACKER, objects::DUMMY_COM_IF, comCookieDummy);
strDummy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
strDummy->connectModeTreeParent(*strAssy);
if (cfg.addSyrlinksDummies) {
auto* syrlinksDummy =
new SyrlinksDummy(objects::SYRLINKS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
syrlinksDummy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
}
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);
imtqDummy->enableThermalModule(ThermalStateCfg());
imtqDummy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
imtqDummy->connectModeTreeParent(*imtqAssy);
if (cfg.addPowerDummies) {
new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
new PduDummy(objects::PDU1_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
@ -203,19 +209,20 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
tmp.second->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
}
}
auto* camSwitcher = new CamSwitcher(objects::CAM_SWITCHER, pwrSwitcher, power::NO_SWITCH);
camSwitcher->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
auto* camSwitcher =
new CamSwitcher(objects::CAM_SWITCHER, pwrSwitcher, pcdu::Switches::PDU2_CH8_PAYLOAD_CAMERA);
camSwitcher->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
auto* scexDummy = new ScexDummy(objects::SCEX, objects::DUMMY_COM_IF, comCookieDummy);
scexDummy->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
scexDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
auto* plPcduDummy =
new PlPcduDummy(objects::PLPCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
plPcduDummy->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
plPcduDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
if (cfg.addPlocDummies) {
auto* plocMpsocDummy =
new PlocMpsocDummy(objects::PLOC_MPSOC_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
plocMpsocDummy->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
plocMpsocDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
auto* plocSupervisorDummy = new PlocSupervisorDummy(objects::PLOC_SUPERVISOR_HANDLER,
objects::DUMMY_COM_IF, comCookieDummy);
plocSupervisorDummy->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
plocSupervisorDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
}
}

2
fsfw

@ -1 +1 @@
Subproject commit 9a8d775eb1a8788ad844215bf2a42d9f707767c0
Subproject commit 8382d61b9206c0259439eeddcad3759f1cd9bd2f

2
linux/ObjectFactory.cpp
View File

@ -325,7 +325,7 @@ void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwr
if (switchId) {
scexHandler->setPowerSwitcher(*pwrSwitcher, switchId.value());
}
scexHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
scexHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
}
AcsController* ObjectFactory::createAcsController(bool connectSubsystem) {

97
linux/devices/devicedefinitions/PlocMPSoCDefinitions.h
View File

@ -31,6 +31,10 @@ static const DeviceCommandId_t TC_MODE_IDLE = 18;
static const DeviceCommandId_t TM_CAM_CMD_RPT = 19;
static const DeviceCommandId_t SET_UART_TX_TRISTATE = 20;
static const DeviceCommandId_t RELEASE_UART_TX = 21;
static const DeviceCommandId_t TC_CAM_TAKE_PIC = 22;
static const DeviceCommandId_t TC_SIMPLEX_SEND_FILE = 23;
static const DeviceCommandId_t TC_DOWNLINK_DATA_MODULATE = 24;
static const DeviceCommandId_t TC_MODE_SNAPSHOT = 25;
// Will reset the sequence count of the OBSW
static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT = 50;
@ -50,14 +54,18 @@ static const uint16_t TC_REPLAY_WRITE_SEQUENCE = 0x112;
static const uint16_t TC_DOWNLINK_PWR_ON = 0x113;
static const uint16_t TC_MEM_WRITE = 0x114;
static const uint16_t TC_MEM_READ = 0x115;
static const uint16_t TC_CAM_TAKE_PIC = 0x116;
static const uint16_t TC_FLASHWRITE = 0x117;
static const uint16_t TC_FLASHFOPEN = 0x119;
static const uint16_t TC_FLASHFCLOSE = 0x11A;
static const uint16_t TC_FLASHDELETE = 0x11C;
static const uint16_t TC_MODE_REPLAY = 0x11F;
static const uint16_t TC_MODE_IDLE = 0x11E;
static const uint16_t TC_MODE_REPLAY = 0x11F;
static const uint16_t TC_MODE_SNAPSHOT = 0x120;
static const uint16_t TC_DOWNLINK_DATA_MODULATE = 0x121;
static const uint16_t TC_DOWNLINK_PWR_OFF = 0x124;
static const uint16_t TC_CAM_CMD_SEND = 0x12C;
static const uint16_t TC_SIMPLEX_SEND_FILE = 0x130;
static const uint16_t TM_MEMORY_READ_REPORT = 0x404;
static const uint16_t ACK_SUCCESS = 0x400;
static const uint16_t ACK_FAILURE = 0x401;
@ -107,8 +115,11 @@ static const size_t MAX_DATA_SIZE = 1016;
static const uint16_t TC_WRITE_SEQ_EXECUTION_DELAY = 80;
// Requires approx. 2 seconds for execution. 8 => 4 seconds
static const uint16_t TC_DOWNLINK_PWR_ON_EXECUTION_DELAY = 8;
static const uint16_t TC_CAM_TAKE_PIC_EXECUTION_DELAY = 20;
static const uint16_t TC_SIMPLEX_SEND_FILE_DELAY = 80;
namespace status_code {
static const uint16_t DEFAULT_ERROR_CODE = 0x1;
static const uint16_t UNKNOWN_APID = 0x5DD;
static const uint16_t INCORRECT_LENGTH = 0x5DE;
static const uint16_t INCORRECT_CRC = 0x5DF;
@ -646,6 +657,90 @@ class TcModeIdle : public TcBase {
: TcBase(params, apid::TC_MODE_IDLE, sequenceCount) {}
};
/**
* @brief Class to build mode idle command
*/
class TcModeSnapshot : public TcBase {
public:
TcModeSnapshot(ploc::SpTcParams params, uint16_t sequenceCount)
: TcBase(params, apid::TC_MODE_SNAPSHOT, sequenceCount) {}
};
/**
* @brief Class to build camera take picture command
*/
class TcCamTakePic : public TcBase {
public:
TcCamTakePic(ploc::SpTcParams params, uint16_t sequenceCount)
: TcBase(params, apid::TC_CAM_TAKE_PIC, sequenceCount) {}
ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
if (commandDataLen > MAX_DATA_LENGTH) {
return INVALID_LENGTH;
}
std::string fileName(reinterpret_cast<const char*>(commandData));
if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
return FILENAME_TOO_LONG;
}
if (commandDataLen - (fileName.size() + sizeof(NULL_TERMINATOR)) != PARAMETER_SIZE) {
return INVALID_LENGTH;
}
spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
std::memcpy(payloadStart, commandData, commandDataLen);
return returnvalue::OK;
}
private:
static const size_t MAX_DATA_LENGTH = 286;
static const size_t PARAMETER_SIZE = 28;
};
/**
* @brief Class to build simplex send file command
*/
class TcSimplexSendFile : public TcBase {
public:
TcSimplexSendFile(ploc::SpTcParams params, uint16_t sequenceCount)
: TcBase(params, apid::TC_SIMPLEX_SEND_FILE, sequenceCount) {}
ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
if (commandDataLen > MAX_DATA_LENGTH) {
return INVALID_LENGTH;
}
std::string fileName(reinterpret_cast<const char*>(commandData));
if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
return FILENAME_TOO_LONG;
}
spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
std::memcpy(payloadStart, commandData, commandDataLen);
return returnvalue::OK;
}
private:
static const size_t MAX_DATA_LENGTH = 256;
};
/**
* @brief Class to build downlink data modulate command
*/
class TcDownlinkDataModulate : public TcBase {
public:
TcDownlinkDataModulate(ploc::SpTcParams params, uint16_t sequenceCount)
: TcBase(params, apid::TC_DOWNLINK_DATA_MODULATE, sequenceCount) {}
ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
if (commandDataLen > MAX_DATA_LENGTH) {
return INVALID_LENGTH;
}
spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
std::memcpy(payloadStart, commandData, commandDataLen);
return returnvalue::OK;
}
private:
static const size_t MAX_DATA_LENGTH = 11;
};
class TcCamcmdSend : public TcBase {
public:
TcCamcmdSend(ploc::SpTcParams params, uint16_t sequenceCount)

109
linux/devices/ploc/PlocMPSoCHandler.cpp
View File

@ -1,5 +1,7 @@
#include "PlocMPSoCHandler.h"
#include <sstream>
#include "OBSWConfig.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/globalfunctions/CRC.h"
@ -257,6 +259,22 @@ ReturnValue_t PlocMPSoCHandler::buildCommandFromCommand(DeviceCommandId_t device
result = prepareTcCamCmdSend(commandData, commandDataLen);
break;
}
case (mpsoc::TC_CAM_TAKE_PIC): {
result = prepareTcCamTakePic(commandData, commandDataLen);
break;
}
case (mpsoc::TC_SIMPLEX_SEND_FILE): {
result = prepareTcSimplexSendFile(commandData, commandDataLen);
break;
}
case (mpsoc::TC_DOWNLINK_DATA_MODULATE): {
result = prepareTcDownlinkDataModulate(commandData, commandDataLen);
break;
}
case (mpsoc::TC_MODE_SNAPSHOT): {
result = prepareTcModeSnapshot();
break;
}
default:
sif::debug << "PlocMPSoCHandler::buildCommandFromCommand: Command not implemented"
<< std::endl;
@ -288,6 +306,10 @@ void PlocMPSoCHandler::fillCommandAndReplyMap() {
this->insertInCommandMap(mpsoc::TC_CAM_CMD_SEND);
this->insertInCommandMap(mpsoc::RELEASE_UART_TX);
this->insertInCommandMap(mpsoc::SET_UART_TX_TRISTATE);
this->insertInCommandMap(mpsoc::TC_CAM_TAKE_PIC);
this->insertInCommandMap(mpsoc::TC_SIMPLEX_SEND_FILE);
this->insertInCommandMap(mpsoc::TC_DOWNLINK_DATA_MODULATE);
this->insertInCommandMap(mpsoc::TC_MODE_SNAPSHOT);
this->insertInReplyMap(mpsoc::ACK_REPORT, 3, nullptr, mpsoc::SIZE_ACK_REPORT);
this->insertInReplyMap(mpsoc::EXE_REPORT, 3, nullptr, mpsoc::SIZE_EXE_REPORT);
this->insertInReplyMap(mpsoc::TM_MEMORY_READ_REPORT, 2, nullptr, mpsoc::SIZE_TM_MEM_READ_REPORT);
@ -537,6 +559,53 @@ ReturnValue_t PlocMPSoCHandler::prepareTcCamCmdSend(const uint8_t* commandData,
return returnvalue::OK;
}
ReturnValue_t PlocMPSoCHandler::prepareTcCamTakePic(const uint8_t* commandData,
size_t commandDataLen) {
ReturnValue_t result = returnvalue::OK;
mpsoc::TcCamTakePic tcCamTakePic(spParams, sequenceCount);
result = tcCamTakePic.buildPacket(commandData, commandDataLen);
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(tcCamTakePic.getFullPacketLen());
return returnvalue::OK;
}
ReturnValue_t PlocMPSoCHandler::prepareTcSimplexSendFile(const uint8_t* commandData,
size_t commandDataLen) {
ReturnValue_t result = returnvalue::OK;
mpsoc::TcSimplexSendFile tcSimplexSendFile(spParams, sequenceCount);
result = tcSimplexSendFile.buildPacket(commandData, commandDataLen);
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(tcSimplexSendFile.getFullPacketLen());
return returnvalue::OK;
}
ReturnValue_t PlocMPSoCHandler::prepareTcDownlinkDataModulate(const uint8_t* commandData,
size_t commandDataLen) {
ReturnValue_t result = returnvalue::OK;
mpsoc::TcDownlinkDataModulate tcDownlinkDataModulate(spParams, sequenceCount);
result = tcDownlinkDataModulate.buildPacket(commandData, commandDataLen);
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(tcDownlinkDataModulate.getFullPacketLen());
return returnvalue::OK;
}
ReturnValue_t PlocMPSoCHandler::prepareTcModeSnapshot() {
ReturnValue_t result = returnvalue::OK;
mpsoc::TcModeSnapshot tcModeSnapshot(spParams, sequenceCount);
result = tcModeSnapshot.buildPacket();
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(tcModeSnapshot.getFullPacketLen());
return returnvalue::OK;
}
void PlocMPSoCHandler::finishTcPrep(size_t packetLen) {
nextReplyId = mpsoc::ACK_REPORT;
rawPacket = commandBuffer;
@ -694,6 +763,10 @@ ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator
case mpsoc::TC_REPLAY_WRITE_SEQUENCE:
case mpsoc::TC_MODE_REPLAY:
case mpsoc::TC_MODE_IDLE:
case mpsoc::TC_CAM_TAKE_PIC:
case mpsoc::TC_SIMPLEX_SEND_FILE:
case mpsoc::TC_DOWNLINK_DATA_MODULATE:
case mpsoc::TC_MODE_SNAPSHOT:
enabledReplies = 2;
break;
case mpsoc::TC_MEM_READ: {
@ -753,8 +826,17 @@ ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator
}
case mpsoc::TC_DOWNLINK_PWR_ON: {
DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
//
iter->second.delayCycles = mpsoc::TC_DOWNLINK_PWR_ON;
iter->second.delayCycles = mpsoc::TC_DOWNLINK_PWR_ON_EXECUTION_DELAY;
break;
}
case mpsoc::TC_CAM_TAKE_PIC: {
DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
iter->second.delayCycles = mpsoc::TC_CAM_TAKE_PIC_EXECUTION_DELAY;
break;
}
case mpsoc::TC_SIMPLEX_SEND_FILE: {
DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
iter->second.delayCycles = mpsoc::TC_SIMPLEX_SEND_FILE_DELAY;
break;
}
default:
@ -917,6 +999,18 @@ void PlocMPSoCHandler::disableAllReplies() {
/* If the command expects a telemetry packet the appropriate tm reply will be disabled here */
switch (commandId) {
case TC_MEM_WRITE:
case TC_FLASHDELETE:
case TC_REPLAY_START:
case TC_REPLAY_STOP:
case TC_DOWNLINK_PWR_ON:
case TC_DOWNLINK_PWR_OFF:
case TC_REPLAY_WRITE_SEQUENCE:
case TC_MODE_REPLAY:
case TC_MODE_IDLE:
case TC_CAM_TAKE_PIC:
case TC_SIMPLEX_SEND_FILE:
case TC_DOWNLINK_DATA_MODULATE:
case TC_MODE_SNAPSHOT:
break;
case TC_MEM_READ: {
iter = deviceReplyMap.find(TM_MEMORY_READ_REPORT);
@ -1048,6 +1142,10 @@ std::string PlocMPSoCHandler::getStatusString(uint16_t status) {
return "Flash file already closed";
break;
}
case (mpsoc::status_code::FLASH_FILE_OPEN_FAILED): {
return "Flash file open failed";
break;
}
case (mpsoc::status_code::FLASH_FILE_NOT_OPEN): {
return "Flash file not open";
break;
@ -1084,7 +1182,14 @@ std::string PlocMPSoCHandler::getStatusString(uint16_t status) {
return "Flash uncorrectable mismatch";
break;
}
case (mpsoc::status_code::DEFAULT_ERROR_CODE): {
return "Default error code";
break;
}
default:
std::stringstream ss;
ss << "0x" << std::hex << status;
return ss.str();
break;
}
return "";

4
linux/devices/ploc/PlocMPSoCHandler.h
View File

@ -169,6 +169,10 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
ReturnValue_t prepareTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcCamCmdSend(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcModeIdle();
ReturnValue_t prepareTcCamTakePic(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcSimplexSendFile(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcDownlinkDataModulate(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcModeSnapshot();
void finishTcPrep(size_t packetLen);
/**

4
linux/scheduling.cpp
View File

@ -27,7 +27,6 @@ void scheduling::scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexR
}
void scheduling::addMpsocSupvHandlers(PeriodicTaskIF* plTask) {
#if OBSW_ADD_PLOC_SUPERVISOR == 1
plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::PERFORM_OPERATION);
plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::SEND_WRITE);
plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::GET_WRITE);
@ -35,9 +34,7 @@ void scheduling::addMpsocSupvHandlers(PeriodicTaskIF* plTask) {
plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::GET_READ);
plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::SEND_READ);
plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_PLOC_MPSOC == 1
plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::PERFORM_OPERATION);
plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::SEND_WRITE);
plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::GET_WRITE);
@ -45,7 +42,6 @@ void scheduling::addMpsocSupvHandlers(PeriodicTaskIF* plTask) {
plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::GET_READ);
plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::SEND_READ);
plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::GET_READ);
#endif
}
void scheduling::scheduleScexDev(PeriodicTaskIF*& scexDevHandler) {

3
mission/CMakeLists.txt
View File

@ -9,4 +9,5 @@ add_subdirectory(csp)
add_subdirectory(cfdp)
add_subdirectory(config)
target_sources(${LIB_EIVE_MISSION} PRIVATE acsDefs.cpp trace.cpp)
target_sources(${LIB_EIVE_MISSION} PRIVATE acsDefs.cpp payloadDefs.cpp
trace.cpp)

2
mission/controller/acs/ActuatorCmd.cpp
View File

@ -49,7 +49,7 @@ void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t spee
} else if (rwCmdSpeed[i] < -maxRwSpeed) {
rwCmdSpeed[i] = -maxRwSpeed;
}
}
}
}
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator,

45
mission/core/pollingSeqTables.cpp
View File

@ -40,37 +40,38 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
// Length of a communication cycle
uint32_t length = thisSequence->getPeriodMs();
static_cast<void>(length);
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.3, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.3, DeviceHandlerIF::GET_READ);
#endif
// These are actually part of another bus, but this works, so keep it like this for now
#if OBSW_ADD_TMP_DEVICES == 1
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4,
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.45, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.45, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.55, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.55, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.6,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.6,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.6,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.65,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.65,
DeviceHandlerIF::GET_READ);
// damaged
/*
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
@ -83,16 +84,16 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4, DeviceHandlerIF::GET_READ);
*/
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.4,
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.4,
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.4,
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.4,
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.85,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.4, DeviceHandlerIF::GET_READ);
#endif
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.85,
DeviceHandlerIF::GET_READ);
static_cast<void>(length);
return thisSequence->checkSequence();
}
@ -551,7 +552,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
thisSequence->addSlot(objects::SPI_RTD_COM_IF, length * config::spiSched::SCHED_BLOCK_RTD_PERIOD,
0);
#if OBSW_ADD_PL_PCDU == 1
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
@ -562,7 +562,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_RAD_SENSORS == 1
/* Radiation sensor */

1
mission/devices/devicedefinitions/SpBase.h
View File

@ -14,6 +14,7 @@ struct SpTcParams {
SpTcParams(SpacePacketCreator& creator, uint8_t* buf, size_t maxSize)
: creator(creator), buf(buf), maxSize(maxSize) {}
// Set full payload length. Must also consider the two CRC bytes
void setFullPayloadLen(size_t fullPayloadLen_) { fullPayloadLen = fullPayloadLen_; }
SpacePacketCreator& creator;

32
mission/payloadDefs.cpp Normal file
View File

@ -0,0 +1,32 @@
#include "payloadDefs.h"
const char* payload::getModeStr(Mode mode) {
static const char* modeStr = "UNKNOWN";
switch (mode) {
case (Mode::CAM_STREAM): {
modeStr = "CAM STREAM";
break;
}
case (Mode::EARTH_OBSV): {
modeStr = "EARTH OBSV";
break;
}
case (Mode::MPSOC_STREAM): {
modeStr = "MPSOC STREAM";
break;
}
case (Mode::OFF): {
modeStr = "OFF";
break;
}
case (Mode::SUPV_ONLY): {
modeStr = "SUPV ONLY";
break;
}
case (Mode::SCEX): {
modeStr = "SCEX";
break;
}
}
return modeStr;
}

24
mission/payloadDefs.h Normal file
View File

@ -0,0 +1,24 @@
#pragma once
#include <cstdint>
namespace payload {
enum Mode {
OFF = 0,
SUPV_ONLY = 10,
MPSOC_STREAM = 11,
CAM_STREAM = 12,
EARTH_OBSV = 13,
SCEX = 14
};
extern const char* getModeStr(Mode mode);
namespace ploc {
enum Modes { OFF = 0, SUPV_ONLY = 1, MPSOC_ON = 2 };
}
} // namespace payload

8
mission/system/objects/PayloadSubsystem.cpp
View File

@ -1,5 +1,13 @@
#include "PayloadSubsystem.h"
#include "mission/payloadDefs.h"
PayloadSubsystem::PayloadSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables)
: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}
void PayloadSubsystem::announceMode(bool recursive) {
const char* modeStr = payload::getModeStr(static_cast<payload::Mode>(mode));
sif::info << "PAYLOAD subsystem is now in " << modeStr << " mode" << std::endl;
Subsystem::announceMode(recursive);
}

1
mission/system/objects/PayloadSubsystem.h
View File

@ -9,6 +9,7 @@ class PayloadSubsystem : public Subsystem {
uint32_t maxNumberOfTables);
private:
void announceMode(bool recursive) override;
};
#endif /* MISSION_SYSTEM_PAYLOADSUBSYSTEM_H_ */

24
mission/system/objects/definitions.h
View File

@ -1,5 +1,4 @@
#ifndef MISSION_SYSTEM_DEFINITIONS_H_
#define MISSION_SYSTEM_DEFINITIONS_H_
#pragma once
#include <fsfw/modes/ModeMessage.h>
@ -15,24 +14,3 @@ namespace duallane {
enum Submodes : Submode_t { A_SIDE = 0, B_SIDE = 1, DUAL_MODE = 2 };
} // namespace duallane
namespace payload {
enum Mode {
OFF = 0,
SUPV_ONLY = 10,
MPSOC_STREAM = 11,
CAM_STREAM = 12,
EARTH_OBSV = 13,
SCEX = 14
};
namespace ploc {
enum Modes { OFF = 0, SUPV_ONLY = 1, MPSOC_ON = 2 };
}
} // namespace payload
#endif /* MISSION_SYSTEM_DEFINITIONS_H_ */

5
mission/system/tree/payloadModeTree.cpp
View File

@ -7,6 +7,7 @@
#include "eive/objects.h"
#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
#include "mission/payloadDefs.h"
#include "mission/system/objects/PayloadSubsystem.h"
#include "mission/system/objects/definitions.h"
#include "util.h"
@ -20,7 +21,7 @@ void initEarthObsvSequence(Subsystem& ss, ModeListEntry& eh);
void initScexSequence(Subsystem& ss, ModeListEntry& eh);
} // namespace
PayloadSubsystem satsystem::pl::SUBSYSTEM = PayloadSubsystem(objects::PL_SUBSYSTEM, 12, 24);
PayloadSubsystem satsystem::payload::SUBSYSTEM = PayloadSubsystem(objects::PL_SUBSYSTEM, 12, 24);
const auto check = subsystem::checkInsert;
static const auto OFF = HasModesIF::MODE_OFF;
@ -77,7 +78,7 @@ auto PL_TABLE_SCEX_TGT =
auto PL_TABLE_SCEX_TRANS_0 =
std::make_pair((payload::Mode::SCEX << 24) | 2, FixedArrayList<ModeListEntry, 1>());
Subsystem& satsystem::pl::init() {
Subsystem& satsystem::payload::init() {
ModeListEntry entry;
initOffSequence(SUBSYSTEM, entry);
initPlMpsocStreamSequence(SUBSYSTEM, entry);

4
mission/system/tree/payloadModeTree.h
View File

@ -5,12 +5,12 @@
namespace satsystem {
namespace pl {
namespace payload {
extern PayloadSubsystem SUBSYSTEM;
Subsystem& init();
} // namespace pl
} // namespace payload
} // namespace satsystem

5
mission/system/tree/system.cpp
View File

@ -26,7 +26,7 @@ static const auto NML = DeviceHandlerIF::MODE_NORMAL;
void satsystem::init() {
auto& acsSubsystem = acs::init();
acsSubsystem.connectModeTreeParent(EIVE_SYSTEM);
auto& payloadSubsystem = pl::init();
auto& payloadSubsystem = payload::init();
payloadSubsystem.connectModeTreeParent(EIVE_SYSTEM);
auto& tcsSubsystem = tcs::init();
tcsSubsystem.connectModeTreeParent(EIVE_SYSTEM);
@ -87,8 +87,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TGT.second);
check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TGT.first, &EIVE_TABLE_SAFE_TGT.second)), ctxc);
// Build SAFE transition 0. Two transitions to reduce number of consecutive events and because
// consecutive commanding of TCS and ACS can lead to SPI issues.
// Build SAFE transition 0.
iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second);
iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_SAFE_TRANS_0.second);
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_0.second);

2
tmtc

@ -1 +1 @@
Subproject commit d8367f7e62a47516d7772c129c18ee8f7b07703b
Subproject commit f21ee37a01379907ca72932264e5236a6c30f8a1