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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
parent ee3926fe2a e03e35ab77
commit 038a529b06
47 changed files with 554 additions and 156 deletions
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3
mission/CMakeLists.txt
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@ -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
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@ -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
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@ -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
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@ -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
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@ -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
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@ -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
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@ -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
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@ -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
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@ -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
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@ -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
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@ -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
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@ -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);