Merge branch 'ploc_mpsoc_update_2' into ploc_mpsoc_dir_content_report_2

CHANGELOG.md

@@ -36,6 +36,7 @@ will consitute of a breaking change warranting a new major release:
 - Add support for MPSoC HK packet.
 - Add support for MPSoC Flash Directory Content Report.
 - Dynamically enable and disable HK packets for MPSoC on `ON` and `OFF` commands.
+- Increase frequency of payload handlers from 0.8 seconds to 0.5 seconds.
 
 ## Added
 
@@ -53,6 +54,9 @@ will consitute of a breaking change warranting a new major release:
   without an additional PCDU power switch command.
 - The PLOC Supervisor handler now waits for the replies to the `SET_TIME` command to verify working
   communication.
+- The PLOC MPSoC now waits 10 cycles before going to on. These wait cycles are necessary because
+  the MPSoC is not ready to process commands without this additional boot time.
+- Fixed correction for `GPS Altitude` in case the sensor data is out of the expected bonds.
 
 # [v2.0.5] 2023-05-11
 

bsp_q7s/core/scheduling.cpp

@@ -366,7 +366,7 @@ void scheduling::initTasks() {
 #endif /* OBSW_ADD_PLOC_SUPERVISOR */
 
   PeriodicTaskIF* plTask = factory->createPeriodicTask(
-      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc, &RR_SCHEDULING);
+      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
   plTask->addComponent(objects::CAM_SWITCHER);
   scheduling::addMpsocSupvHandlers(plTask);
   scheduling::scheduleScexDev(plTask);

linux/payload/PlocMpsocHandler.cpp

@@ -152,33 +152,48 @@ ReturnValue_t PlocMPSoCHandler::executeAction(ActionId_t actionId, MessageQueueI
 }
 
 void PlocMPSoCHandler::doStartUp() {
+  if (startupState == StartupState::IDLE) {
+    startupState = StartupState::HW_INIT;
+  }
+  if (startupState == StartupState::HW_INIT) {
 #ifdef XIPHOS_Q7S
 #if not OBSW_MPSOC_JTAG_BOOT == 1
     switch (powerState) {
       case PowerState::OFF:
         commandActionHelper.commandAction(supervisorHandler, supv::START_MPSOC);
         powerState = PowerState::BOOTING;
-      break;
+        return;
       case PowerState::ON:
-      hkReport.setReportingEnabled(true);
-      setMode(_MODE_TO_ON);
         uartIsolatorSwitch.pullHigh();
+        startupState = StartupState::WAIT_CYCLES;
         break;
       default:
-      break;
+        return;
     }
 #else
-  powerState = PowerState::ON;
-  hkReport.setReportingEnabled(true);
-  setMode(_MODE_TO_ON);
     uartIsolatorSwitch.pullHigh();
+    startupState = StartupState::WAIT_CYCLES;
 #endif /* not MSPOC_JTAG_BOOT == 1 */
 #else
+    startupState = StartupState::WAIT_CYCLES;
     powerState = PowerState::ON;
-  hkReport.setReportingEnabled(true);
-  setMode(_MODE_TO_ON);
 #endif /* XIPHOS_Q7S */
   }
+  // Need to wait, MPSoC still not booted properly, requesting HK without these wait cycles does
+  // not work, no replies..
+  if (startupState == StartupState::WAIT_CYCLES) {
+    waitCycles++;
+    if (waitCycles >= 10) {
+      startupState = StartupState::DONE;
+      waitCycles = 0;
+    }
+  }
+  if (startupState == StartupState::DONE) {
+    setMode(_MODE_TO_ON);
+    hkReport.setReportingEnabled(true);
+    startupState = StartupState::IDLE;
+  }
+}
 
 void PlocMPSoCHandler::doShutDown() {
 #ifdef XIPHOS_Q7S
@@ -205,12 +220,13 @@ void PlocMPSoCHandler::doShutDown() {
   powerState = PowerState::OFF;
 #endif
 #endif
+  startupState = StartupState::IDLE;
 }
 
-
 ReturnValue_t PlocMPSoCHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
-  if(getPendingCommand() == DeviceHandlerIF::NO_COMMAND_ID) {
+  if (not normalCmdPending) {
     *id = mpsoc::TC_GET_HK_REPORT;
+    normalCmdPending = true;
     return buildCommandFromCommand(*id, nullptr, 0);
   }
   return NOTHING_TO_SEND;
@@ -342,7 +358,6 @@ void PlocMPSoCHandler::fillCommandAndReplyMap() {
 ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                              DeviceCommandId_t* foundId, size_t* foundLen) {
   ReturnValue_t result = returnvalue::OK;
-  sif::debug << "remaining size: " << remainingSize << std::endl;
 
   SpacePacketReader spacePacket;
   spacePacket.setReadOnlyData(start, remainingSize);
@@ -362,7 +377,6 @@ ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remain
   };
   switch (apid) {
     case (mpsoc::apid::ACK_SUCCESS):
-        sif::debug << "recv ack success" << std::endl;
       *foundLen = mpsoc::SIZE_ACK_REPORT;
       *foundId = mpsoc::ACK_REPORT;
       break;
@@ -386,7 +400,6 @@ ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remain
       break;
     }
     case (mpsoc::apid::EXE_SUCCESS):
-        sif::debug << "recv exe success" << std::endl;
       *foundLen = mpsoc::SIZE_EXE_REPORT;
       *foundId = mpsoc::EXE_REPORT;
       break;
@@ -461,13 +474,14 @@ void PlocMPSoCHandler::setNormalDatapoolEntriesInvalid() {
   hkReport.setValidity(false, true);
 }
 
-uint32_t PlocMPSoCHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; }
+uint32_t PlocMPSoCHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 10000; }
 
 ReturnValue_t PlocMPSoCHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                         LocalDataPoolManager& poolManager) {
   localDataPoolMap.emplace(mpsoc::poolid::STATUS, &peStatus);
   localDataPoolMap.emplace(mpsoc::poolid::MODE, &peMode);
   localDataPoolMap.emplace(mpsoc::poolid::DOWNLINK_PWR_ON, &peDownlinkPwrOn);
+  localDataPoolMap.emplace(mpsoc::poolid::DOWNLINK_REPLY_ACTIIVE, &peDownlinkReplyActive);
   localDataPoolMap.emplace(mpsoc::poolid::DOWNLINK_JESD_SYNC_STATUS, &peDownlinkJesdSyncStatus);
   localDataPoolMap.emplace(mpsoc::poolid::DOWNLINK_DAC_STATUS, &peDownlinkDacStatus);
   localDataPoolMap.emplace(mpsoc::poolid::CAM_STATUS, &peCameraStatus);
@@ -485,6 +499,7 @@ ReturnValue_t PlocMPSoCHandler::initializeLocalDataPool(localpool::DataPool& loc
   localDataPoolMap.emplace(mpsoc::poolid::SYSMON_MB3V3, &peSysmonMb3V3);
   localDataPoolMap.emplace(mpsoc::poolid::SYSMON_MB1V8, &peSysmonMb1V8);
   localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC12V, &peSysmonVcc12V);
+  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC5V, &peSysmonVcc5V);
   localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC3V3, &peSysmonVcc3V3);
   localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC3V3VA, &peSysmonVcc3V3VA);
   localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC2V5DDR, &peSysmonVcc2V5DDR);
@@ -786,9 +801,15 @@ ReturnValue_t PlocMPSoCHandler::handleExecutionReport(const uint8_t* data) {
 
   switch (apid) {
     case (mpsoc::apid::EXE_SUCCESS): {
+      if (normalCmdPending) {
+        normalCmdPending = false;
+      }
       break;
     }
     case (mpsoc::apid::EXE_FAILURE): {
+      if (normalCmdPending) {
+        normalCmdPending = false;
+      }
       // TODO: Interpretation of status field in execution report
       sif::warning << "PlocMPSoCHandler::handleExecutionReport: Received execution failure report"
                    << std::endl;
@@ -1190,7 +1211,6 @@ size_t PlocMPSoCHandler::getNextReplyLength(DeviceCommandId_t commandId) {
         replyLen = mpsoc::SP_MAX_SIZE;
         break;
       default: {
-        sif::debug << "reply length " << iter->second.replyLen << std::endl;
         replyLen = iter->second.replyLen;
         break;
       }

linux/payload/PlocMpsocHandler.h

@@ -108,6 +108,7 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
 
   mpsoc::HkReport hkReport;
 
+  bool normalCmdPending = false;
   MessageQueueIF* eventQueue = nullptr;
   MessageQueueIF* commandActionHelperQueue = nullptr;
 
@@ -117,7 +118,7 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
   SpacePacketCreator creator;
   ploc::SpTcParams spParams = ploc::SpTcParams(creator);
 
-  PoolEntry<uint8_t> peStatus = PoolEntry<uint8_t>();
+  PoolEntry<uint32_t> peStatus = PoolEntry<uint32_t>();
   PoolEntry<uint8_t> peMode = PoolEntry<uint8_t>();
   PoolEntry<uint8_t> peDownlinkPwrOn = PoolEntry<uint8_t>();
   PoolEntry<uint8_t> peDownlinkReplyActive = PoolEntry<uint8_t>();
@@ -183,7 +184,9 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
 
   size_t foundPacketLen = 0;
   TelemetryBuffer tmBuffer;
+  uint32_t waitCycles = 0;
 
+  enum class StartupState { IDLE, HW_INIT, WAIT_CYCLES, DONE } startupState = StartupState::IDLE;
   enum class PowerState { OFF, BOOTING, SHUTDOWN, ON };
 
   PowerState powerState = PowerState::OFF;

linux/payload/plocMpscoDefs.h

@@ -905,8 +905,7 @@ class HkReport : public StaticLocalDataSet<36> {
       lp_var_t<uint16_t>(sid.objectId, mpsoc::poolid::SEM_UNCORRECTABLE_ERRS, this);
   lp_var_t<uint16_t> semCorrectableErrs =
       lp_var_t<uint16_t>(sid.objectId, mpsoc::poolid::SEM_CORRECTABLE_ERRS, this);
-  lp_var_t<uint8_t> semStatus =
-      lp_var_t<uint8_t>(sid.objectId, mpsoc::poolid::SEM_CORRECTABLE_ERRS, this);
+  lp_var_t<uint8_t> semStatus = lp_var_t<uint8_t>(sid.objectId, mpsoc::poolid::SEM_STATUS, this);
   lp_var_t<uint8_t> rebootMpsocRequired =
       lp_var_t<uint8_t>(sid.objectId, mpsoc::poolid::REBOOT_MPSOC_REQUIRED, this);
 };

mission/controller/acs/SensorProcessing.cpp

@@ -573,7 +573,7 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
 
     // Altitude FDIR
     if (gpsAltitude > gpsParameters->maximumFdirAltitude ||
-        gpsAltitude < gpsParameters->maximumFdirAltitude) {
+        gpsAltitude < gpsParameters->minimumFdirAltitude) {
       altitude = gpsParameters->fdirAltitude;
     } else {
       altitude = gpsAltitude;

tmtc

@@ -1 +1 @@
-Subproject commit 87e5abe8ebb6a33d36445d43bcb6674b313626f1
+Subproject commit 377e98b5c2da12f10cdd12b027548a8075fdcb58