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continued ACS board assembly

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This commit is contained in:
Robin Müller 2022-03-04 18:12:16 +01:00
parent 4eb948c5ef
commit 0904cadde5
No known key found for this signature in database
GPG Key ID: 11D4952C8CCEF814
12 changed files with 89 additions and 57 deletions
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29
bsp_q7s/core/ObjectFactory.cpp
View File

@ -1,5 +1,6 @@
#include "ObjectFactory.h"
#include <fsfw/ipc/QueueFactory.h>
#include <linux/obc/AxiPtmeConfig.h>
#include <linux/obc/PapbVcInterface.h>
#include <linux/obc/PdecHandler.h>
@ -590,11 +591,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#if OBSW_TEST_ACS == 1
mgmLis3Handler->setStartUpImmediately();
mgmLis3Handler->setToGoToNormalMode(true);
#endif
#if OBSW_DEBUG_ACS == 1
mgmLis3Handler->enablePeriodicPrintouts(true, 10);
#endif
#endif
spiCookie =
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
@ -604,11 +604,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#if OBSW_TEST_ACS == 1
mgmRm3100Handler->setStartUpImmediately();
mgmRm3100Handler->setToGoToNormalMode(true);
#endif
#if OBSW_DEBUG_ACS == 1
mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
#endif
#endif
spiCookie =
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
@ -618,11 +617,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#if OBSW_TEST_ACS == 1
mgmLis3Handler->setStartUpImmediately();
mgmLis3Handler->setToGoToNormalMode(true);
#endif
#if OBSW_DEBUG_ACS == 1
mgmLis3Handler->enablePeriodicPrintouts(true, 10);
#endif
#endif
spiCookie =
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
@ -631,11 +629,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#if OBSW_TEST_ACS == 1
mgmRm3100Handler->setStartUpImmediately();
mgmRm3100Handler->setToGoToNormalMode(true);
#endif
#if OBSW_DEBUG_ACS == 1
mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
#endif
#endif
// Commented until ACS board V2 in in clean room again
// Gyro 0 Side A
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
@ -647,9 +644,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#if OBSW_TEST_ACS == 1
adisHandler->setStartUpImmediately();
adisHandler->setToGoToNormalModeImmediately();
#endif
#if OBSW_DEBUG_ACS == 1
adisHandler->enablePeriodicPrintouts(true, 10);
#endif
#endif
// Gyro 1 Side A
@ -662,9 +659,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#if OBSW_TEST_ACS == 1
gyroL3gHandler->setStartUpImmediately();
gyroL3gHandler->setToGoToNormalMode(true);
#endif
#if OBSW_DEBUG_ACS == 1
gyroL3gHandler->enablePeriodicPrintouts(true, 10);
#endif
#endif
// Gyro 2 Side B
spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
@ -685,9 +682,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#if OBSW_TEST_ACS == 1
gyroL3gHandler->setStartUpImmediately();
gyroL3gHandler->setToGoToNormalMode(true);
#endif
#if OBSW_DEBUG_ACS == 1
gyroL3gHandler->enablePeriodicPrintouts(true, 10);
#endif
#endif
bool debugGps = false;
@ -711,6 +708,16 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
acsBoardHelper, gpioComIF);
static_cast<void>(acsAss);
#if OBSW_TEST_ACS_BAORD_ASS == 1
CommandMessage msg;
ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
AcsBoardAssembly::A_SIDE);
ReturnValue_t result = MessageQueueSenderIF::sendMessage(acsAss->getCommandQueue(), &msg);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Sending mode command failed" << std::endl;
}
#endif
#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
}

2
fsfw

@ -1 +1 @@
Subproject commit 4e6c1cb72ad623208ea8e08349f6ab39bfa45ed0
Subproject commit 45f0d7fd453eafddbc8a364e6c61a90b5f577c85

1
generators/bsp_q7s_objects.csv
View File

@ -107,6 +107,7 @@
0x5400CAFE;DUMMY_INTERFACE
0x54123456;LIBGPIOD_TEST
0x54694269;TEST_TASK
0x73000001;ACS_BOARD_ASS
0x73000100;TM_FUNNEL
0x73500000;CCSDS_IP_CORE_BRIDGE
0xFFFFFFFF;NO_OBJECT

1 0x00005060 P60DOCK_TEST_TASK
107 0x5400CAFE DUMMY_INTERFACE
108 0x54123456 LIBGPIOD_TEST
109 0x54694269 TEST_TASK
110 0x73000001 ACS_BOARD_ASS
111 0x73000100 TM_FUNNEL
112 0x73500000 CCSDS_IP_CORE_BRIDGE
113 0xFFFFFFFF NO_OBJECT

2
generators/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 141 translations.
* @details
* Generated on: 2022-03-01 18:04:34
* Generated on: 2022-03-04 16:42:09
*/
#include "translateEvents.h"

7
generators/objects/translateObjects.cpp
View File

@ -1,8 +1,8 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 112 translations.
* Generated on: 2022-03-01 18:04:38
* Contains 113 translations.
* Generated on: 2022-03-04 16:42:21
*/
#include "translateObjects.h"
@ -115,6 +115,7 @@ const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST";
const char *TEST_TASK_STRING = "TEST_TASK";
const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
const char *TM_FUNNEL_STRING = "TM_FUNNEL";
const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
const char *NO_OBJECT_STRING = "NO_OBJECT";
@ -339,6 +340,8 @@ const char *translateObject(object_id_t object) {
return LIBGPIOD_TEST_STRING;
case 0x54694269:
return TEST_TASK_STRING;
case 0x73000001:
return ACS_BOARD_ASS_STRING;
case 0x73000100:
return TM_FUNNEL_STRING;
case 0x73500000:

1
linux/fsfwconfig/OBSWConfig.h.in
View File

@ -84,6 +84,7 @@ debugging. */
#define OBSW_ADD_UART_TEST_CODE 0
#define OBSW_TEST_ACS 0
#define OBSW_TEST_ACS_BAORD_ASS 0
#define OBSW_DEBUG_ACS 0
#define OBSW_TEST_SUS 0
#define OBSW_DEBUG_SUS 0

2
linux/fsfwconfig/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 141 translations.
* @details
* Generated on: 2022-03-01 18:04:34
* Generated on: 2022-03-04 16:42:09
*/
#include "translateEvents.h"

7
linux/fsfwconfig/objects/translateObjects.cpp
View File

@ -1,8 +1,8 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 112 translations.
* Generated on: 2022-03-01 18:04:38
* Contains 113 translations.
* Generated on: 2022-03-04 16:42:21
*/
#include "translateObjects.h"
@ -115,6 +115,7 @@ const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST";
const char *TEST_TASK_STRING = "TEST_TASK";
const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
const char *TM_FUNNEL_STRING = "TM_FUNNEL";
const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
const char *NO_OBJECT_STRING = "NO_OBJECT";
@ -339,6 +340,8 @@ const char *translateObject(object_id_t object) {
return LIBGPIOD_TEST_STRING;
case 0x54694269:
return TEST_TASK_STRING;
case 0x73000001:
return ACS_BOARD_ASS_STRING;
case 0x73000100:
return TM_FUNNEL_STRING;
case 0x73500000:

4
mission/devices/PCDUHandler.cpp
View File

@ -26,7 +26,6 @@ ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
readCommandQueue();
return RETURN_OK;
}
return RETURN_OK;
}
@ -116,7 +115,7 @@ void PCDUHandler::readCommandQueue() {
MessageQueueId_t PCDUHandler::getCommandQueue() const { return commandQueue->getId(); }
void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId) {
void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
if (sid == sid_t(objects::PDU2_HANDLER, PDU2::HK_TABLE_DATA_SET_ID)) {
updateHkTableDataset(storeId, &pdu2HkTableDataset, &timeStampPdu2HkDataset);
updatePdu2SwitchStates();
@ -204,7 +203,6 @@ void PCDUHandler::updatePdu1SwitchStates() {
} else {
sif::debug << "PCDUHandler::updatePdu1SwitchStates: Failed to read dataset" << std::endl;
}
pdu1HkTableDataset.commit();
}
LocalDataPoolManager* PCDUHandler::getHkManagerHandle() { return &poolManager; }

3
mission/devices/PCDUHandler.h
View File

@ -27,7 +27,8 @@ class PCDUHandler : public PowerSwitchIF,
virtual ReturnValue_t initialize() override;
virtual ReturnValue_t performOperation(uint8_t counter) override;
virtual void handleChangedDataset(sid_t sid,
store_address_t storeId = storeId::INVALID_STORE_ADDRESS);
store_address_t storeId = storeId::INVALID_STORE_ADDRESS,
bool* clearMessage = nullptr) override;
virtual void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const override;
virtual void sendFuseOnCommand(uint8_t fuseNr) const override;

84
mission/system/AcsBoardAssembly.cpp
View File

@ -27,42 +27,54 @@ AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId,
initModeTableEntry(helper.gpsId, entry);
}
void AcsBoardAssembly::handleChildrenTransition() {
if (state == States::SWITCHING_POWER) {
powerStateMachine(targetMode, targetSubmode);
} else {
AssemblyBase::handleChildrenTransition();
}
}
ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode) {
ReturnValue_t result = RETURN_OK;
refreshHelperModes();
powerStateMachine(mode, submode);
if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
if (state == States::MODE_COMMANDING) {
if (state == States::MODE_COMMANDING) {
if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
handleNormalOrOnModeCmd(mode, submode);
} else {
modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_3_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GPS].setMode(MODE_OFF);
modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
}
} else {
modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_3_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GPS].setMode(MODE_OFF);
modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
executeTable(tableIter);
}
HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
executeTable(tableIter);
return result;
}
ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
refreshHelperModes();
if (state == States::SWITCHING_POWER) {
// Wrong mode
sif::error << "Wrong mode, currently swichting power" << std::endl;
return RETURN_OK;
}
if (submode == A_SIDE) {
if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or
(helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode) or
@ -211,7 +223,7 @@ void AcsBoardAssembly::powerStateMachine(Mode_t mode, Submode_t submode) {
return;
}
} else {
switch (this->submode) {
switch (submode) {
case (A_SIDE): {
if (switchStateA == PowerSwitchIF::SWITCH_ON and
switchStateB == PowerSwitchIF::SWITCH_OFF) {
@ -239,37 +251,37 @@ void AcsBoardAssembly::powerStateMachine(Mode_t mode, Submode_t submode) {
if (state == States::IDLE) {
if (mode == MODE_OFF) {
if (switchStateA != PowerSwitchIF::SWITCH_OFF) {
pwrSwitcher->sendSwitchCommand(SWITCH_A, false);
pwrSwitcher->sendSwitchCommand(SWITCH_A, PowerSwitchIF::SWITCH_ON);
}
if (switchStateB != PowerSwitchIF::SWITCH_OFF) {
pwrSwitcher->sendSwitchCommand(SWITCH_B, false);
pwrSwitcher->sendSwitchCommand(SWITCH_B, PowerSwitchIF::SWITCH_OFF);
}
} else {
switch (submode) {
case (A_SIDE): {
if (switchStateA != PowerSwitchIF::SWITCH_ON) {
pwrSwitcher->sendSwitchCommand(SWITCH_A, true);
pwrSwitcher->sendSwitchCommand(SWITCH_A, PowerSwitchIF::SWITCH_ON);
}
if (switchStateB != PowerSwitchIF::SWITCH_OFF) {
pwrSwitcher->sendSwitchCommand(SWITCH_B, false);
pwrSwitcher->sendSwitchCommand(SWITCH_B, PowerSwitchIF::SWITCH_OFF);
}
break;
}
case (B_SIDE): {
if (switchStateA != PowerSwitchIF::SWITCH_OFF) {
pwrSwitcher->sendSwitchCommand(SWITCH_A, false);
pwrSwitcher->sendSwitchCommand(SWITCH_A, PowerSwitchIF::SWITCH_OFF);
}
if (switchStateB != PowerSwitchIF::SWITCH_ON) {
pwrSwitcher->sendSwitchCommand(SWITCH_B, true);
pwrSwitcher->sendSwitchCommand(SWITCH_B, PowerSwitchIF::SWITCH_OFF);
}
break;
}
case (DUAL_MODE): {
if (switchStateA != PowerSwitchIF::SWITCH_ON) {
pwrSwitcher->sendSwitchCommand(SWITCH_A, true);
pwrSwitcher->sendSwitchCommand(SWITCH_A, PowerSwitchIF::SWITCH_ON);
}
if (switchStateB != PowerSwitchIF::SWITCH_ON) {
pwrSwitcher->sendSwitchCommand(SWITCH_B, true);
pwrSwitcher->sendSwitchCommand(SWITCH_B, PowerSwitchIF::SWITCH_ON);
}
break;
}
@ -315,7 +327,11 @@ ReturnValue_t AcsBoardAssembly::initialize() {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return result;
result = registerChild(helper.gpsId);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return AssemblyBase::initialize();
}
ReturnValue_t AcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {

4
mission/system/AcsBoardAssembly.h
View File

@ -17,7 +17,8 @@ struct AcsBoardHelper {
gyro0AdisIdSideA(gyro0Id),
gyro1L3gIdSideA(gyro1Id),
gyro2AdisIdSideB(gyro2Id),
gyro3L3gIdSideB(gyro3Id) {}
gyro3L3gIdSideB(gyro3Id),
gpsId(gpsId) {}
object_id_t mgm0Lis3IdSideA = objects::NO_OBJECT;
object_id_t mgm1Rm3100IdSideA = objects::NO_OBJECT;
@ -102,6 +103,7 @@ class AcsBoardAssembly : public AssemblyBase {
ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
void handleChildrenTransition() override;
void handleModeReached() override;
void handleModeTransitionFailed(ReturnValue_t result) override;
void handleChildrenLostMode(ReturnValue_t result) override;