eive/eive-obsw
eive/eive-obsw
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Merge branch 'develop' into eggert/acs
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This commit is contained in:
Marius Eggert 2023-02-08 13:21:49 +01:00
commit 098fcc4f12
24 changed files with 289 additions and 198 deletions
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60
CHANGELOG.md
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@ -18,34 +18,46 @@ change warranting a new major release:
# [unreleased]
## Changed
- added calculation of satellite velocity vector from GPS position data
- added detumble mode using GYR values
- added inertial pointing mode
- added nadir pointing mode
- added ground station target mode
- added antistiction for RWs
- added `sunTargetSafe` differentiation for LEOP
- added check for existance of `SD_0_SKEWED_PTG_FILE` and `SD_1_SKEWED_PTG_FILE` to determine
- Readded calibration matrices for MGM calibration
- Added calculation of satellite velocity vector from GPS position data
- Added detumble mode using GYR values
- Added inertial pointing mode
- Added nadir pointing mode
- Added ground station target mode
- Added antistiction for RWs
- Added `sunTargetSafe` differentiation for LEOP
- Added check for existance of `SD_0_SKEWED_PTG_FILE` and `SD_1_SKEWED_PTG_FILE` to determine
which `sunTargetSafe` to use
- added `gpsVelocity` and `gpsPosition` to `gpsProcessed`
- removed deprecated `OutputValues`
- added `HasParametersIF` to `AcsParameters`
- added `ReceivesParameterMessagesIF` and `ParameterHelper` to `AcsController`
- updated `AcsParameters` with actual values and changed structure
- sun vector model and magnetic field vector model calculations are always executed now
- Added `gpsVelocity` and `gpsPosition` to `gpsProcessed`
- Removed deprecated `OutputValues`
- Added `HasParametersIF` to `AcsParameters`
- Added `ReceivesParameterMessagesIF` and `ParameterHelper` to `AcsController`
- Updated `AcsParameters` with actual values and changed structure
- Sun vector model and magnetic field vector model calculations are always executed now
- `domainId` is now used as identifier for parameter structs
- changed onboard GYR value handling from deg/s to rad/s
- Changed onboard GYR value handling from deg/s to rad/s
## Fixed
- fixed calculation of model sun vector
- fixed calculation of model magnetic field vector
- fixed MEKF algorithm
- fixed several variable initializations
- fixed several variable types
- fixed use of `sunMagAngleMin` for safe mode
- fixed MEKF not using correct `sampleTime`
- fixed assignment of `SUS0` and `SUS6` calibration matrices due to wiring being mixed up
- various smaller bugfixes
- Single sourcing the version information into `CMakeLists.txt`. The `git describe` functionality
is only used to retrieve the git SHA hash now. Also removed `OBSWVersion.h` accordingly.
- Build system: Fixed small bug, where the version itself was
stored as the git SHA hash in `commonConfig.h`. This will be
an empty string now for regular versions.
- Bump FSFW for important fix in PUS mode service.
- Bugfixes in 'SensofProcessing' where previously MGM values would be calibrated before being
transformed in body RF. However, the calibration values are in the body RF. Also fixed the
validity flag of 'mgmVecTotDerivative'.
- Fixed calculation of model sun vector
- Fixed calculation of model magnetic field vector
- Fixed MEKF algorithm
- Fixed several variable initializations
- Fixed several variable types
- Fixed use of `sunMagAngleMin` for safe mode
- Fixed MEKF not using correct `sampleTime`
- Fixed assignment of `SUS0` and `SUS6` calibration matrices due to wiring being mixed up
- Various smaller bugfixes
# [v1.25.0] 2023-02-06

17
CMakeLists.txt
View File

@ -9,9 +9,9 @@
# ##############################################################################
cmake_minimum_required(VERSION 3.13)
set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 1)
set(OBSW_VERSION_MINOR_IF_GIT_FAILS 25)
set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)
set(OBSW_VERSION_MAJOR 1)
set(OBSW_VERSION_MINOR 25)
set(OBSW_VERSION_REVISION 0)
# set(CMAKE_VERBOSE TRUE)
@ -168,10 +168,13 @@ if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
set(GIT_INFO
${GIT_INFO}
CACHE STRING "Version information retrieved with git describe")
list(GET GIT_INFO 1 OBSW_VERSION_MAJOR)
list(GET GIT_INFO 2 OBSW_VERSION_MINOR)
list(GET GIT_INFO 3 OBSW_VERSION_REVISION)
list(GET GIT_INFO 4 OBSW_VERSION_CST_GIT_SHA1)
# CMakeLists.txt is now single source of information. list(GET GIT_INFO 1
# OBSW_VERSION_MAJOR) list(GET GIT_INFO 2 OBSW_VERSION_MINOR) list(GET
# GIT_INFO 3 OBSW_VERSION_REVISION)
list(LENGTH GIT_INFO LIST_LEN)
if(LIST_LEN GREATER 4)
list(GET GIT_INFO 4 OBSW_VERSION_CST_GIT_SHA1)
endif()
if(NOT OBSW_VERSION_MAJOR)
set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
endif()

1
bsp_hosted/OBSWConfig.h.in
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@ -7,7 +7,6 @@
#define FSFWCONFIG_OBSWCONFIG_H_
#include "commonConfig.h"
#include "OBSWVersion.h"
/*******************************************************************/
/** All of the following flags should be enabled for mission code */

1
bsp_q7s/OBSWConfig.h.in
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@ -8,7 +8,6 @@
#include "commonConfig.h"
#include "q7sConfig.h"
#include "OBSWVersion.h"
/*******************************************************************/
/** All of the following flags should be enabled for mission code */

28
bsp_q7s/core/CoreController.cpp
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@ -5,7 +5,7 @@
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/tasks/TaskFactory.h>
#include "OBSWVersion.h"
#include "commonConfig.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/timemanager/Stopwatch.h"
#include "fsfw/version.h"
@ -179,6 +179,26 @@ ReturnValue_t CoreController::initializeAfterTaskCreation() {
ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t *data, size_t size) {
switch (actionId) {
case (ANNOUNCE_VERSION): {
uint32_t p1 = (common::OBSW_VERSION_MAJOR << 24) | (common::OBSW_VERSION_MINOR << 16) |
(common::OBSW_VERSION_REVISION << 8);
uint32_t p2 = 0;
if (strcmp("", common::OBSW_VERSION_CST_GIT_SHA1) != 0) {
p1 |= 1;
auto shaAsStr = std::string(common::OBSW_VERSION_CST_GIT_SHA1);
size_t posDash = shaAsStr.find("-");
auto gitHash = shaAsStr.substr(posDash + 2, 4);
// Only copy first 4 letters of git hash
memcpy(&p2, gitHash.c_str(), 4);
}
triggerEvent(VERSION_INFO, p1, p2);
return HasActionsIF::EXECUTION_FINISHED;
}
case (ANNOUNCE_CURRENT_IMAGE): {
triggerEvent(CURRENT_IMAGE_INFO, CURRENT_CHIP, CURRENT_COPY);
return HasActionsIF::EXECUTION_FINISHED;
}
case (LIST_DIRECTORY_INTO_FILE): {
return actionListDirectoryIntoFile(actionId, commandedBy, data, size);
}
@ -673,9 +693,9 @@ ReturnValue_t CoreController::initVersionFile() {
sif::warning << "CoreController::versionFileInit: Retrieving uname line failed" << std::endl;
}
std::string fullObswVersionString = "OBSW: v" + std::to_string(SW_VERSION) + "." +
std::to_string(SW_SUBVERSION) + "." +
std::to_string(SW_REVISION);
std::string fullObswVersionString = "OBSW: v" + std::to_string(common::OBSW_VERSION_MAJOR) + "." +
std::to_string(common::OBSW_VERSION_MINOR) + "." +
std::to_string(common::OBSW_VERSION_REVISION);
char versionString[16] = {};
fsfw::FSFW_VERSION.getVersion(versionString, sizeof(versionString));
std::string fullFsfwVersionString = "FSFW: v" + std::string(versionString);

8
bsp_q7s/core/CoreController.h
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@ -74,6 +74,8 @@ class CoreController : public ExtendedControllerBase {
static constexpr dur_millis_t DEFAULT_SD_CARD_CHECK_TIMEOUT = 60000;
static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
static constexpr ActionId_t ANNOUNCE_VERSION = 1;
static constexpr ActionId_t ANNOUNCE_CURRENT_IMAGE = 2;
static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
@ -109,6 +111,12 @@ class CoreController : public ExtendedControllerBase {
//! [EXPORT] : [COMMENT] No SD card was active. Core controller will attempt to re-initialize
//! a SD card.
static constexpr Event NO_SD_CARD_ACTIVE = event::makeEvent(SUBSYSTEM_ID, 4, severity::HIGH);
//! [EXPORT] : [COMMENT]
//! P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash
//! P2: First four letters of Git SHA is the last byte of P1 is set.
static constexpr Event VERSION_INFO = event::makeEvent(SUBSYSTEM_ID, 5, severity::INFO);
//! [EXPORT] : [COMMENT] P1: Current Chip, P2: Current Copy
static constexpr Event CURRENT_IMAGE_INFO = event::makeEvent(SUBSYSTEM_ID, 6, severity::INFO);
CoreController(object_id_t objectId);
virtual ~CoreController();

6
cmake/EiveHelpers.cmake
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@ -4,7 +4,7 @@
# 2. Major version
# 3. Minor version
# 4. Revision
# 5. git SHA hash and commits since tag
# 5. (Optional) git SHA hash and commits since tag when applicable
function(determine_version_with_git)
include(GetGitRevisionDescription)
git_describe(VERSION ${ARGN})
@ -22,7 +22,9 @@ function(determine_version_with_git)
list(APPEND GIT_INFO ${_VERSION_MAJOR})
list(APPEND GIT_INFO ${_VERSION_MINOR})
list(APPEND GIT_INFO ${_VERSION_PATCH})
list(APPEND GIT_INFO ${VERSION_SHA1})
if(NOT VERSION_SHA1 STREQUAL VERSION)
list(APPEND GIT_INFO ${VERSION_SHA1})
endif()
set(GIT_INFO ${GIT_INFO} PARENT_SCOPE)
message(STATUS "eive | Set git version info into GIT_INFO from the git tag ${VERSION}")
endfunction()

10
common/config/OBSWVersion.h
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@ -1,10 +0,0 @@
#ifndef COMMON_CONFIG_OBSWVERSION_H_
#define COMMON_CONFIG_OBSWVERSION_H_
const char* const SW_NAME = "eive";
#define SW_VERSION 1
#define SW_SUBVERSION 12
#define SW_REVISION 1
#endif /* COMMON_CONFIG_OBSWVERSION_H_ */

2
fsfw

@ -1 +1 @@
Subproject commit 38789e053b65cfa14604fc625e7bcc8ca03a3f17
Subproject commit 84bbef016712096147e8cf3f2cec87f317d9e7e7

2
generators/bsp_q7s_events.csv
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@ -244,3 +244,5 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
14003;0x36b3;REBOOT_HW;MEDIUM;;bsp_q7s/core/CoreController.h
14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;bsp_q7s/core/CoreController.h
14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
244 14002 0x36b2 REBOOT_MECHANISM_TRIGGERED MEDIUM The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots bsp_q7s/core/CoreController.h
245 14003 0x36b3 REBOOT_HW MEDIUM bsp_q7s/core/CoreController.h
246 14004 0x36b4 NO_SD_CARD_ACTIVE HIGH No SD card was active. Core controller will attempt to re-initialize a SD card. bsp_q7s/core/CoreController.h
247 14005 0x36b5 VERSION_INFO INFO P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set. bsp_q7s/core/CoreController.h
248 14006 0x36b6 CURRENT_IMAGE_INFO INFO P1: Current Chip, P2: Current Copy bsp_q7s/core/CoreController.h

10
generators/events/translateEvents.cpp
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@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 245 translations.
* @brief Auto-generated event translation file. Contains 247 translations.
* @details
* Generated on: 2023-02-03 10:52:53
* Generated on: 2023-02-08 11:22:40
*/
#include "translateEvents.h"
@ -245,6 +245,8 @@ const char *REBOOT_SW_STRING = "REBOOT_SW";
const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
const char *REBOOT_HW_STRING = "REBOOT_HW";
const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
const char *VERSION_INFO_STRING = "VERSION_INFO";
const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
const char *translateEvents(Event event) {
switch ((event & 0xFFFF)) {
@ -728,6 +730,10 @@ const char *translateEvents(Event event) {
return REBOOT_HW_STRING;
case (14004):
return NO_SD_CARD_ACTIVE_STRING;
case (14005):
return VERSION_INFO_STRING;
case (14006):
return CURRENT_IMAGE_INFO_STRING;
default:
return "UNKNOWN_EVENT";
}

2
generators/objects/translateObjects.cpp
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@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 152 translations.
* Generated on: 2023-02-03 10:52:53
* Generated on: 2023-02-08 11:22:40
*/
#include "translateObjects.h"

173
linux/devices/GpsHyperionLinuxController.cpp
View File

@ -34,7 +34,6 @@ ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
uint32_t *msToReachTheMode) {
if (not modeCommanded) {
if (mode == MODE_ON or mode == MODE_OFF) {
gpsNotOpenSwitch = true;
// 5h time to reach fix
*msToReachTheMode = MAX_SECONDS_TO_REACH_FIX;
maxTimeToReachFix.resetTimer();
@ -44,7 +43,12 @@ ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
}
}
if (mode == MODE_OFF) {
PoolReadGuard pg(&gpsSet);
gpsSet.setValidity(false, true);
// There can't be a fix with a device that is off.
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, 0);
oneShotSwitches.reset();
modeCommanded = false;
}
return returnvalue::OK;
}
@ -101,6 +105,7 @@ ReturnValue_t GpsHyperionLinuxController::performOperation(uint8_t opCode) {
if (not callAgainImmediately) {
handleQueue();
poolManager.performHkOperation();
TaskFactory::delayTask(250);
}
}
// Should never be reached.
@ -113,25 +118,24 @@ ReturnValue_t GpsHyperionLinuxController::initialize() {
return result;
}
auto openError = [&](const char *type, int error) {
if (gpsNotOpenSwitch) {
// Opening failed
// Opening failed
#if FSFW_VERBOSE_LEVEL >= 1
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM " << type
<< " failed | Error " << error << " | " << gps_errstr(error) << std::endl;
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM " << type
<< " failed | Error " << error << " | " << gps_errstr(error) << std::endl;
#endif
gpsNotOpenSwitch = false;
}
};
if (readMode == ReadModes::SOCKET) {
int retval = gps_open("localhost", DEFAULT_GPSD_PORT, &gps);
if (retval != 0) {
openError("Socket", retval);
return ObjectManager::CHILD_INIT_FAILED;
}
gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
} else if (readMode == ReadModes::SHM) {
int retval = gps_open(GPSD_SHARED_MEMORY, "", &gps);
if (retval != 0) {
openError("SHM", retval);
return ObjectManager::CHILD_INIT_FAILED;
}
}
return result;
@ -145,32 +149,33 @@ void GpsHyperionLinuxController::performControlOperation() {}
bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
auto readError = [&]() {
if (gpsReadFailedSwitch) {
gpsReadFailedSwitch = false;
if (oneShotSwitches.gpsReadFailedSwitch) {
oneShotSwitches.gpsReadFailedSwitch = false;
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed | "
"Error "
<< errno << " | " << gps_errstr(errno) << std::endl;
}
};
// GPS is off, no point in reading data from GPSD.
if(mode == MODE_OFF) {
return false;
}
if (readMode == ReadModes::SOCKET) {
// Perform other necessary handling if not data seen for 0.2 seconds.
if (gps_waiting(&gps, 200000)) {
// Poll the GPS.
if (gps_waiting(&gps, 0)) {
if (-1 == gps_read(&gps)) {
readError();
return false;
}
oneShotSwitches.gpsReadFailedSwitch = true;
if (MODE_SET != (MODE_SET & gps.set)) {
if (mode == MODE_ON) {
if (noModeSetCntr >= 0) {
noModeSetCntr++;
}
if (noModeSetCntr == 10) {
// TODO: Trigger event here
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be "
"read for 10 consecutive reads"
<< std::endl;
noModeSetCntr = -1;
}
if (mode != MODE_OFF and maxTimeToReachFix.hasTimedOut() and
oneShotSwitches.cantGetFixSwitch) {
sif::warning
<< "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be set in allowed "
<< maxTimeToReachFix.timeout / 1000 << " seconds" << std::endl;
triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.timeout);
oneShotSwitches.cantGetFixSwitch = false;
// did not event get mode, nothing to see.
return false;
}
@ -198,51 +203,58 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
}
bool validFix = false;
static_cast<void>(validFix);
// 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
int newFixMode = gps.fix.mode;
if (newFixMode == 2 or newFixMode == 3) {
if (gps.fix.mode == 2 or gps.fix.mode == 3) {
validFix = true;
}
if (gpsSet.fixMode.value != newFixMode) {
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFixMode);
if (gpsSet.fixMode.value != gps.fix.mode) {
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, gps.fix.mode);
}
gpsSet.fixMode.value = newFixMode;
gpsSet.fixMode.value = gps.fix.mode;
if (gps.fix.mode == 0 or gps.fix.mode == 1) {
if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
// We are supposed to be on and functioning, but not fix was found
// We are supposed to be on and functioning, but no fix was found
if (mode == MODE_ON or mode == MODE_NORMAL) {
mode = MODE_OFF;
}
modeCommanded = false;
}
gpsSet.setValidity(false, true);
} else if (gps.satellites_used > 0) {
} else if (gps.satellites_used > 0 && validFix && mode != MODE_OFF) {
gpsSet.setValidity(true, true);
}
gpsSet.satInUse.value = gps.satellites_used;
gpsSet.satInView.value = gps.satellites_visible;
bool latValid = false;
if (std::isfinite(gps.fix.latitude)) {
// Negative latitude -> South direction
gpsSet.latitude.value = gps.fix.latitude;
} else {
gpsSet.latitude.setValid(false);
if (gps.fix.mode >= 2) {
latValid = true;
}
}
gpsSet.latitude.setValid(latValid);
bool longValid = false;
if (std::isfinite(gps.fix.longitude)) {
// Negative longitude -> West direction
gpsSet.longitude.value = gps.fix.longitude;
} else {
gpsSet.longitude.setValid(false);
if (gps.fix.mode >= 2) {
longValid = true;
}
}
gpsSet.latitude.setValid(longValid);
bool altitudeValid = false;
if (std::isfinite(gps.fix.altitude)) {
gpsSet.altitude.value = gps.fix.altitude;
} else {
gpsSet.altitude.setValid(false);
if (gps.fix.mode == 3) {
altitudeValid = true;
}
}
gpsSet.altitude.setValid(altitudeValid);
if (std::isfinite(gps.fix.speed)) {
gpsSet.speed.value = gps.fix.speed;
@ -250,59 +262,44 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
gpsSet.speed.setValid(false);
}
if (TIME_SET == (TIME_SET & gps.set)) {
timeval time = {};
#if LIBGPS_VERSION_MINOR <= 17
gpsSet.unixSeconds.value = gps.fix.time;
gpsSet.unixSeconds.value = std::floor(gps.fix.time);
double fractionalPart = gps.fix.time - gpsSet.unixSeconds.value;
time.tv_usec = fractionalPart * 1000.0 * 1000.0;
#else
gpsSet.unixSeconds.value = gps.fix.time.tv_sec;
gpsSet.unixSeconds.value = gps.fix.time.tv_sec;
time.tv_usec = gps.fix.time.tv_nsec / 1000;
#endif
timeval time = {};
time.tv_sec = gpsSet.unixSeconds.value;
#if LIBGPS_VERSION_MINOR <= 17
double fractionalPart = gps.fix.time - std::floor(gps.fix.time);
time.tv_usec = fractionalPart * 1000.0 * 1000.0;
#else
time.tv_usec = gps.fix.time.tv_nsec / 1000;
#endif
std::time_t t = std::time(nullptr);
if (time.tv_sec == t) {
timeIsConstantCounter++;
time.tv_sec = gpsSet.unixSeconds.value;
// If the time is totally wrong (e.g. year 2000 after system reset because we do not have a RTC
// and no time file available) we set it with the roughly valid time from the GPS.
// NTP might only work if the time difference between sys time and current time is not too
// large.
overwriteTimeIfNotSane(time, validFix);
Clock::TimeOfDay_t timeOfDay = {};
Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
gpsSet.year = timeOfDay.year;
gpsSet.month = timeOfDay.month;
gpsSet.day = timeOfDay.day;
gpsSet.hours = timeOfDay.hour;
gpsSet.minutes = timeOfDay.minute;
gpsSet.seconds = timeOfDay.second;
} else {
timeIsConstantCounter = 0;
}
if (timeInit and validFix) {
if (not utility::timeSanityCheck()) {
#if OBSW_VERBOSE_LEVEL >= 1
time_t timeRaw = time.tv_sec;
std::tm *timeTm = std::gmtime(&timeRaw);
sif::info << "Setting invalid system time from GPS data directly: "
<< std::put_time(timeTm, "%c %Z") << std::endl;
#endif
// For some reason, the clock needs to be somewhat correct for NTP to work. Really dumb..
Clock::setClock(&time);
}
timeInit = false;
}
// If the received time does not change anymore for whatever reason, do not set it here
// to avoid stale times. Also, don't do it too often often to avoid jumping times
if (timeIsConstantCounter < 20 and timeUpdateCd.hasTimedOut()) {
// Update the system time here for now. NTP seems to be unable to do so for whatever reason.
// Further tests have shown that the time seems to be set by NTPD after some time..
// Clock::setClock(&time);
timeUpdateCd.resetTimer();
gpsSet.unixSeconds.setValid(false);
gpsSet.year.setValid(false);
gpsSet.month.setValid(false);
gpsSet.day.setValid(false);
gpsSet.hours.setValid(false);
gpsSet.minutes.setValid(false);
gpsSet.seconds.setValid(false);
}
Clock::TimeOfDay_t timeOfDay = {};
Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
gpsSet.year = timeOfDay.year;
gpsSet.month = timeOfDay.month;
gpsSet.day = timeOfDay.day;
gpsSet.hours = timeOfDay.hour;
gpsSet.minutes = timeOfDay.minute;
gpsSet.seconds = timeOfDay.second;
if (debugHyperionGps) {
sif::info << "-- Hyperion GPS Data --" << std::endl;
#if LIBGPS_VERSION_MINOR <= 17
time_t timeRaw = gps.fix.time;
time_t timeRaw = gpsSet.unixSeconds.value;
#else
time_t timeRaw = gps.fix.time.tv_sec;
#endif
@ -325,3 +322,19 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
}
return returnvalue::OK;
}
void GpsHyperionLinuxController::overwriteTimeIfNotSane(timeval time, bool validFix) {
if (not timeInit and validFix) {
if (not utility::timeSanityCheck()) {
#if OBSW_VERBOSE_LEVEL >= 1
time_t timeRaw = time.tv_sec;
std::tm *timeTm = std::gmtime(&timeRaw);
sif::info << "Overwriting invalid system time from GPS data directly: "
<< std::put_time(timeTm, "%c %Z") << std::endl;
#endif
// For some reason, the clock needs to be somewhat correct for NTP to work. Really dumb..
Clock::setClock(&time);
}
timeInit = true;
}
}

22
linux/devices/GpsHyperionLinuxController.h
View File

@ -58,18 +58,30 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
const char* currentClientBuf = nullptr;
ReadModes readMode = ReadModes::SOCKET;
Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
bool modeCommanded = true;
bool timeInit = true;
bool gpsNotOpenSwitch = true;
bool gpsReadFailedSwitch = true;
bool modeCommanded = false;
bool timeInit = false;
struct OneShotSwitches {
void reset() {
gpsReadFailedSwitch = true;
cantGetFixSwitch = true;
}
bool gpsReadFailedSwitch = true;
bool cantGetFixSwitch = true;
} oneShotSwitches;
bool debugHyperionGps = false;
int32_t noModeSetCntr = 0;
uint32_t timeIsConstantCounter = 0;
Countdown timeUpdateCd = Countdown(60);
// Returns true if the function should be called again or false if other
// controller handling can be done.
bool readGpsDataFromGpsd();
// If the time is totally wrong (e.g. year 2000 after system reset because we do not have a RTC)
// we set it with the roughly valid time from the GPS. For some reason, NTP might only work
// if the time difference between sys time and current time is not too large
void overwriteTimeIfNotSane(timeval time, bool validFix);
};
#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */

10
linux/fsfwconfig/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 245 translations.
* @brief Auto-generated event translation file. Contains 247 translations.
* @details
* Generated on: 2023-02-03 10:52:53
* Generated on: 2023-02-08 11:22:40
*/
#include "translateEvents.h"
@ -245,6 +245,8 @@ const char *REBOOT_SW_STRING = "REBOOT_SW";
const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
const char *REBOOT_HW_STRING = "REBOOT_HW";
const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
const char *VERSION_INFO_STRING = "VERSION_INFO";
const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
const char *translateEvents(Event event) {
switch ((event & 0xFFFF)) {
@ -728,6 +730,10 @@ const char *translateEvents(Event event) {
return REBOOT_HW_STRING;
case (14004):
return NO_SD_CARD_ACTIVE_STRING;
case (14005):
return VERSION_INFO_STRING;
case (14006):
return CURRENT_IMAGE_INFO_STRING;
default:
return "UNKNOWN_EVENT";
}

2
linux/fsfwconfig/objects/translateObjects.cpp
View File

@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 152 translations.
* Generated on: 2023-02-03 10:52:53
* Generated on: 2023-02-08 11:22:40
*/
#include "translateObjects.h"

2
mission/acsDefs.h
View File

@ -7,7 +7,7 @@
namespace acs {
enum CtrlSubmode {
OFF = HasModesIF::MODE_OFF,
OFF = HasModesIF::SUBMODE_NONE,
SAFE = 10,
DETUMBLE = 11,
PTG_IDLE = 12,

2
mission/controller/AcsController.cpp
View File

@ -563,7 +563,7 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
return INVALID_SUBMODE;
}
} else if ((mode == MODE_ON) || (mode == MODE_NORMAL)) {
if ((submode > 8) || (submode < 2)) {
if ((submode > acs::PTG_TARGET_INERTIAL) || (submode < acs::SAFE)) {
return INVALID_SUBMODE;
} else {
return returnvalue::OK;

40
mission/controller/acs/AcsParameters.h
View File

@ -51,26 +51,28 @@ class AcsParameters : public HasParametersIF {
float mgm3orientationMatrix[3][3] = {{0, 0, 1}, {0, -1, 0}, {1, 0, 0}};
float mgm4orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
float mgm0hardIronOffset[3] = {0.0, 0.0, 0.0}; //{19.89364, -29.94111, -31.07508};
float mgm1hardIronOffset[3] = {0.0, 0.0, 0.0}; //{10.95500, -8.053403, -33.36383};
float mgm2hardIronOffset[3] = {0.0, 0.0, 0.0}; //{15.72181, -26.87090, -62.19010};
float mgm3hardIronOffset[3] = {0.0, 0.0, 0.0};
float mgm4hardIronOffset[3] = {0.0, 0.0, 0.0};
float mgm0hardIronOffset[3] = {6.116487, 6.796264, -19.188060};
float mgm1hardIronOffset[3] = {-1.077152, 2.080583, 1.974483};
float mgm2hardIronOffset[3] = {-19.285857, 5.401821, -16.096297};
float mgm3hardIronOffset[3] = {-0.634033, 2.787695, 0.092036};
float mgm4hardIronOffset[3] = {2.702743, 5.236043, 0.726229};
float mgm0softIronInverse[3][3] = {{0.910192, -0.188413, -0.161522},
{-0.188413, 1.642303, -0.033184},
{-0.161522, -0.033184, 0.943904}};
float mgm1softIronInverse[3][3] = {{1.053508, -0.170225, -0.041678},
{-0.170225, 1.274465, -0.040231},
{-0.041678, -0.040231, 1.086352}};
float mgm2softIronInverse[3][3] = {{0.931086, 0.172675, -0.043084},
{0.172675, 1.541296, 0.065489},
{-0.043084, 0.065489, 1.001238}};
float mgm3softIronInverse[3][3] = {{1.073353, 0.177266, -0.058832},
{0.177266, 1.262156, 0.010478},
{-0.058832, 0.010478, 1.068345}};
float mgm4softIronInverse[3][3] = {{1.114887, -0.007534, -0.037072},
{-0.007534, 1.253879, 0.006812},
{-0.037072, 0.006812, 1.313158}};
float mgm0softIronInverse[3][3] = {
{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; /*{{1420.727e-3, 9.352825e-3,
-127.1979e-3}, {9.352825e-3, 1031.965e-3, -80.02734e-3},
{-127.1979e-3, -80.02734e-3, 934.8899e-3}};*/
float mgm1softIronInverse[3][3] = {
{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; /*{{126.7325e-2, -4.146410e-2, -18.37963e-2},
{-4.146410e-2, 109.3310e-2, -5.246314e-2},
{-18.37963e-2, -5.246314e-2, 105.7300e-2}};*/
float mgm2softIronInverse[3][3] = {
{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; /*{{143.0438e-2, 7.095763e-2,
15.67482e-2}, {7.095763e-2, 99.65167e-2, -6.958760e-2},
{15.67482e-2, -6.958760e-2, 94.50124e-2}};*/
float mgm3softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
float mgm4softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
float mgm02variance[3] = {1, 1, 1};
float mgm13variance[3] = {1, 1, 1};
float mgm4variance[3] = {1, 1, 1};

68
mission/controller/acs/SensorProcessing.cpp
View File

@ -69,71 +69,72 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
float mgm0ValueNoBias[3] = {0, 0, 0}, mgm1ValueNoBias[3] = {0, 0, 0},
mgm2ValueNoBias[3] = {0, 0, 0}, mgm3ValueNoBias[3] = {0, 0, 0},
mgm4ValueNoBias[3] = {0, 0, 0};
float mgm0ValueCalib[3] = {0, 0, 0}, mgm1ValueCalib[3] = {0, 0, 0}, mgm2ValueCalib[3] = {0, 0, 0},
mgm3ValueCalib[3] = {0, 0, 0}, mgm4ValueCalib[3] = {0, 0, 0};
float mgm0ValueBody[3] = {0, 0, 0}, mgm1ValueBody[3] = {0, 0, 0}, mgm2ValueBody[3] = {0, 0, 0},
mgm3ValueBody[3] = {0, 0, 0}, mgm4ValueBody[3] = {0, 0, 0};
float mgm0ValueCalib[3] = {0, 0, 0}, mgm1ValueCalib[3] = {0, 0, 0}, mgm2ValueCalib[3] = {0, 0, 0},
mgm3ValueCalib[3] = {0, 0, 0}, mgm4ValueCalib[3] = {0, 0, 0};
float sensorFusionNumerator[3] = {0, 0, 0}, sensorFusionDenominator[3] = {0, 0, 0};
if (mgm0valid) {
VectorOperations<float>::subtract(mgm0Value, mgmParameters->mgm0hardIronOffset, mgm0ValueNoBias,
3);
MatrixOperations<float>::multiply(mgmParameters->mgm0orientationMatrix[0], mgm0Value,
mgm0ValueBody, 3, 3, 1);
VectorOperations<float>::subtract(mgm0ValueBody, mgmParameters->mgm0hardIronOffset,
mgm0ValueNoBias, 3);
MatrixOperations<float>::multiply(mgmParameters->mgm0softIronInverse[0], mgm0ValueNoBias,
mgm0ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm0orientationMatrix[0], mgm0ValueCalib,
mgm0ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += mgm0ValueBody[i] / mgmParameters->mgm02variance[i];
sensorFusionNumerator[i] += mgm0ValueCalib[i] / mgmParameters->mgm02variance[i];
sensorFusionDenominator[i] += 1 / mgmParameters->mgm02variance[i];
}
}
if (mgm1valid) {
VectorOperations<float>::subtract(mgm1Value, mgmParameters->mgm1hardIronOffset, mgm1ValueNoBias,
3);
MatrixOperations<float>::multiply(mgmParameters->mgm1orientationMatrix[0], mgm1Value,
mgm1ValueBody, 3, 3, 1);
VectorOperations<float>::subtract(mgm1ValueBody, mgmParameters->mgm1hardIronOffset,
mgm1ValueNoBias, 3);
MatrixOperations<float>::multiply(mgmParameters->mgm1softIronInverse[0], mgm1ValueNoBias,
mgm1ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm1orientationMatrix[0], mgm1ValueCalib,
mgm1ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += mgm1ValueBody[i] / mgmParameters->mgm13variance[i];
sensorFusionNumerator[i] += mgm1ValueCalib[i] / mgmParameters->mgm13variance[i];
sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
}
}
if (mgm2valid) {
VectorOperations<float>::subtract(mgm2Value, mgmParameters->mgm2hardIronOffset, mgm2ValueNoBias,
3);
MatrixOperations<float>::multiply(mgmParameters->mgm2orientationMatrix[0], mgm2Value,
mgm2ValueBody, 3, 3, 1);
VectorOperations<float>::subtract(mgm2ValueBody, mgmParameters->mgm2hardIronOffset,
mgm2ValueNoBias, 3);
MatrixOperations<float>::multiply(mgmParameters->mgm2softIronInverse[0], mgm2ValueNoBias,
mgm2ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm2orientationMatrix[0], mgm2ValueCalib,
mgm2ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += mgm2ValueBody[i] / mgmParameters->mgm02variance[i];
sensorFusionNumerator[i] += mgm2ValueCalib[i] / mgmParameters->mgm02variance[i];
sensorFusionDenominator[i] += 1 / mgmParameters->mgm02variance[i];
}
}
if (mgm3valid) {
VectorOperations<float>::subtract(mgm3Value, mgmParameters->mgm3hardIronOffset, mgm3ValueNoBias,
3);
MatrixOperations<float>::multiply(mgmParameters->mgm3orientationMatrix[0], mgm3Value,
mgm3ValueBody, 3, 3, 1);
VectorOperations<float>::subtract(mgm3ValueBody, mgmParameters->mgm3hardIronOffset,
mgm3ValueNoBias, 3);
MatrixOperations<float>::multiply(mgmParameters->mgm3softIronInverse[0], mgm3ValueNoBias,
mgm3ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm3orientationMatrix[0], mgm3ValueCalib,
mgm3ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += mgm3ValueBody[i] / mgmParameters->mgm13variance[i];
sensorFusionNumerator[i] += mgm3ValueCalib[i] / mgmParameters->mgm13variance[i];
sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
}
}
if (mgm4valid) {
float mgm4ValueNT[3];
VectorOperations<float>::mulScalar(mgm4Value, 1e-3, mgm4ValueNT, 3); // uT to nT
VectorOperations<float>::subtract(mgm4ValueNT, mgmParameters->mgm4hardIronOffset,
float mgm4ValueUT[3];
VectorOperations<float>::mulScalar(mgm4Value, 1e-3, mgm4ValueUT, 3); // nT to uT
MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueUT,
mgm4ValueBody, 3, 3, 1);
VectorOperations<float>::subtract(mgm4ValueBody, mgmParameters->mgm4hardIronOffset,
mgm4ValueNoBias, 3);
MatrixOperations<float>::multiply(mgmParameters->mgm4softIronInverse[0], mgm4ValueNoBias,
mgm4ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueCalib,
mgm4ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += mgm4ValueBody[i] / mgmParameters->mgm4variance[i];
sensorFusionNumerator[i] += mgm4ValueCalib[i] / mgmParameters->mgm4variance[i];
sensorFusionDenominator[i] += 1 / mgmParameters->mgm4variance[i];
}
}
@ -150,6 +151,7 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
for (uint8_t i = 0; i < 3; i++) {
mgmVecTotDerivative[i] = (mgmVecTot[i] - savedMgmVecTot[i]) / timeDiff;
savedMgmVecTot[i] = mgmVecTot[i];
mgmVecTotDerivativeValid = true;
}
}
timeOfSavedMagFieldEst = timeOfMgmMeasurement;
@ -157,15 +159,15 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
{
PoolReadGuard pg(mgmDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(mgmDataProcessed->mgm0vec.value, mgm0ValueBody, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm0vec.value, mgm0ValueCalib, 3 * sizeof(float));
mgmDataProcessed->mgm0vec.setValid(mgm0valid);
std::memcpy(mgmDataProcessed->mgm1vec.value, mgm1ValueBody, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm1vec.value, mgm1ValueCalib, 3 * sizeof(float));
mgmDataProcessed->mgm1vec.setValid(mgm1valid);
std::memcpy(mgmDataProcessed->mgm2vec.value, mgm2ValueBody, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm2vec.value, mgm2ValueCalib, 3 * sizeof(float));
mgmDataProcessed->mgm2vec.setValid(mgm2valid);
std::memcpy(mgmDataProcessed->mgm3vec.value, mgm3ValueBody, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm3vec.value, mgm3ValueCalib, 3 * sizeof(float));
mgmDataProcessed->mgm3vec.setValid(mgm3valid);
std::memcpy(mgmDataProcessed->mgm4vec.value, mgm4ValueBody, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm4vec.value, mgm4ValueCalib, 3 * sizeof(float));
mgmDataProcessed->mgm4vec.setValid(mgm4valid);
std::memcpy(mgmDataProcessed->mgmVecTot.value, mgmVecTot, 3 * sizeof(double));
mgmDataProcessed->mgmVecTot.setValid(true);

3
mission/devices/devicedefinitions/GPSDefinitions.h
View File

@ -13,6 +13,9 @@ static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::GPS_HANDLER;
//! [EXPORT] : [COMMENT] Fix has changed. P1: Old fix. P2: New fix
//! 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix
static constexpr Event GPS_FIX_CHANGE = event::makeEvent(SUBSYSTEM_ID, 0, severity::INFO);
//! [EXPORT] : [COMMENT] Could not get fix in maximum allowed time. P1: Maximum allowed time
//! to get a fix after the GPS was switched on.
static constexpr Event CANT_GET_FIX = event::makeEvent(SUBSYSTEM_ID, 0, severity::LOW);
static constexpr DeviceCommandId_t GPS_REPLY = 0;
static constexpr DeviceCommandId_t TRIGGER_RESET_PIN_GNSS = 5;

4
mission/system/objects/AcsSubsystem.cpp
View File

@ -58,7 +58,7 @@ void AcsSubsystem::handleEventMessages() {
case EventMessage::EVENT_MESSAGE:
if (event.getEvent() == acs::SAFE_RATE_VIOLATION) {
CommandMessage msg;
ModeMessage::setCmdModeModeMessage(msg, acs::CtrlSubmode::DETUMBLE, 0);
ModeMessage::setCmdModeMessage(msg, acs::CtrlSubmode::DETUMBLE, 0);
ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
if (result != returnvalue::OK) {
sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
@ -66,7 +66,7 @@ void AcsSubsystem::handleEventMessages() {
}
if (event.getEvent() == acs::SAFE_RATE_RECOVERY) {
CommandMessage msg;
ModeMessage::setCmdModeModeMessage(msg, acs::CtrlSubmode::SAFE, 0);
ModeMessage::setCmdModeMessage(msg, acs::CtrlSubmode::SAFE, 0);
ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
if (result != returnvalue::OK) {
sif::error << "AcsSubsystem: sending IDLE mode cmd to self has failed" << std::endl;

12
release_checklist.md Normal file
View File

@ -0,0 +1,12 @@
OBSW Release Checklist
=========
# Pre-Release
1. Update version in `CMakeLists.txt`
2. Verify that the Q7S, Q7S EM and Host build are working
3. Wait for CI/CD results
# Post-Release
1. Create a new release with tag on `EGit`

2
tmtc

@ -1 +1 @@
Subproject commit d6445d38a8eb644a5e1bd27f0fc56d29e93c030d
Subproject commit 4086e7947b4458bcbbd47c78e67c23d3a47885c8