Merge remote-tracking branch 'origin/main' into payload-module
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18cf46ea31
35
CHANGELOG.md
35
CHANGELOG.md
@ -16,10 +16,40 @@ will consitute of a breaking change warranting a new major release:
|
||||
|
||||
# [unreleased]
|
||||
|
||||
# [v7.8.1] 2024-04-11
|
||||
|
||||
- Reverted fix for wrong order in quaternion multiplication for computation of the error quaternion.
|
||||
|
||||
# [v7.8.0] 2024-04-10
|
||||
|
||||
## Changed
|
||||
|
||||
- Reverted lower OP limit of `PLOC` to -10°C.
|
||||
- All pointing laws are now allowed to use the `MEKF` per default.
|
||||
- Changed limits in `PWR Controller`.
|
||||
- PUS time service: Now dumps the time before and after relative timeshift or setting absolute time
|
||||
- The `GPS Controller` does not set itself to `OFF` anymore, if it has not detected a valid fix for
|
||||
some time. Instead it attempts to reset both GNSS devices once.
|
||||
- The maximum time to reach a fix is shortened from 30min to 15min.
|
||||
- The time the reset pin of the GNSS devices is pulled is prolonged from 5ms to 10s.
|
||||
- A `GPS FIX HAS CHANGED` is now only triggered if no fix change has been detected within the past
|
||||
2min. This means, this event might be thrown with a 2min delay. It is instantly thrown, if the mode
|
||||
of the controller is changed. As arguments it now displays the new fix and the numer of fix changes
|
||||
missed.
|
||||
- The number of satellites seen and used is reset to 0, in case they are set to invalid.
|
||||
- Altitude, latitude and longitude messages are not checked anymore, in case the mode message was
|
||||
already invalid.
|
||||
|
||||
## Added
|
||||
|
||||
- PUS timeservice relative timeshift.
|
||||
|
||||
## Fixed
|
||||
|
||||
- Fixed wrong order in quaternion multiplication for computation of the error quaternion.
|
||||
- Re-worked some FDIR logic in the FSFW. The former logic prevented events with a severity
|
||||
higher than INFO if the device was in EXTERNAL CONTROL. The new logic will allow to trigger
|
||||
events but still inhibit FDIR reactions if the device is in EXTERNAL CONTROL.
|
||||
|
||||
# [v7.7.4] 2024-03-21
|
||||
|
||||
@ -27,16 +57,11 @@ will consitute of a breaking change warranting a new major release:
|
||||
|
||||
- Rotational rate limit for the GS target pointing is now seperated from controller limit. It
|
||||
is also reduced to 0.75°/s now.
|
||||
- PUS time service: Now dumps the time before and after relative timeshift or setting absolute time
|
||||
|
||||
## Fixed
|
||||
|
||||
- Fixed wrong sign in calculation of total current within the `PWR Controller`.
|
||||
|
||||
## Added
|
||||
|
||||
- PUS timeservice relative timeshift.
|
||||
|
||||
# [v7.7.3] 2024-03-18
|
||||
|
||||
- Bumped `eive-fsfw`
|
||||
|
@ -10,8 +10,8 @@
|
||||
cmake_minimum_required(VERSION 3.13)
|
||||
|
||||
set(OBSW_VERSION_MAJOR 7)
|
||||
set(OBSW_VERSION_MINOR 7)
|
||||
set(OBSW_VERSION_REVISION 4)
|
||||
set(OBSW_VERSION_MINOR 8)
|
||||
set(OBSW_VERSION_REVISION 1)
|
||||
|
||||
# set(CMAKE_VERBOSE TRUE)
|
||||
|
||||
|
@ -1,7 +1,7 @@
|
||||
/**
|
||||
* @brief Auto-generated event translation file. Contains 321 translations.
|
||||
* @brief Auto-generated event translation file. Contains 324 translations.
|
||||
* @details
|
||||
* Generated on: 2024-04-08 13:37:59
|
||||
* Generated on: 2024-04-10 11:49:35
|
||||
*/
|
||||
#include "translateEvents.h"
|
||||
|
||||
@ -85,6 +85,8 @@ const char *CLOCK_SET_STRING = "CLOCK_SET";
|
||||
const char *CLOCK_DUMP_LEGACY_STRING = "CLOCK_DUMP_LEGACY";
|
||||
const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
|
||||
const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
|
||||
const char *CLOCK_DUMP_BEFORE_SETTING_TIME_STRING = "CLOCK_DUMP_BEFORE_SETTING_TIME";
|
||||
const char *CLOCK_DUMP_AFTER_SETTING_TIME_STRING = "CLOCK_DUMP_AFTER_SETTING_TIME";
|
||||
const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
|
||||
const char *TEST_STRING = "TEST";
|
||||
const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
|
||||
@ -242,6 +244,7 @@ const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING = "SIDE_SWITCH_TRANS
|
||||
const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
|
||||
const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
|
||||
const char *CANT_GET_FIX_STRING = "CANT_GET_FIX";
|
||||
const char *RESET_FAIL_STRING = "RESET_FAIL";
|
||||
const char *P60_BOOT_COUNT_STRING = "P60_BOOT_COUNT";
|
||||
const char *BATT_MODE_STRING = "BATT_MODE";
|
||||
const char *BATT_MODE_CHANGED_STRING = "BATT_MODE_CHANGED";
|
||||
@ -489,6 +492,10 @@ const char *translateEvents(Event event) {
|
||||
return CLOCK_SET_FAILURE_STRING;
|
||||
case (8903):
|
||||
return CLOCK_DUMP_STRING;
|
||||
case (8904):
|
||||
return CLOCK_DUMP_BEFORE_SETTING_TIME_STRING;
|
||||
case (8905):
|
||||
return CLOCK_DUMP_AFTER_SETTING_TIME_STRING;
|
||||
case (9100):
|
||||
return TC_DELETION_FAILED_STRING;
|
||||
case (9700):
|
||||
@ -803,6 +810,8 @@ const char *translateEvents(Event event) {
|
||||
return GPS_FIX_CHANGE_STRING;
|
||||
case (13101):
|
||||
return CANT_GET_FIX_STRING;
|
||||
case (13102):
|
||||
return RESET_FAIL_STRING;
|
||||
case (13200):
|
||||
return P60_BOOT_COUNT_STRING;
|
||||
case (13201):
|
||||
|
@ -2,7 +2,7 @@
|
||||
* @brief Auto-generated object translation file.
|
||||
* @details
|
||||
* Contains 175 translations.
|
||||
* Generated on: 2024-04-08 13:37:59
|
||||
* Generated on: 2024-04-10 11:49:35
|
||||
*/
|
||||
#include "translateObjects.h"
|
||||
|
||||
|
@ -2150,8 +2150,7 @@ ReturnValue_t CoreController::initClockFromTimeFile() {
|
||||
std::string fileName = currMntPrefix + BACKUP_TIME_FILE;
|
||||
std::error_code e;
|
||||
if (sdcMan->isSdCardUsable(std::nullopt) and std::filesystem::exists(fileName, e) and
|
||||
((gpsFix == FixMode::UNKNOWN or gpsFix == FixMode::NOT_SEEN) or
|
||||
not utility::timeSanityCheck())) {
|
||||
((gpsFix == FixMode::NOT_SEEN) or not utility::timeSanityCheck())) {
|
||||
ifstream timeFile(fileName);
|
||||
string nextWord;
|
||||
getline(timeFile, nextWord);
|
||||
|
@ -9,7 +9,7 @@
|
||||
#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
|
||||
#include <fsfw_hal/linux/uio/UioMapper.h>
|
||||
#include <libxiphos.h>
|
||||
#include <mission/acs/archive/GPSDefinitions.h>
|
||||
#include <linux/acs/GPSDefinitions.h>
|
||||
#include <mission/utility/trace.h>
|
||||
|
||||
#include <atomic>
|
||||
@ -211,7 +211,7 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
|
||||
static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
|
||||
static constexpr uint32_t MUTEX_TIMEOUT = 20;
|
||||
bool enableHkSet = false;
|
||||
GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::UNKNOWN;
|
||||
GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::NOT_SEEN;
|
||||
|
||||
// States for SD state machine, which is used in non-blocking mode
|
||||
enum class SdStates {
|
||||
|
@ -510,7 +510,7 @@ void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF*
|
||||
debugGps = true;
|
||||
#endif
|
||||
RESET_ARGS_GNSS.gpioComIF = gpioComIF;
|
||||
RESET_ARGS_GNSS.waitPeriodMs = 5;
|
||||
RESET_ARGS_GNSS.waitPeriodMs = 10 * 1e3;
|
||||
auto gpsCtrl = new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT,
|
||||
enableHkSets, debugGps);
|
||||
gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
|
||||
|
@ -2,7 +2,7 @@
|
||||
#define DUMMIES_GPSCTRLDUMMY_H_
|
||||
|
||||
#include <fsfw/controller/ExtendedControllerBase.h>
|
||||
#include <mission/acs/archive/GPSDefinitions.h>
|
||||
#include <linux/acs/GPSDefinitions.h>
|
||||
|
||||
class GpsCtrlDummy : public ExtendedControllerBase {
|
||||
public:
|
||||
|
@ -1,5 +1,5 @@
|
||||
#include <dummies/GpsDhbDummy.h>
|
||||
#include <mission/acs/archive/GPSDefinitions.h>
|
||||
#include <linux/acs/GPSDefinitions.h>
|
||||
|
||||
GpsDhbDummy::GpsDhbDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
|
||||
: DeviceHandlerBase(objectId, comif, comCookie) {}
|
||||
|
@ -79,6 +79,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
|
||||
8901;0x22c5;CLOCK_DUMP_LEGACY;INFO;Clock dump event. P1: timeval seconds P2: timeval milliseconds.;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8902;0x22c6;CLOCK_SET_FAILURE;LOW;Clock could not be set. P1: Returncode.;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8903;0x22c7;CLOCK_DUMP;INFO;Clock dump event. P1: timeval seconds P2: timeval microseconds.;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8904;0x22c8;CLOCK_DUMP_BEFORE_SETTING_TIME;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8905;0x22c9;CLOCK_DUMP_AFTER_SETTING_TIME;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
9100;0x238c;TC_DELETION_FAILED;MEDIUM;Deletion of a TC from the map failed. P1: First 32 bit of request ID, P2. Last 32 bit of Request ID;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
|
||||
9700;0x25e4;TEST;INFO;No description;fsfw/src/fsfw/pus/Service17Test.h
|
||||
10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;No description;fsfw/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
|
||||
@ -234,8 +236,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
|
||||
12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;No description;mission/system/acs/SusAssembly.h
|
||||
12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/acs/SusAssembly.h
|
||||
13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;No description;mission/system/tcs/TcsBoardAssembly.h
|
||||
13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;mission/acs/archive/GPSDefinitions.h
|
||||
13101;0x332d;CANT_GET_FIX;LOW;Could not get fix in maximum allowed time. P1: Maximum allowed time to get a fix after the GPS was switched on.;mission/acs/archive/GPSDefinitions.h
|
||||
13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: New fix. P2: Missed fix changes 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;linux/acs/GPSDefinitions.h
|
||||
13101;0x332d;CANT_GET_FIX;MEDIUM;Could not get fix in maximum allowed time. Trying to reset both GNSS devices. P1: Maximum allowed time to get a fix after the GPS was switched on.;linux/acs/GPSDefinitions.h
|
||||
13102;0x332e;RESET_FAIL;HIGH;Failed to reset an GNNS Device. P1: Board-Side.;linux/acs/GPSDefinitions.h
|
||||
13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission/power/P60DockHandler.h
|
||||
13201;0x3391;BATT_MODE;INFO;Battery mode is broadcasted at startup. P1: Mode;mission/power/P60DockHandler.h
|
||||
13202;0x3392;BATT_MODE_CHANGED;MEDIUM;Battery mode has changed. P1: Old mode. P2: New mode;mission/power/P60DockHandler.h
|
||||
|
|
@ -79,6 +79,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
|
||||
8901;0x22c5;CLOCK_DUMP_LEGACY;INFO;Clock dump event. P1: timeval seconds P2: timeval milliseconds.;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8902;0x22c6;CLOCK_SET_FAILURE;LOW;Clock could not be set. P1: Returncode.;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8903;0x22c7;CLOCK_DUMP;INFO;Clock dump event. P1: timeval seconds P2: timeval microseconds.;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8904;0x22c8;CLOCK_DUMP_BEFORE_SETTING_TIME;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8905;0x22c9;CLOCK_DUMP_AFTER_SETTING_TIME;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
9100;0x238c;TC_DELETION_FAILED;MEDIUM;Deletion of a TC from the map failed. P1: First 32 bit of request ID, P2. Last 32 bit of Request ID;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
|
||||
9700;0x25e4;TEST;INFO;No description;fsfw/src/fsfw/pus/Service17Test.h
|
||||
10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;No description;fsfw/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
|
||||
@ -234,8 +236,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
|
||||
12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;No description;mission/system/acs/SusAssembly.h
|
||||
12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/acs/SusAssembly.h
|
||||
13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;No description;mission/system/tcs/TcsBoardAssembly.h
|
||||
13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;mission/acs/archive/GPSDefinitions.h
|
||||
13101;0x332d;CANT_GET_FIX;LOW;Could not get fix in maximum allowed time. P1: Maximum allowed time to get a fix after the GPS was switched on.;mission/acs/archive/GPSDefinitions.h
|
||||
13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: New fix. P2: Missed fix changes 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;linux/acs/GPSDefinitions.h
|
||||
13101;0x332d;CANT_GET_FIX;MEDIUM;Could not get fix in maximum allowed time. Trying to reset both GNSS devices. P1: Maximum allowed time to get a fix after the GPS was switched on.;linux/acs/GPSDefinitions.h
|
||||
13102;0x332e;RESET_FAIL;HIGH;Failed to reset an GNNS Device. P1: Board-Side.;linux/acs/GPSDefinitions.h
|
||||
13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission/power/P60DockHandler.h
|
||||
13201;0x3391;BATT_MODE;INFO;Battery mode is broadcasted at startup. P1: Mode;mission/power/P60DockHandler.h
|
||||
13202;0x3392;BATT_MODE_CHANGED;MEDIUM;Battery mode has changed. P1: Old mode. P2: New mode;mission/power/P60DockHandler.h
|
||||
|
|
@ -1,7 +1,7 @@
|
||||
/**
|
||||
* @brief Auto-generated event translation file. Contains 321 translations.
|
||||
* @brief Auto-generated event translation file. Contains 324 translations.
|
||||
* @details
|
||||
* Generated on: 2024-04-08 13:37:59
|
||||
* Generated on: 2024-04-10 11:49:35
|
||||
*/
|
||||
#include "translateEvents.h"
|
||||
|
||||
@ -85,6 +85,8 @@ const char *CLOCK_SET_STRING = "CLOCK_SET";
|
||||
const char *CLOCK_DUMP_LEGACY_STRING = "CLOCK_DUMP_LEGACY";
|
||||
const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
|
||||
const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
|
||||
const char *CLOCK_DUMP_BEFORE_SETTING_TIME_STRING = "CLOCK_DUMP_BEFORE_SETTING_TIME";
|
||||
const char *CLOCK_DUMP_AFTER_SETTING_TIME_STRING = "CLOCK_DUMP_AFTER_SETTING_TIME";
|
||||
const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
|
||||
const char *TEST_STRING = "TEST";
|
||||
const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
|
||||
@ -242,6 +244,7 @@ const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING = "SIDE_SWITCH_TRANS
|
||||
const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
|
||||
const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
|
||||
const char *CANT_GET_FIX_STRING = "CANT_GET_FIX";
|
||||
const char *RESET_FAIL_STRING = "RESET_FAIL";
|
||||
const char *P60_BOOT_COUNT_STRING = "P60_BOOT_COUNT";
|
||||
const char *BATT_MODE_STRING = "BATT_MODE";
|
||||
const char *BATT_MODE_CHANGED_STRING = "BATT_MODE_CHANGED";
|
||||
@ -489,6 +492,10 @@ const char *translateEvents(Event event) {
|
||||
return CLOCK_SET_FAILURE_STRING;
|
||||
case (8903):
|
||||
return CLOCK_DUMP_STRING;
|
||||
case (8904):
|
||||
return CLOCK_DUMP_BEFORE_SETTING_TIME_STRING;
|
||||
case (8905):
|
||||
return CLOCK_DUMP_AFTER_SETTING_TIME_STRING;
|
||||
case (9100):
|
||||
return TC_DELETION_FAILED_STRING;
|
||||
case (9700):
|
||||
@ -803,6 +810,8 @@ const char *translateEvents(Event event) {
|
||||
return GPS_FIX_CHANGE_STRING;
|
||||
case (13101):
|
||||
return CANT_GET_FIX_STRING;
|
||||
case (13102):
|
||||
return RESET_FAIL_STRING;
|
||||
case (13200):
|
||||
return P60_BOOT_COUNT_STRING;
|
||||
case (13201):
|
||||
|
@ -2,7 +2,7 @@
|
||||
* @brief Auto-generated object translation file.
|
||||
* @details
|
||||
* Contains 179 translations.
|
||||
* Generated on: 2024-04-08 13:37:59
|
||||
* Generated on: 2024-04-10 11:49:35
|
||||
*/
|
||||
#include "translateObjects.h"
|
||||
|
||||
|
@ -7,15 +7,19 @@
|
||||
|
||||
namespace GpsHyperion {
|
||||
|
||||
enum class FixMode : uint8_t { NOT_SEEN = 0, NO_FIX = 1, FIX_2D = 2, FIX_3D = 3, UNKNOWN = 4 };
|
||||
enum FixMode : uint8_t { NOT_SEEN = 0, NO_FIX = 1, FIX_2D = 2, FIX_3D = 3 };
|
||||
|
||||
enum GnssChip : uint8_t { A_SIDE = 0, B_SIDE = 1 };
|
||||
|
||||
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::GPS_HANDLER;
|
||||
//! [EXPORT] : [COMMENT] Fix has changed. P1: Old fix. P2: New fix
|
||||
//! [EXPORT] : [COMMENT] Fix has changed. P1: New fix. P2: Missed fix changes
|
||||
//! 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, 1, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Could not get fix in maximum allowed time. Trying to reset both GNSS
|
||||
//! devices. P1: Maximum allowed time to get a fix after the GPS was switched on.
|
||||
static constexpr Event CANT_GET_FIX = event::makeEvent(SUBSYSTEM_ID, 1, severity::MEDIUM);
|
||||
//! [EXPORT] : [COMMENT] Failed to reset an GNNS Device. P1: Board-Side.
|
||||
static constexpr Event RESET_FAIL = event::makeEvent(SUBSYSTEM_ID, 2, severity::HIGH);
|
||||
|
||||
static constexpr DeviceCommandId_t GPS_REPLY = 0;
|
||||
static constexpr DeviceCommandId_t TRIGGER_RESET_PIN_GNSS = 5;
|
||||
@ -53,8 +57,6 @@ static constexpr uint8_t SKYVIEW_ENTRIES = 6;
|
||||
|
||||
static constexpr uint8_t MAX_SATELLITES = 30;
|
||||
|
||||
enum GpsFixModes : uint8_t { INVALID = 0, NO_FIX = 1, FIX_2D = 2, FIX_3D = 3 };
|
||||
|
||||
} // namespace GpsHyperion
|
||||
|
||||
class GpsPrimaryDataset : public StaticLocalDataSet<GpsHyperion::CORE_DATASET_ENTRIES> {
|
@ -44,24 +44,21 @@ LocalPoolDataSetBase *GpsHyperionLinuxController::getDataSetHandle(sid_t sid) {
|
||||
|
||||
ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
|
||||
uint32_t *msToReachTheMode) {
|
||||
if (not modeCommanded) {
|
||||
if (mode == MODE_ON or mode == MODE_OFF) {
|
||||
// 5h time to reach fix
|
||||
*msToReachTheMode = MAX_SECONDS_TO_REACH_FIX;
|
||||
maxTimeToReachFix.resetTimer();
|
||||
modeCommanded = true;
|
||||
} else if (mode == MODE_NORMAL) {
|
||||
return HasModesIF::INVALID_MODE;
|
||||
}
|
||||
if (mode == MODE_ON) {
|
||||
maxTimeToReachFix.resetTimer();
|
||||
gainedNewFix.timeOut();
|
||||
} else if (mode == MODE_NORMAL) {
|
||||
return HasModesIF::INVALID_MODE;
|
||||
}
|
||||
if (mode == MODE_OFF) {
|
||||
maxTimeToReachFix.timeOut();
|
||||
gainedNewFix.timeOut();
|
||||
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);
|
||||
gpsSet.fixMode.value = 0;
|
||||
// The ctrl is off, so it cannot detect the data from the devices.
|
||||
handleFixChangedEvent(GpsHyperion::FixMode::NOT_SEEN);
|
||||
gpsSet.fixMode.value = GpsHyperion::FixMode::NOT_SEEN;
|
||||
oneShotSwitches.reset();
|
||||
modeCommanded = false;
|
||||
}
|
||||
return returnvalue::OK;
|
||||
}
|
||||
@ -75,13 +72,16 @@ ReturnValue_t GpsHyperionLinuxController::executeAction(ActionId_t actionId,
|
||||
PoolReadGuard pg(&gpsSet);
|
||||
// Set HK entries invalid
|
||||
gpsSet.setValidity(false, true);
|
||||
resetCallback(data, size, resetCallbackArgs);
|
||||
ReturnValue_t result = resetCallback(data, size, resetCallbackArgs);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
return HasActionsIF::EXECUTION_FINISHED;
|
||||
}
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
}
|
||||
return returnvalue::OK;
|
||||
return HasActionsIF::INVALID_ACTION_ID;
|
||||
}
|
||||
|
||||
ReturnValue_t GpsHyperionLinuxController::initializeLocalDataPool(
|
||||
@ -216,15 +216,9 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
|
||||
bool modeIsSet = true;
|
||||
if (MODE_SET != (MODE_SET & gps.set)) {
|
||||
if (mode != MODE_OFF) {
|
||||
if (maxTimeToReachFix.hasTimedOut() and oneShotSwitches.cantGetFixSwitch) {
|
||||
sif::warning << "GpsHyperionLinuxController: No mode could be set in allowed "
|
||||
<< maxTimeToReachFix.getTimeoutMs() / 1000 << " seconds" << std::endl;
|
||||
triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.getTimeoutMs());
|
||||
oneShotSwitches.cantGetFixSwitch = false;
|
||||
}
|
||||
modeIsSet = false;
|
||||
} else {
|
||||
// GPS device is off anyway, so do other handling
|
||||
// GPS ctrl is off anyway, so do other handling
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
}
|
||||
@ -249,27 +243,44 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
|
||||
uint8_t newFix = 0;
|
||||
if (modeIsSet) {
|
||||
// 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
|
||||
if (gps.fix.mode == 2 or gps.fix.mode == 3) {
|
||||
if (gps.fix.mode == GpsHyperion::FixMode::FIX_2D or
|
||||
gps.fix.mode == GpsHyperion::FixMode::FIX_3D) {
|
||||
validFix = true;
|
||||
maxTimeToReachFix.resetTimer();
|
||||
}
|
||||
newFix = gps.fix.mode;
|
||||
if (newFix == 0 or newFix == 1) {
|
||||
if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
|
||||
// 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;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (gpsSet.fixMode.value != newFix) {
|
||||
#if OBSW_Q7S_EM != 1
|
||||
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFix);
|
||||
#endif
|
||||
handleFixChangedEvent(newFix);
|
||||
}
|
||||
gpsSet.fixMode = newFix;
|
||||
gpsSet.fixMode.setValid(modeIsSet);
|
||||
// We are supposed to be on and functioning, but no fix was found
|
||||
if (not validFix) {
|
||||
if (maxTimeToReachFix.hasTimedOut()) {
|
||||
// Set HK entries invalid
|
||||
gpsSet.setValidity(false, true);
|
||||
if (oneShotSwitches.cantGetFixSwitch) {
|
||||
sif::warning << "GpsHyperionLinuxController: No fix detected in allowed "
|
||||
<< maxTimeToReachFix.getTimeoutMs() / 1000 << " seconds" << std::endl;
|
||||
triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.getTimeoutMs());
|
||||
oneShotSwitches.cantGetFixSwitch = false;
|
||||
// Try resetting the devices
|
||||
if (resetCallback != nullptr) {
|
||||
uint8_t chip = GpsHyperion::GnssChip::A_SIDE;
|
||||
ReturnValue_t result = resetCallback(&chip, 1, resetCallbackArgs);
|
||||
if (result != returnvalue::OK) {
|
||||
triggerEvent(GpsHyperion::RESET_FAIL, chip);
|
||||
}
|
||||
chip = GpsHyperion::GnssChip::B_SIDE;
|
||||
result = resetCallback(&chip, 1, resetCallbackArgs);
|
||||
if (result != returnvalue::OK) {
|
||||
triggerEvent(GpsHyperion::RESET_FAIL, chip);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Only set on specific messages, so only set a valid flag to invalid
|
||||
// if not set for more than a full message set (10 messages here)
|
||||
@ -282,9 +293,12 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
|
||||
}
|
||||
satNotSetCounter = 0;
|
||||
} else {
|
||||
satNotSetCounter++;
|
||||
if (gpsSet.satInUse.isValid() and satNotSetCounter >= 10) {
|
||||
if (satNotSetCounter < 10) {
|
||||
satNotSetCounter++;
|
||||
} else {
|
||||
gpsSet.satInUse.value = 0;
|
||||
gpsSet.satInUse.setValid(false);
|
||||
gpsSet.satInView.value = 0;
|
||||
gpsSet.satInView.setValid(false);
|
||||
}
|
||||
}
|
||||
@ -292,22 +306,24 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
|
||||
// LATLON is set for every message, no need for a counter
|
||||
bool latValid = false;
|
||||
bool longValid = false;
|
||||
if (LATLON_SET == (LATLON_SET & gps.set)) {
|
||||
if (std::isfinite(gps.fix.latitude)) {
|
||||
// Negative latitude -> South direction
|
||||
gpsSet.latitude.value = gps.fix.latitude;
|
||||
// As specified in gps.h: Only valid if mode >= 2
|
||||
if (gps.fix.mode >= 2) {
|
||||
latValid = true;
|
||||
if (modeIsSet) {
|
||||
if (LATLON_SET == (LATLON_SET & gps.set)) {
|
||||
if (std::isfinite(gps.fix.latitude)) {
|
||||
// Negative latitude -> South direction
|
||||
gpsSet.latitude.value = gps.fix.latitude;
|
||||
// As specified in gps.h: Only valid if mode >= 2
|
||||
if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
|
||||
latValid = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (std::isfinite(gps.fix.longitude)) {
|
||||
// Negative longitude -> West direction
|
||||
gpsSet.longitude.value = gps.fix.longitude;
|
||||
// As specified in gps.h: Only valid if mode >= 2
|
||||
if (gps.fix.mode >= 2) {
|
||||
longValid = true;
|
||||
if (std::isfinite(gps.fix.longitude)) {
|
||||
// Negative longitude -> West direction
|
||||
gpsSet.longitude.value = gps.fix.longitude;
|
||||
// As specified in gps.h: Only valid if mode >= 2
|
||||
if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
|
||||
longValid = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -316,20 +332,24 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
|
||||
|
||||
// ALTITUDE is set for every message, no need for a counter
|
||||
bool altitudeValid = false;
|
||||
if (ALTITUDE_SET == (ALTITUDE_SET & gps.set) && std::isfinite(gps.fix.altitude)) {
|
||||
gpsSet.altitude.value = gps.fix.altitude;
|
||||
// As specified in gps.h: Only valid if mode == 3
|
||||
if (gps.fix.mode == 3) {
|
||||
altitudeValid = true;
|
||||
if (modeIsSet) {
|
||||
if (ALTITUDE_SET == (ALTITUDE_SET & gps.set) && std::isfinite(gps.fix.altitude)) {
|
||||
gpsSet.altitude.value = gps.fix.altitude;
|
||||
// As specified in gps.h: Only valid if mode == 3
|
||||
if (gps.fix.mode == GpsHyperion::FixMode::FIX_3D) {
|
||||
altitudeValid = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
gpsSet.altitude.setValid(altitudeValid);
|
||||
|
||||
// SPEED is set for every message, no need for a counter
|
||||
bool speedValid = false;
|
||||
if (SPEED_SET == (SPEED_SET & gps.set) && std::isfinite(gps.fix.speed)) {
|
||||
gpsSet.speed.value = gps.fix.speed;
|
||||
speedValid = true;
|
||||
if (modeIsSet) {
|
||||
if (SPEED_SET == (SPEED_SET & gps.set) && std::isfinite(gps.fix.speed)) {
|
||||
gpsSet.speed.value = gps.fix.speed;
|
||||
speedValid = true;
|
||||
}
|
||||
}
|
||||
gpsSet.speed.setValid(speedValid);
|
||||
|
||||
@ -430,3 +450,14 @@ void GpsHyperionLinuxController::overwriteTimeIfNotSane(timeval time, bool valid
|
||||
timeInit = true;
|
||||
}
|
||||
}
|
||||
|
||||
void GpsHyperionLinuxController::handleFixChangedEvent(uint8_t newFix) {
|
||||
if (gainedNewFix.hasTimedOut()) {
|
||||
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, newFix, fixChangeCounter);
|
||||
fixChangeCounter = 0;
|
||||
gainedNewFix.resetTimer();
|
||||
return;
|
||||
}
|
||||
fixChangeCounter++;
|
||||
gainedNewFix.resetTimer();
|
||||
}
|
||||
|
@ -1,14 +1,13 @@
|
||||
#ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
|
||||
#define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
|
||||
|
||||
#include <mission/acs/archive/GPSDefinitions.h>
|
||||
#include <common/config/eive/eventSubsystemIds.h>
|
||||
#include <fsfw/FSFW.h>
|
||||
#include <fsfw/controller/ExtendedControllerBase.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include <linux/acs/GPSDefinitions.h>
|
||||
#include <mission/utility/trace.h>
|
||||
|
||||
#include "eive/eventSubsystemIds.h"
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "fsfw/controller/ExtendedControllerBase.h"
|
||||
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
|
||||
|
||||
#ifdef FSFW_OSAL_LINUX
|
||||
#include <gps.h>
|
||||
#include <libgpsmm.h>
|
||||
@ -24,8 +23,8 @@
|
||||
*/
|
||||
class GpsHyperionLinuxController : public ExtendedControllerBase {
|
||||
public:
|
||||
// 30 minutes
|
||||
static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 30;
|
||||
// 15 minutes
|
||||
static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 15;
|
||||
|
||||
enum ReadModes { SHM = 0, SOCKET = 1 };
|
||||
|
||||
@ -65,7 +64,8 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
|
||||
const char* currentClientBuf = nullptr;
|
||||
ReadModes readMode = ReadModes::SOCKET;
|
||||
Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
|
||||
bool modeCommanded = false;
|
||||
Countdown gainedNewFix = Countdown(60 * 2 * 1000);
|
||||
uint32_t fixChangeCounter = 0;
|
||||
bool timeInit = false;
|
||||
uint8_t satNotSetCounter = 0;
|
||||
|
||||
@ -92,6 +92,8 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
|
||||
// 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);
|
||||
|
||||
void handleFixChangedEvent(uint8_t newFix);
|
||||
};
|
||||
|
||||
#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */
|
||||
|
@ -1,7 +1,7 @@
|
||||
/**
|
||||
* @brief Auto-generated event translation file. Contains 321 translations.
|
||||
* @brief Auto-generated event translation file. Contains 324 translations.
|
||||
* @details
|
||||
* Generated on: 2024-04-08 13:37:59
|
||||
* Generated on: 2024-04-10 11:49:35
|
||||
*/
|
||||
#include "translateEvents.h"
|
||||
|
||||
@ -85,6 +85,8 @@ const char *CLOCK_SET_STRING = "CLOCK_SET";
|
||||
const char *CLOCK_DUMP_LEGACY_STRING = "CLOCK_DUMP_LEGACY";
|
||||
const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
|
||||
const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
|
||||
const char *CLOCK_DUMP_BEFORE_SETTING_TIME_STRING = "CLOCK_DUMP_BEFORE_SETTING_TIME";
|
||||
const char *CLOCK_DUMP_AFTER_SETTING_TIME_STRING = "CLOCK_DUMP_AFTER_SETTING_TIME";
|
||||
const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
|
||||
const char *TEST_STRING = "TEST";
|
||||
const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
|
||||
@ -242,6 +244,7 @@ const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING = "SIDE_SWITCH_TRANS
|
||||
const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
|
||||
const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
|
||||
const char *CANT_GET_FIX_STRING = "CANT_GET_FIX";
|
||||
const char *RESET_FAIL_STRING = "RESET_FAIL";
|
||||
const char *P60_BOOT_COUNT_STRING = "P60_BOOT_COUNT";
|
||||
const char *BATT_MODE_STRING = "BATT_MODE";
|
||||
const char *BATT_MODE_CHANGED_STRING = "BATT_MODE_CHANGED";
|
||||
@ -489,6 +492,10 @@ const char *translateEvents(Event event) {
|
||||
return CLOCK_SET_FAILURE_STRING;
|
||||
case (8903):
|
||||
return CLOCK_DUMP_STRING;
|
||||
case (8904):
|
||||
return CLOCK_DUMP_BEFORE_SETTING_TIME_STRING;
|
||||
case (8905):
|
||||
return CLOCK_DUMP_AFTER_SETTING_TIME_STRING;
|
||||
case (9100):
|
||||
return TC_DELETION_FAILED_STRING;
|
||||
case (9700):
|
||||
@ -803,6 +810,8 @@ const char *translateEvents(Event event) {
|
||||
return GPS_FIX_CHANGE_STRING;
|
||||
case (13101):
|
||||
return CANT_GET_FIX_STRING;
|
||||
case (13102):
|
||||
return RESET_FAIL_STRING;
|
||||
case (13200):
|
||||
return P60_BOOT_COUNT_STRING;
|
||||
case (13201):
|
||||
|
@ -2,7 +2,7 @@
|
||||
* @brief Auto-generated object translation file.
|
||||
* @details
|
||||
* Contains 179 translations.
|
||||
* Generated on: 2024-04-08 13:37:59
|
||||
* Generated on: 2024-04-10 11:49:35
|
||||
*/
|
||||
#include "translateObjects.h"
|
||||
|
||||
|
@ -57,9 +57,9 @@ class PowerController : public ExtendedControllerBase, public ReceivesParameterM
|
||||
float batteryMaximumCapacity = 2.6 * 2; // [Ah]
|
||||
float coulombCounterVoltageUpperThreshold = 16.2; // [V]
|
||||
double maxAllowedTimeDiff = 1.5; // [s]
|
||||
float payloadOpLimitOn = 0.90; // [%]
|
||||
float payloadOpLimitLow = 0.75; // [%]
|
||||
float higherModesLimit = 0.6; // [%]
|
||||
float payloadOpLimitOn = 0.80; // [%]
|
||||
float payloadOpLimitLow = 0.65; // [%]
|
||||
float higherModesLimit = 0.60; // [%]
|
||||
|
||||
// OCV Look-up-Table {[Ah],[V]}
|
||||
static constexpr uint8_t LOOK_UP_TABLE_MAX_IDX = 99;
|
||||
|
@ -4,7 +4,7 @@
|
||||
#include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>
|
||||
#include <fsfw_hal/devicehandlers/MgmRM3100Handler.h>
|
||||
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
|
||||
#include <mission/acs/archive/GPSDefinitions.h>
|
||||
#include <linux/acs/GPSDefinitions.h>
|
||||
#include <mission/acs/gyroAdisHelpers.h>
|
||||
#include <mission/acs/imtqHelpers.h>
|
||||
#include <mission/acs/rwHelpers.h>
|
||||
|
2
tmtc
2
tmtc
@ -1 +1 @@
|
||||
Subproject commit 102821fc718fb70b01ef949bd54da3d438f0d455
|
||||
Subproject commit a8d0143b1ed9a14f7e071ee3344dc4e8f1937c55
|
Loading…
Reference in New Issue
Block a user