diff --git a/CHANGELOG.md b/CHANGELOG.md index 4af541aa..ff9b3511 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -20,6 +20,7 @@ will consitute of a breaking change warranting a new major release: - Persistent TM stores will now create new files on each reboot. - Fast ACS subsystem commanding: Command SUS board consecutively with other devices now +- Star Tracker: Use ground confguration for EM and flight config for FM by default. ## Fixed diff --git a/CMakeLists.txt b/CMakeLists.txt index 037284ea..6bf2a95a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -71,11 +71,13 @@ if(EIVE_Q7S_EM) 1 CACHE STRING "Q7S EM configuration") set(INIT_VAL 0) + set(OBSW_STAR_TRACKER_GROUND_CONFIG 1) else() set(OBSW_Q7S_EM 0 CACHE STRING "Q7S EM configuration") set(INIT_VAL 1) + set(OBSW_STAR_TRACKER_GROUND_CONFIG 0) endif() set(OBSW_ADD_MGT ${INIT_VAL} diff --git a/bsp_q7s/OBSWConfig.h.in b/bsp_q7s/OBSWConfig.h.in index 687d9363..1dff8f7f 100644 --- a/bsp_q7s/OBSWConfig.h.in +++ b/bsp_q7s/OBSWConfig.h.in @@ -67,7 +67,7 @@ #define OBSW_PRINT_MISSED_DEADLINES 1 #define OBSW_MPSOC_JTAG_BOOT 0 -#define OBSW_STAR_TRACKER_GROUND_CONFIG 1 +#define OBSW_STAR_TRACKER_GROUND_CONFIG @OBSW_STAR_TRACKER_GROUND_CONFIG@ #define OBSW_SYRLINKS_SIMULATED @OBSW_SYRLINKS_SIMULATED@ #define OBSW_ADD_TEST_CODE 0 #define OBSW_ADD_TEST_TASK 0 diff --git a/bsp_q7s/fs/SdCardManager.cpp b/bsp_q7s/fs/SdCardManager.cpp index 1663f7cc..d21a373e 100644 --- a/bsp_q7s/fs/SdCardManager.cpp +++ b/bsp_q7s/fs/SdCardManager.cpp @@ -21,15 +21,15 @@ SdCardManager* SdCardManager::INSTANCE = nullptr; SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor(256) { sdLock = MutexFactory::instance()->createMutex(); - ReturnValue_t result = sdLock->lockMutex(); - if (result != returnvalue::OK) { + prefLock = MutexFactory::instance()->createMutex(); + defaultLock = MutexFactory::instance()->createMutex(); + + MutexGuard mg(prefLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX); + if (mg.getLockResult() != returnvalue::OK) { sif::error << "SdCardManager::SdCardManager: Mutex lock failed" << std::endl; } uint8_t prefSdRaw = 0; - result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw); - if (sdLock->unlockMutex() != returnvalue::OK) { - sif::error << "SdCardManager::SdCardManager: Mutex unlock failed" << std::endl; - } + ReturnValue_t result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw); if (result != returnvalue::OK) { if (result == scratch::KEY_NOT_FOUND) { @@ -37,14 +37,16 @@ SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor "Preferred SD card not set. Setting to 0" << std::endl; setPreferredSdCard(sd::SdCard::SLOT_0); - sdInfo.pref = sd::SdCard::SLOT_0; + scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast(sd::SdCard::SLOT_0)); + prefSdRaw = sd::SdCard::SLOT_0; + } else { // Should not happen. // TODO: Maybe trigger event? sif::error << "SdCardManager::SdCardManager: Reading preferred SD card from scratch" "buffer failed" << std::endl; - sdInfo.pref = sd::SdCard::SLOT_0; + prefSdRaw = sd::SdCard::SLOT_0; } } sdInfo.pref = static_cast(prefSdRaw); @@ -195,7 +197,7 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) { ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& active) { using namespace std; - MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); + MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX); if (not filesystem::exists(SD_STATE_FILE)) { return STATUS_FILE_NEXISTS; } @@ -378,7 +380,7 @@ void SdCardManager::processSdStatusLine(std::pair& act } std::optional SdCardManager::getPreferredSdCard() const { - MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); + MutexGuard mg(prefLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX); auto res = mg.getLockResult(); if (res != returnvalue::OK) { sif::error << "SdCardManager::getPreferredSdCard: Lock error" << std::endl; @@ -387,7 +389,7 @@ std::optional SdCardManager::getPreferredSdCard() const { } ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) { - MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); + MutexGuard mg(prefLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX); if (sdCard == sd::SdCard::BOTH) { return returnvalue::FAILED; } @@ -399,7 +401,7 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() { if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) { return CommandExecutor::COMMAND_PENDING; } - MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); + MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX); // Use q7hw utility and pipe the command output into the state file std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE); cmdExecutor.load(updateCmd, blocking, printCmdOutput); @@ -411,7 +413,7 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() { } const char* SdCardManager::getCurrentMountPrefix() const { - MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); + MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX); if (currentPrefix.has_value()) { return currentPrefix.value().c_str(); } @@ -464,7 +466,7 @@ void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = p bool SdCardManager::isSdCardUsable(std::optional sdCard) { { - MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); + MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX); if (markedUnusable) { return false; } @@ -560,7 +562,7 @@ ReturnValue_t SdCardManager::performFsck(sd::SdCard sdcard, bool printOutput, in } void SdCardManager::setActiveSdCard(sd::SdCard sdCard) { - MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); + MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX); sdInfo.active = sdCard; if (sdInfo.active == sd::SdCard::SLOT_0) { currentPrefix = config::SD_0_MOUNT_POINT; @@ -570,7 +572,7 @@ void SdCardManager::setActiveSdCard(sd::SdCard sdCard) { } std::optional SdCardManager::getActiveSdCard() const { - MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); + MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX); if (markedUnusable) { return std::nullopt; } @@ -578,6 +580,6 @@ std::optional SdCardManager::getActiveSdCard() const { } void SdCardManager::markUnusable() { - MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX); + MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX); markedUnusable = true; } diff --git a/bsp_q7s/fs/SdCardManager.h b/bsp_q7s/fs/SdCardManager.h index e489e6e7..1cd09d7d 100644 --- a/bsp_q7s/fs/SdCardManager.h +++ b/bsp_q7s/fs/SdCardManager.h @@ -224,8 +224,11 @@ class SdCardManager : public SystemObject, public SdCardMountedIF { bool printCmdOutput = true; bool markedUnusable = false; MutexIF* sdLock = nullptr; + MutexIF* prefLock = nullptr; + MutexIF* defaultLock = nullptr; static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING; - static constexpr uint32_t LOCK_TIMEOUT = 200; + static constexpr uint32_t SD_LOCK_TIMEOUT = 250; + static constexpr uint32_t OTHER_TIMEOUT = 20; static constexpr char LOCK_CTX[] = "SdCardManager"; SdCardManager();