eive/eive-obsw
eive/eive-obsw
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Merge remote-tracking branch 'origin/mueller/tcs-subsystem' into mueller/master
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This commit is contained in:
Robin Müller 2022-03-23 13:39:25 +01:00
commit 1cd98c5604
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GPG Key ID: 11D4952C8CCEF814
29 changed files with 516 additions and 274 deletions
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19
bsp_q7s/core/InitMission.cpp
View File

@ -117,20 +117,28 @@ void initmission::initTasks() {
#if OBSW_ADD_ACS_HANDLERS == 1
PeriodicTaskIF* acsTask = factory->createPeriodicTask(
"ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
"ACS_CTRL", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = acsTask->addComponent(objects::GPS_CONTROLLER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ACS_CTRL", objects::GPS_CONTROLLER);
initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
}
result = acsTask->addComponent(objects::ACS_BOARD_ASS);
#endif /* OBSW_ADD_ACS_HANDLERS */
PeriodicTaskIF* sysTask = factory->createPeriodicTask(
"SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = sysTask->addComponent(objects::ACS_BOARD_ASS);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ACS_ASS", objects::ACS_BOARD_ASS);
}
result = acsTask->addComponent(objects::SUS_BOARD_ASS);
result = sysTask->addComponent(objects::SUS_BOARD_ASS);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("SUS_ASS", objects::SUS_BOARD_ASS);
}
#endif /* OBSW_ADD_ACS_HANDLERS */
result = sysTask->addComponent(objects::TCS_BOARD_ASS);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
}
#if BOARD_TE0720 == 0
// FS task, task interval does not matter because it runs in permanent loop, priority low
@ -219,6 +227,7 @@ void initmission::initTasks() {
#if OBSW_ADD_ACS_HANDLERS == 1
acsTask->startTask();
#endif
sysTask->startTask();
sif::info << "Tasks started.." << std::endl;
}

245
bsp_q7s/core/ObjectFactory.cpp
View File

@ -7,8 +7,10 @@
#include <linux/obc/Ptme.h>
#include <linux/obc/PtmeConfig.h>
#include <mission/system/AcsBoardFdir.h>
#include <mission/system/RtdFdir.h>
#include <mission/system/SusAssembly.h>
#include <mission/system/SusFdir.h>
#include <mission/system/TcsBoardAssembly.h>
#include "OBSWConfig.h"
#include "bsp_q7s/boardtest/Q7STestTask.h"
@ -150,7 +152,7 @@ void ObjectFactory::produce(void* args) {
#if OBSW_ADD_SYRLINKS == 1
createSyrlinksComponents();
#endif /* OBSW_ADD_SYRLINKS == 1 */
createRtdComponents(gpioComIF);
createRtdComponents(gpioComIF, pwrSwitcher);
#if OBSW_ADD_MGT == 1
I2cCookie* imtqI2cCookie =
@ -374,95 +376,84 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComI
#if OBSW_ADD_SUN_SENSORS == 1
SpiCookie* spiCookie =
new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[0] = new SusHandler(objects::SUS_0, 0, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_0);
susHandlers[0]->setParent(objects::SUS_BOARD_ASS);
susHandlers[0]->setCustomFdir(fdir);
spiCookie =
new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, q7s::SPI_DEFAULT_DEV,
SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[1] = new SusHandler(objects::SUS_1, 1, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_1);
susHandlers[1]->setParent(objects::SUS_BOARD_ASS);
susHandlers[1]->setCustomFdir(fdir);
spiCookie =
new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, q7s::SPI_DEFAULT_DEV,
SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[2] = new SusHandler(objects::SUS_2, 2, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_2);
susHandlers[2]->setParent(objects::SUS_BOARD_ASS);
susHandlers[2]->setCustomFdir(fdir);
spiCookie =
new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[3] = new SusHandler(objects::SUS_3, 3, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_3);
susHandlers[3]->setParent(objects::SUS_BOARD_ASS);
susHandlers[3]->setCustomFdir(fdir);
spiCookie =
new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[4] = new SusHandler(objects::SUS_4, 4, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_4);
susHandlers[4]->setParent(objects::SUS_BOARD_ASS);
susHandlers[4]->setCustomFdir(fdir);
spiCookie =
new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[5] = new SusHandler(objects::SUS_5, 5, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_5);
susHandlers[5]->setParent(objects::SUS_BOARD_ASS);
susHandlers[5]->setCustomFdir(fdir);
spiCookie =
new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, q7s::SPI_DEFAULT_DEV,
SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[6] = new SusHandler(objects::SUS_6, 6, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_6);
susHandlers[6]->setParent(objects::SUS_BOARD_ASS);
susHandlers[6]->setCustomFdir(fdir);
spiCookie =
new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, q7s::SPI_DEFAULT_DEV,
SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[7] = new SusHandler(objects::SUS_7, 7, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_7);
susHandlers[7]->setParent(objects::SUS_BOARD_ASS);
susHandlers[7]->setCustomFdir(fdir);
spiCookie =
new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, q7s::SPI_DEFAULT_DEV,
SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[8] = new SusHandler(objects::SUS_8, 8, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_8);
susHandlers[8]->setParent(objects::SUS_BOARD_ASS);
susHandlers[8]->setCustomFdir(fdir);
spiCookie =
new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, q7s::SPI_DEFAULT_DEV,
SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[9] = new SusHandler(objects::SUS_9, 9, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_9);
susHandlers[9]->setParent(objects::SUS_BOARD_ASS);
susHandlers[9]->setCustomFdir(fdir);
spiCookie =
new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, q7s::SPI_DEFAULT_DEV,
SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[10] = new SusHandler(objects::SUS_10, 10, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_10);
susHandlers[10]->setParent(objects::SUS_BOARD_ASS);
susHandlers[10]->setCustomFdir(fdir);
spiCookie =
new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, q7s::SPI_DEFAULT_DEV,
SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[11] = new SusHandler(objects::SUS_11, 11, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_11);
susHandlers[11]->setParent(objects::SUS_BOARD_ASS);
@ -835,7 +826,7 @@ void ObjectFactory::createSyrlinksComponents() {
new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie);
}
void ObjectFactory::createRtdComponents(LinuxLibgpioIF* gpioComIF) {
void ObjectFactory::createRtdComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher) {
using namespace gpio;
GpioCookie* rtdGpioCookie = new GpioCookie;
@ -890,142 +881,58 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF* gpioComIF) {
gpioComIF->addGpios(rtdGpioCookie);
static constexpr uint8_t NUMBER_RTDS = 16;
#if OBSW_ADD_RTD_DEVICES == 1
SpiCookie* spiRtdIc0 =
new SpiCookie(addresses::RTD_IC_3, gpioIds::RTD_IC_3, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc1 =
new SpiCookie(addresses::RTD_IC_4, gpioIds::RTD_IC_4, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc2 =
new SpiCookie(addresses::RTD_IC_5, gpioIds::RTD_IC_5, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc3 =
new SpiCookie(addresses::RTD_IC_6, gpioIds::RTD_IC_6, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc4 =
new SpiCookie(addresses::RTD_IC_7, gpioIds::RTD_IC_7, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc5 =
new SpiCookie(addresses::RTD_IC_8, gpioIds::RTD_IC_8, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc6 =
new SpiCookie(addresses::RTD_IC_9, gpioIds::RTD_IC_9, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc7 =
new SpiCookie(addresses::RTD_IC_10, gpioIds::RTD_IC_10, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc8 =
new SpiCookie(addresses::RTD_IC_11, gpioIds::RTD_IC_11, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc9 =
new SpiCookie(addresses::RTD_IC_12, gpioIds::RTD_IC_12, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc10 =
new SpiCookie(addresses::RTD_IC_13, gpioIds::RTD_IC_13, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc11 =
new SpiCookie(addresses::RTD_IC_14, gpioIds::RTD_IC_14, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc12 =
new SpiCookie(addresses::RTD_IC_15, gpioIds::RTD_IC_15, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc13 =
new SpiCookie(addresses::RTD_IC_16, gpioIds::RTD_IC_16, std::string(q7s::SPI_DEFAULT_DEV),
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc14 =
new SpiCookie(addresses::RTD_IC_17, gpioIds::RTD_IC_17, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc15 =
new SpiCookie(addresses::RTD_IC_18, gpioIds::RTD_IC_18, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
Max31865PT1000Handler* rtdIc0 =
new Max31865PT1000Handler(objects::RTD_IC_3, objects::SPI_COM_IF, spiRtdIc0);
Max31865PT1000Handler* rtdIc1 =
new Max31865PT1000Handler(objects::RTD_IC_4, objects::SPI_COM_IF, spiRtdIc1);
Max31865PT1000Handler* rtdIc2 =
new Max31865PT1000Handler(objects::RTD_IC_5, objects::SPI_COM_IF, spiRtdIc2);
Max31865PT1000Handler* rtdIc3 =
new Max31865PT1000Handler(objects::RTD_IC_6, objects::SPI_COM_IF, spiRtdIc3);
Max31865PT1000Handler* rtdIc4 =
new Max31865PT1000Handler(objects::RTD_IC_7, objects::SPI_COM_IF, spiRtdIc4);
Max31865PT1000Handler* rtdIc5 =
new Max31865PT1000Handler(objects::RTD_IC_8, objects::SPI_COM_IF, spiRtdIc5);
Max31865PT1000Handler* rtdIc6 =
new Max31865PT1000Handler(objects::RTD_IC_9, objects::SPI_COM_IF, spiRtdIc6);
Max31865PT1000Handler* rtdIc7 =
new Max31865PT1000Handler(objects::RTD_IC_10, objects::SPI_COM_IF, spiRtdIc7);
Max31865PT1000Handler* rtdIc8 =
new Max31865PT1000Handler(objects::RTD_IC_11, objects::SPI_COM_IF, spiRtdIc8);
Max31865PT1000Handler* rtdIc9 =
new Max31865PT1000Handler(objects::RTD_IC_12, objects::SPI_COM_IF, spiRtdIc9);
Max31865PT1000Handler* rtdIc10 =
new Max31865PT1000Handler(objects::RTD_IC_13, objects::SPI_COM_IF, spiRtdIc10);
Max31865PT1000Handler* rtdIc11 =
new Max31865PT1000Handler(objects::RTD_IC_14, objects::SPI_COM_IF, spiRtdIc11);
Max31865PT1000Handler* rtdIc12 =
new Max31865PT1000Handler(objects::RTD_IC_15, objects::SPI_COM_IF, spiRtdIc12);
Max31865PT1000Handler* rtdIc13 =
new Max31865PT1000Handler(objects::RTD_IC_16, objects::SPI_COM_IF, spiRtdIc13);
Max31865PT1000Handler* rtdIc14 =
new Max31865PT1000Handler(objects::RTD_IC_17, objects::SPI_COM_IF, spiRtdIc14);
Max31865PT1000Handler* rtdIc15 =
new Max31865PT1000Handler(objects::RTD_IC_18, objects::SPI_COM_IF, spiRtdIc15);
std::array<std::pair<address_t, gpioId_t>, NUMBER_RTDS> cookieArgs = {{
{addresses::RTD_IC_3, gpioIds::RTD_IC_3},
{addresses::RTD_IC_4, gpioIds::RTD_IC_4},
{addresses::RTD_IC_5, gpioIds::RTD_IC_5},
{addresses::RTD_IC_6, gpioIds::RTD_IC_6},
{addresses::RTD_IC_7, gpioIds::RTD_IC_7},
{addresses::RTD_IC_8, gpioIds::RTD_IC_8},
{addresses::RTD_IC_9, gpioIds::RTD_IC_9},
{addresses::RTD_IC_10, gpioIds::RTD_IC_10},
{addresses::RTD_IC_11, gpioIds::RTD_IC_11},
{addresses::RTD_IC_12, gpioIds::RTD_IC_12},
{addresses::RTD_IC_13, gpioIds::RTD_IC_13},
{addresses::RTD_IC_14, gpioIds::RTD_IC_14},
{addresses::RTD_IC_15, gpioIds::RTD_IC_15},
{addresses::RTD_IC_16, gpioIds::RTD_IC_16},
{addresses::RTD_IC_17, gpioIds::RTD_IC_17},
{addresses::RTD_IC_18, gpioIds::RTD_IC_18},
}};
std::array<object_id_t, NUMBER_RTDS> rtdIds = {
objects::RTD_IC_3, objects::RTD_IC_4, objects::RTD_IC_5, objects::RTD_IC_6,
objects::RTD_IC_7, objects::RTD_IC_8, objects::RTD_IC_9, objects::RTD_IC_10,
objects::RTD_IC_11, objects::RTD_IC_12, objects::RTD_IC_13, objects::RTD_IC_14,
objects::RTD_IC_15, objects::RTD_IC_16, objects::RTD_IC_17, objects::RTD_IC_18};
std::array<SpiCookie*, NUMBER_RTDS> rtdCookies = {};
std::array<Max31865PT1000Handler*, NUMBER_RTDS> rtds = {};
RtdFdir* rtdFdir = nullptr;
for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
rtdCookies[idx] =
new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
rtds[idx] = new Max31865PT1000Handler(rtdIds[idx], objects::SPI_COM_IF, rtdCookies[idx]);
rtds[idx]->setParent(objects::TCS_BOARD_ASS);
rtdFdir = new RtdFdir(rtdIds[idx]);
rtds[idx]->setCustomFdir(rtdFdir);
}
#if OBSW_TEST_RTD == 1
rtdIc0->setStartUpImmediately();
rtdIc1->setStartUpImmediately();
rtdIc2->setStartUpImmediately();
rtdIc3->setStartUpImmediately();
rtdIc4->setStartUpImmediately();
rtdIc5->setStartUpImmediately();
rtdIc6->setStartUpImmediately();
rtdIc7->setStartUpImmediately();
rtdIc8->setStartUpImmediately();
rtdIc9->setStartUpImmediately();
rtdIc10->setStartUpImmediately();
rtdIc11->setStartUpImmediately();
rtdIc12->setStartUpImmediately();
rtdIc13->setStartUpImmediately();
rtdIc14->setStartUpImmediately();
rtdIc15->setStartUpImmediately();
rtdIc0->setInstantNormal(true);
rtdIc1->setInstantNormal(true);
rtdIc2->setInstantNormal(true);
rtdIc3->setInstantNormal(true);
rtdIc4->setInstantNormal(true);
rtdIc5->setInstantNormal(true);
rtdIc6->setInstantNormal(true);
rtdIc7->setInstantNormal(true);
rtdIc8->setInstantNormal(true);
rtdIc9->setInstantNormal(true);
rtdIc10->setInstantNormal(true);
rtdIc11->setInstantNormal(true);
rtdIc12->setInstantNormal(true);
rtdIc13->setInstantNormal(true);
rtdIc14->setInstantNormal(true);
rtdIc15->setInstantNormal(true);
#endif
static_cast<void>(rtdIc0);
static_cast<void>(rtdIc1);
static_cast<void>(rtdIc2);
static_cast<void>(rtdIc3);
static_cast<void>(rtdIc4);
static_cast<void>(rtdIc5);
static_cast<void>(rtdIc6);
static_cast<void>(rtdIc7);
static_cast<void>(rtdIc8);
static_cast<void>(rtdIc9);
static_cast<void>(rtdIc10);
static_cast<void>(rtdIc11);
static_cast<void>(rtdIc12);
static_cast<void>(rtdIc13);
static_cast<void>(rtdIc14);
static_cast<void>(rtdIc15);
#endif
for (auto& rtd : rtds) {
if (rtd != nullptr) {
rtd->setStartUpImmediately();
rtd->setInstantNormal(true);
}
}
#endif // OBSW_TEST_RTD == 1
TcsBoardHelper helper(rtdIds);
TcsBoardAssembly* tcsBoardAss =
new TcsBoardAssembly(objects::TCS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
pcduSwitches::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
static_cast<void>(tcsBoardAss);
#endif // OBSW_ADD_RTD_DEVICES == 1
}
void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {

2
bsp_q7s/core/ObjectFactory.h
View File

@ -25,7 +25,7 @@ void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
void createHeaterComponents();
void createSolarArrayDeploymentComponents();
void createSyrlinksComponents();
void createRtdComponents(LinuxLibgpioIF* gpioComIF);
void createRtdComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
void createCcsdsComponents(LinuxLibgpioIF* gpioComIF);
void createTestComponents(LinuxLibgpioIF* gpioComIF);

3
common/config/commonObjects.h
View File

@ -94,7 +94,8 @@ enum commonObjects: uint32_t {
// 0x73 ('s') for assemblies and system/subsystem components
ACS_BOARD_ASS = 0x73000001,
SUS_BOARD_ASS = 0x73000002
SUS_BOARD_ASS = 0x73000002,
TCS_BOARD_ASS = 0x73000003
};
}

1
common/config/commonSubsystemIds.h
View File

@ -22,6 +22,7 @@ enum: uint8_t {
PL_PCDU_HANDLER = 121,
ACS_BOARD_ASS = 122,
SUS_BOARD_ASS = 123,
TCS_BOARD_ASS = 124,
COMMON_SUBSYSTEM_ID_END
};
}

1
common/config/devConf.h
View File

@ -28,6 +28,7 @@ static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
* the decoder and buffer circuits. Thus frequency is here defined to 1 MHz.
*/
static const uint32_t SUS_MAX1227_SPI_FREQ = 976'000;
static constexpr spi::SpiModes SUS_MAX_1227_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 976'000;
static constexpr spi::SpiModes DEFAULT_MAX_1227_MODE = spi::SpiModes::MODE_3;

1
generators/bsp_q7s_events.csv
View File

@ -161,6 +161,7 @@
12301;0x300d;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/SusAssembly.h
12302;0x300e;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/SusAssembly.h
12303;0x300f;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/SusAssembly.h
12400;0x3070;CHILDREN_LOST_MODE;MEDIUM;;mission/system/TcsBoardAssembly.h
13600;0x3520;ALLOC_FAILURE;MEDIUM;;bsp_q7s/core/CoreController.h
13601;0x3521;REBOOT_SW;MEDIUM; Software reboot occured. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
13602;0x3522;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

1 2200 0x0898 STORE_SEND_WRITE_FAILED LOW fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
161 12301 0x300d NOT_ENOUGH_DEVICES_DUAL_MODE HIGH mission/system/SusAssembly.h
162 12302 0x300e POWER_STATE_MACHINE_TIMEOUT MEDIUM mission/system/SusAssembly.h
163 12303 0x300f 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/SusAssembly.h
164 12400 0x3070 CHILDREN_LOST_MODE MEDIUM mission/system/TcsBoardAssembly.h
165 13600 0x3520 ALLOC_FAILURE MEDIUM bsp_q7s/core/CoreController.h
166 13601 0x3521 REBOOT_SW MEDIUM Software reboot occured. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy bsp_q7s/core/CoreController.h
167 13602 0x3522 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

1
generators/bsp_q7s_objects.csv
View File

@ -109,6 +109,7 @@
0x54694269;TEST_TASK
0x73000001;ACS_BOARD_ASS
0x73000002;SUS_BOARD_ASS
0x73000003;TCS_BOARD_ASS
0x73000100;TM_FUNNEL
0x73500000;CCSDS_IP_CORE_BRIDGE
0xFFFFFFFF;NO_OBJECT

1 0x00005060 P60DOCK_TEST_TASK
109 0x54694269 TEST_TASK
110 0x73000001 ACS_BOARD_ASS
111 0x73000002 SUS_BOARD_ASS
112 0x73000003 TCS_BOARD_ASS
113 0x73000100 TM_FUNNEL
114 0x73500000 CCSDS_IP_CORE_BRIDGE
115 0xFFFFFFFF NO_OBJECT

7
generators/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 167 translations.
* @brief Auto-generated event translation file. Contains 168 translations.
* @details
* Generated on: 2022-03-22 10:19:12
* Generated on: 2022-03-22 20:43:04
*/
#include "translateEvents.h"
@ -164,6 +164,7 @@ const char *TRANSITION_OTHER_SIDE_FAILED_STRING = "TRANSITION_OTHER_SIDE_FAILED"
const char *NOT_ENOUGH_DEVICES_DUAL_MODE_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE";
const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
const char *REBOOT_SW_STRING = "REBOOT_SW";
const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
@ -489,6 +490,8 @@ const char *translateEvents(Event event) {
return POWER_STATE_MACHINE_TIMEOUT_STRING;
case (12203):
return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING;
case (12400):
return CHILDREN_LOST_MODE_STRING;
case (13600):
return ALLOC_FAILURE_STRING;
case (13601):

6
generators/gen.py
View File

@ -31,7 +31,11 @@ def main():
LOGGER.info("Generating returnvalue data")
time.sleep(0.05)
parse_returnvalues()
pass
elif args.type == "all":
LOGGER.info("Generating all data")
parse_objects()
parse_events()
parse_returnvalues()
if __name__ == "__main__":

7
generators/objects/translateObjects.cpp
View File

@ -1,8 +1,8 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 114 translations.
* Generated on: 2022-03-22 10:13:27
* Contains 115 translations.
* Generated on: 2022-03-22 20:43:04
*/
#include "translateObjects.h"
@ -117,6 +117,7 @@ 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 *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
const char *TCS_BOARD_ASS_STRING = "TCS_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";
@ -345,6 +346,8 @@ const char *translateObject(object_id_t object) {
return ACS_BOARD_ASS_STRING;
case 0x73000002:
return SUS_BOARD_ASS_STRING;
case 0x73000003:
return TCS_BOARD_ASS_STRING;
case 0x73000100:
return TM_FUNNEL_STRING;
case 0x73500000:

7
linux/fsfwconfig/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 167 translations.
* @brief Auto-generated event translation file. Contains 168 translations.
* @details
* Generated on: 2022-03-22 10:19:12
* Generated on: 2022-03-22 20:43:04
*/
#include "translateEvents.h"
@ -164,6 +164,7 @@ const char *TRANSITION_OTHER_SIDE_FAILED_STRING = "TRANSITION_OTHER_SIDE_FAILED"
const char *NOT_ENOUGH_DEVICES_DUAL_MODE_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE";
const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
const char *REBOOT_SW_STRING = "REBOOT_SW";
const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
@ -489,6 +490,8 @@ const char *translateEvents(Event event) {
return POWER_STATE_MACHINE_TIMEOUT_STRING;
case (12203):
return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING;
case (12400):
return CHILDREN_LOST_MODE_STRING;
case (13600):
return ALLOC_FAILURE_STRING;
case (13601):

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

@ -1,8 +1,8 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 114 translations.
* Generated on: 2022-03-22 10:13:27
* Contains 115 translations.
* Generated on: 2022-03-22 20:43:04
*/
#include "translateObjects.h"
@ -117,6 +117,7 @@ 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 *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
const char *TCS_BOARD_ASS_STRING = "TCS_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";
@ -345,6 +346,8 @@ const char *translateObject(object_id_t object) {
return ACS_BOARD_ASS_STRING;
case 0x73000002:
return SUS_BOARD_ASS_STRING;
case 0x73000003:
return TCS_BOARD_ASS_STRING;
case 0x73000100:
return TM_FUNNEL_STRING;
case 0x73500000:

18
mission/devices/Max31865PT1000Handler.cpp
View File

@ -87,6 +87,7 @@ void Max31865PT1000Handler::doStartUp() {
void Max31865PT1000Handler::doShutDown() {
commandExecuted = false;
warningSwitch = true;
setMode(_MODE_POWER_DOWN);
}
@ -319,14 +320,17 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
switch (id) {
case (Max31865Definitions::REQUEST_CONFIG): {
if (packet[1] != DEFAULT_CONFIG) {
if (warningSwitch) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
// it propably would be better if we at least try one restart..
sif::error << "Max31865PT1000Handler: 0x" << std::hex << this->getObjectId()
<< ": Invalid configuration reply" << std::endl;
// it propably would be better if we at least try one restart..
sif::warning << "Max31865PT1000Handler: 0x" << std::hex << this->getObjectId()
<< ": Invalid configuration reply" << std::endl;
#else
sif::printError("Max31865PT1000Handler: %04x: Invalid configuration reply!\n",
this->getObjectId());
sif::printWarning("Max31865PT1000Handler: %04x: Invalid configuration reply!\n",
this->getObjectId());
#endif
warningSwitch = false;
}
return HasReturnvaluesIF::RETURN_OK;
}
// set to true for invalid configs too for now.
@ -505,10 +509,6 @@ ReturnValue_t Max31865PT1000Handler::getSwitches(const uint8_t **switches,
return DeviceHandlerBase::NO_SWITCH;
}
void Max31865PT1000Handler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
}
ReturnValue_t Max31865PT1000Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(Max31865Definitions::PoolIds::RTD_VALUE, new PoolEntry<float>({0}));

5
mission/devices/Max31865PT1000Handler.h
View File

@ -74,8 +74,6 @@ class Max31865PT1000Handler : public DeviceHandlerBase {
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) override;
void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0,
uint32_t parameter = 0) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
@ -84,7 +82,8 @@ class Max31865PT1000Handler : public DeviceHandlerBase {
private:
uint8_t switchId = 0;
bool instantNormal = true;
bool instantNormal = false;
bool warningSwitch = true;
enum class InternalState {
NONE,

5
mission/system/CMakeLists.txt
View File

@ -2,13 +2,14 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE
AcsBoardAssembly.cpp
SusAssembly.cpp
AcsSubsystem.cpp
TcsSubsystem.cpp
EiveSystem.cpp
ComSubsystem.cpp
TcsSubsystem.cpp
DualLanePowerStateMachine.cpp
PowerStateMachineBase.cpp
DualLaneAssemblyBase.cpp
TcsBoardAssembly.cpp
AcsBoardFdir.cpp
SusFdir.cpp
RtdFdir.cpp
)

10
mission/system/DualLaneAssemblyBase.cpp
View File

@ -63,8 +63,8 @@ bool DualLaneAssemblyBase::isUseable(object_id_t object, Mode_t mode) {
}
ReturnValue_t DualLaneAssemblyBase::pwrStateMachineWrapper() {
using namespace duallane;
OpCodes opCode = pwrStateMachine.powerStateMachine();
using namespace power;
OpCodes opCode = pwrStateMachine.fsm();
if (customRecoveryStates == RecoveryCustomStates::IDLE) {
if (opCode == OpCodes::NONE) {
return RETURN_OK;
@ -163,7 +163,7 @@ void DualLaneAssemblyBase::handleModeTransitionFailed(ReturnValue_t result) {
}
bool DualLaneAssemblyBase::checkAndHandleRecovery() {
using namespace duallane;
using namespace power;
OpCodes opCode = OpCodes::NONE;
if (recoveryState == RECOVERY_IDLE) {
return AssemblyBase::checkAndHandleRecovery();
@ -173,14 +173,14 @@ bool DualLaneAssemblyBase::checkAndHandleRecovery() {
customRecoveryStates = RecoveryCustomStates::POWER_SWITCHING_OFF;
}
if (customRecoveryStates == POWER_SWITCHING_OFF) {
opCode = pwrStateMachine.powerStateMachine();
opCode = pwrStateMachine.fsm();
if (opCode == OpCodes::TO_OFF_DONE or opCode == OpCodes::TIMEOUT_OCCURED) {
customRecoveryStates = RecoveryCustomStates::POWER_SWITCHING_ON;
pwrStateMachine.start(targetMode, targetSubmode);
}
}
if (customRecoveryStates == POWER_SWITCHING_ON) {
opCode = pwrStateMachine.powerStateMachine();
opCode = pwrStateMachine.fsm();
if (opCode == OpCodes::TO_NOT_OFF_DONE or opCode == OpCodes::TIMEOUT_OCCURED) {
customRecoveryStates = RecoveryCustomStates::DONE;
}

2
mission/system/DualLaneAssemblyBase.h
View File

@ -69,7 +69,7 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
virtual void startTransition(Mode_t mode, Submode_t submode) override;
virtual void handleChildrenLostMode(ReturnValue_t result) override;
virtual void handleModeTransitionFailed(ReturnValue_t result) override;
virtual void handleModeReached();
virtual void handleModeReached() override;
MessageQueueId_t getEventReceptionQueue() override;

61
mission/system/DualLanePowerStateMachine.cpp
View File

@ -7,37 +7,16 @@ DualLanePowerStateMachine::DualLanePowerStateMachine(pcduSwitches::Switches swit
pcduSwitches::Switches switchB,
PowerSwitchIF* pwrSwitcher,
dur_millis_t checkTimeout)
: SWITCH_A(switchA), SWITCH_B(switchB), pwrSwitcher(pwrSwitcher), checkTimeout(checkTimeout) {}
: PowerStateMachineBase(pwrSwitcher, checkTimeout), SWITCH_A(switchA), SWITCH_B(switchB) {}
void DualLanePowerStateMachine::setCheckTimeout(dur_millis_t timeout) {
checkTimeout.setTimeout(timeout);
}
void DualLanePowerStateMachine::start(Mode_t mode, Submode_t submode) {
reset();
checkTimeout.resetTimer();
targetMode = mode;
targetSubmode = submode;
state = duallane::PwrStates::SWITCHING_POWER;
}
duallane::PwrStates DualLanePowerStateMachine::getState() const { return state; }
bool DualLanePowerStateMachine::active() {
if (state == duallane::PwrStates::IDLE or state == duallane::PwrStates::MODE_COMMANDING) {
return false;
}
return true;
}
duallane::OpCodes DualLanePowerStateMachine::powerStateMachine() {
power::OpCodes DualLanePowerStateMachine::fsm() {
using namespace duallane;
ReturnValue_t switchStateA = RETURN_OK;
ReturnValue_t switchStateB = RETURN_OK;
if (state == PwrStates::IDLE or state == PwrStates::MODE_COMMANDING) {
if (state == power::States::IDLE or state == power::States::MODE_COMMANDING) {
return opResult;
}
if (state == PwrStates::SWITCHING_POWER or state == PwrStates::CHECKING_POWER) {
if (state == power::States::SWITCHING_POWER or state == power::States::CHECKING_POWER) {
switchStateA = pwrSwitcher->getSwitchState(SWITCH_A);
switchStateB = pwrSwitcher->getSwitchState(SWITCH_B);
} else {
@ -45,8 +24,8 @@ duallane::OpCodes DualLanePowerStateMachine::powerStateMachine() {
}
if (targetMode == HasModesIF::MODE_OFF) {
if (switchStateA == PowerSwitchIF::SWITCH_OFF and switchStateB == PowerSwitchIF::SWITCH_OFF) {
state = PwrStates::IDLE;
opResult = OpCodes::TO_OFF_DONE;
state = power::States::IDLE;
opResult = power::OpCodes::TO_OFF_DONE;
return opResult;
}
} else {
@ -54,8 +33,8 @@ duallane::OpCodes DualLanePowerStateMachine::powerStateMachine() {
case (A_SIDE): {
if (switchStateA == PowerSwitchIF::SWITCH_ON and
switchStateB == PowerSwitchIF::SWITCH_OFF) {
state = PwrStates::MODE_COMMANDING;
opResult = OpCodes::TO_NOT_OFF_DONE;
state = power::States::MODE_COMMANDING;
opResult = power::OpCodes::TO_NOT_OFF_DONE;
return opResult;
}
break;
@ -63,22 +42,22 @@ duallane::OpCodes DualLanePowerStateMachine::powerStateMachine() {
case (B_SIDE): {
if (switchStateA == PowerSwitchIF::SWITCH_OFF and
switchStateB == PowerSwitchIF::SWITCH_ON) {
state = PwrStates::MODE_COMMANDING;
opResult = OpCodes::TO_NOT_OFF_DONE;
state = power::States::MODE_COMMANDING;
opResult = power::OpCodes::TO_NOT_OFF_DONE;
return opResult;
}
break;
}
case (DUAL_MODE): {
if (switchStateA == PowerSwitchIF::SWITCH_ON and switchStateB == PowerSwitchIF::SWITCH_ON) {
state = PwrStates::MODE_COMMANDING;
opResult = OpCodes::TO_NOT_OFF_DONE;
state = power::States::MODE_COMMANDING;
opResult = power::OpCodes::TO_NOT_OFF_DONE;
return opResult;
}
}
}
}
if (state == PwrStates::SWITCHING_POWER) {
if (state == power::States::SWITCHING_POWER) {
if (targetMode == HasModesIF::MODE_OFF) {
if (switchStateA != PowerSwitchIF::SWITCH_OFF) {
pwrSwitcher->sendSwitchCommand(SWITCH_A, PowerSwitchIF::SWITCH_OFF);
@ -121,20 +100,12 @@ duallane::OpCodes DualLanePowerStateMachine::powerStateMachine() {
}
}
}
state = PwrStates::CHECKING_POWER;
state = power::States::CHECKING_POWER;
}
if (state == PwrStates::CHECKING_POWER) {
if (state == power::States::CHECKING_POWER) {
if (checkTimeout.hasTimedOut()) {
return OpCodes::TIMEOUT_OCCURED;
return power::OpCodes::TIMEOUT_OCCURED;
}
}
return opResult;
}
void DualLanePowerStateMachine::reset() {
state = duallane::PwrStates::IDLE;
opResult = duallane::OpCodes::NONE;
targetMode = HasModesIF::MODE_OFF;
targetSubmode = 0;
checkTimeout.resetTimer();
}

17
mission/system/DualLanePowerStateMachine.h
View File

@ -3,32 +3,23 @@
#include <devices/powerSwitcherList.h>
#include <fsfw/modes/HasModesIF.h>
#include <mission/system/PowerStateMachineBase.h>
#include "definitions.h"
class AssemblyBase;
class PowerSwitchIF;
class DualLanePowerStateMachine : public HasReturnvaluesIF {
class DualLanePowerStateMachine : public PowerStateMachineBase {
public:
DualLanePowerStateMachine(pcduSwitches::Switches switchA, pcduSwitches::Switches switchB,
PowerSwitchIF* pwrSwitcher, dur_millis_t checkTimeout = 5000);
void setCheckTimeout(dur_millis_t timeout);
void reset();
void start(Mode_t mode, Submode_t submode);
bool active();
duallane::PwrStates getState() const;
duallane::OpCodes powerStateMachine();
power::OpCodes fsm() override;
const pcduSwitches::Switches SWITCH_A;
const pcduSwitches::Switches SWITCH_B;
private:
duallane::OpCodes opResult = duallane::OpCodes::NONE;
duallane::PwrStates state = duallane::PwrStates::IDLE;
PowerSwitchIF* pwrSwitcher = nullptr;
Mode_t targetMode = HasModesIF::MODE_OFF;
Submode_t targetSubmode = 0;
Countdown checkTimeout;
};
#endif /* MISSION_SYSTEM_DUALLANEPOWERSTATEMACHINE_H_ */

33
mission/system/PowerStateMachineBase.cpp Normal file
View File

@ -0,0 +1,33 @@
#include "PowerStateMachineBase.h"
PowerStateMachineBase::PowerStateMachineBase(PowerSwitchIF *pwrSwitcher, dur_millis_t checkTimeout)
: pwrSwitcher(pwrSwitcher), checkTimeout(checkTimeout) {}
void PowerStateMachineBase::reset() {
state = power::States::IDLE;
opResult = power::OpCodes::NONE;
targetMode = HasModesIF::MODE_OFF;
targetSubmode = 0;
checkTimeout.resetTimer();
}
void PowerStateMachineBase::setCheckTimeout(dur_millis_t timeout) {
checkTimeout.setTimeout(timeout);
}
void PowerStateMachineBase::start(Mode_t mode, Submode_t submode) {
reset();
checkTimeout.resetTimer();
targetMode = mode;
targetSubmode = submode;
state = power::States::SWITCHING_POWER;
}
power::States PowerStateMachineBase::getState() const { return state; }
bool PowerStateMachineBase::active() {
if (state == power::States::IDLE or state == power::States::MODE_COMMANDING) {
return false;
}
return true;
}

31
mission/system/PowerStateMachineBase.h Normal file
View File

@ -0,0 +1,31 @@
#ifndef MISSION_SYSTEM_POWERSTATEMACHINE_H_
#define MISSION_SYSTEM_POWERSTATEMACHINE_H_
#include <fsfw/modes/HasModesIF.h>
#include <fsfw/power/PowerSwitchIF.h>
#include <fsfw/timemanager/Countdown.h>
#include "definitions.h"
class PowerStateMachineBase : public HasReturnvaluesIF {
public:
PowerStateMachineBase(PowerSwitchIF* pwrSwitcher, dur_millis_t checkTimeout);
virtual power::OpCodes fsm() = 0;
void setCheckTimeout(dur_millis_t timeout);
void reset();
void start(Mode_t mode, Submode_t submode);
bool active();
power::States getState() const;
protected:
power::OpCodes opResult = power::OpCodes::NONE;
power::States state = power::States::IDLE;
PowerSwitchIF* pwrSwitcher = nullptr;
Mode_t targetMode = HasModesIF::MODE_OFF;
Submode_t targetSubmode = 0;
Countdown checkTimeout;
};
#endif /* MISSION_SYSTEM_POWERSTATEMACHINE_H_ */

6
mission/system/RtdFdir.cpp Normal file
View File

@ -0,0 +1,6 @@
#include "RtdFdir.h"
#include <common/config/commonObjects.h>
RtdFdir::RtdFdir(object_id_t sensorId)
: DeviceHandlerFailureIsolation(sensorId, objects::TCS_BOARD_ASS) {}

11
mission/system/RtdFdir.h Normal file
View File

@ -0,0 +1,11 @@
#ifndef MISSION_SYSTEM_RTDFDIR_H_
#define MISSION_SYSTEM_RTDFDIR_H_
#include <fsfw/devicehandlers/DeviceHandlerFailureIsolation.h>
class RtdFdir : public DeviceHandlerFailureIsolation {
public:
RtdFdir(object_id_t sensorId);
};
#endif /* MISSION_SYSTEM_RTDFDIR_H_ */

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mission/system/TcsBoardAssembly.cpp Normal file
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#include "TcsBoardAssembly.h"
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/ipc/QueueFactory.h>
TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, object_id_t parentId,
PowerSwitchIF* pwrSwitcher, power::Switch_t theSwitch,
TcsBoardHelper helper)
: AssemblyBase(objectId, parentId, 24), switcher(pwrSwitcher, theSwitch), helper(helper) {
eventQueue = QueueFactory::instance()->createMessageQueue(24);
ModeListEntry entry;
for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
entry.setObject(helper.rtdIds[idx]);
entry.setMode(MODE_OFF);
entry.setSubmode(SUBMODE_NONE);
entry.setInheritSubmode(false);
modeTable.insert(entry);
}
}
void TcsBoardAssembly::performChildOperation() {
auto state = switcher.getState();
if (state != PowerSwitcher::WAIT_OFF and state != PowerSwitcher::WAIT_ON) {
AssemblyBase::performChildOperation();
return;
}
switcher.doStateMachine();
if (state == PowerSwitcher::WAIT_OFF and switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
// Indicator that a transition to off is finished
AssemblyBase::handleModeReached();
} else if (state == PowerSwitcher::WAIT_ON and
switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
// Indicator that mode commanding can be performed now
AssemblyBase::startTransition(targetMode, targetSubmode);
// AssemblyBase::performChildOperation();
}
}
ReturnValue_t TcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode) {
ReturnValue_t result = RETURN_OK;
// Initialize the mode table to ensure all devices are in a defined state
for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
modeTable[idx].setMode(MODE_OFF);
modeTable[idx].setSubmode(SUBMODE_NONE);
}
if (recoveryState != RecoveryState::RECOVERY_STARTED) {
if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
result = handleNormalOrOnModeCmd(mode, submode);
}
}
HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
executeTable(tableIter);
return result;
}
ReturnValue_t TcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
int devsInWrongMode = 0;
try {
for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
if (childrenMap.at(helper.rtdIds[idx]).mode != wantedMode) {
devsInWrongMode++;
}
}
} catch (const std::out_of_range& e) {
sif::error << "TcsBoardAssembly: Invalid children map: " << e.what() << std::endl;
}
if (devsInWrongMode >= 3) {
if (warningSwitch) {
sif::warning << "TcsBoardAssembly::checkChildrenStateOn: " << devsInWrongMode << " devices in"
<< " wrong mode" << std::endl;
warningSwitch = false;
}
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
// TODO: Can't really do something other than power cycling if devices in wrong mode.
// Might attempt one power-cycle. In any case, trigger an event
if (devsInWrongMode > 0) {
if (warningSwitch) {
sif::warning << "TcsBoardAssembly::checkChildrenStateOn: " << devsInWrongMode << " devices in"
<< " wrong mode" << std::endl;
warningSwitch = false;
}
}
return RETURN_OK;
}
ReturnValue_t TcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
if (mode == MODE_ON or mode == MODE_OFF or mode == DeviceHandlerIF::MODE_NORMAL) {
return RETURN_OK;
}
return HasModesIF::INVALID_MODE;
}
ReturnValue_t TcsBoardAssembly::initialize() {
ReturnValue_t result = RETURN_OK;
for (const auto& obj : helper.rtdIds) {
result = registerChild(obj);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
return SubsystemBase::initialize();
}
void TcsBoardAssembly::startTransition(Mode_t mode, Submode_t submode) {
if (mode != MODE_OFF) {
switcher.turnOn(true);
switcher.doStateMachine();
if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
AssemblyBase::startTransition(mode, submode);
} else {
// Need to wait with mode commanding until power switcher is done
targetMode = mode;
targetSubmode = submode;
}
} else {
// Perform regular mode commanding first
AssemblyBase::startTransition(mode, submode);
}
}
ReturnValue_t TcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
ReturnValue_t result = RETURN_OK;
bool needsSecondStep = false;
Mode_t devMode = 0;
object_id_t objId = 0;
try {
for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
devMode = childrenMap.at(helper.rtdIds[idx]).mode;
objId = helper.rtdIds[idx];
if (mode == devMode) {
modeTable[idx].setMode(mode);
} else if (mode == DeviceHandlerIF::MODE_NORMAL) {
if (isUseable(objId, devMode)) {
if (devMode == MODE_ON) {
modeTable[idx].setMode(mode);
modeTable[idx].setSubmode(SUBMODE_NONE);
} else {
modeTable[idx].setMode(MODE_ON);
modeTable[idx].setSubmode(SUBMODE_NONE);
if (internalState != STATE_SECOND_STEP) {
needsSecondStep = true;
}
}
}
} else if (mode == MODE_ON) {
if (isUseable(objId, devMode)) {
modeTable[idx].setMode(MODE_ON);
modeTable[idx].setSubmode(SUBMODE_NONE);
}
}
}
} catch (const std::out_of_range& e) {
sif::error << "TcsBoardAssembly: Invalid children map: " << e.what() << std::endl;
}
if (needsSecondStep) {
result = NEED_SECOND_STEP;
}
return result;
}
bool TcsBoardAssembly::isUseable(object_id_t object, Mode_t mode) {
if (healthHelper.healthTable->isFaulty(object)) {
return false;
}
// Check if device is already in target mode
if (childrenMap[object].mode == mode) {
return true;
}
if (healthHelper.healthTable->isCommandable(object)) {
return true;
}
return false;
}
MessageQueueId_t TcsBoardAssembly::getEventReceptionQueue() { return eventQueue->getId(); }
void TcsBoardAssembly::handleModeReached() {
if (targetMode == MODE_OFF) {
switcher.turnOff(true);
switcher.doStateMachine();
// Need to wait with call to AssemblyBase::handleModeReached until power switcher is done
if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
AssemblyBase::handleModeReached();
}
} else {
AssemblyBase::handleModeReached();
}
}
void TcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
// TODO: Maybe try a reboot once here?
triggerEvent(CHILDREN_LOST_MODE, result);
return;
}
void TcsBoardAssembly::handleModeTransitionFailed(ReturnValue_t result) {
if (targetMode == MODE_OFF) {
AssemblyBase::handleModeTransitionFailed(result);
} else {
// To avoid transitioning back to off
triggerEvent(MODE_TRANSITION_FAILED, result);
}
}

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#ifndef MISSION_SYSTEM_TCSSUBSYSTEM_H_
#define MISSION_SYSTEM_TCSSUBSYSTEM_H_
#include <fsfw/container/FixedArrayList.h>
#include <fsfw/devicehandlers/AssemblyBase.h>
#include <fsfw/power/PowerSwitcher.h>
struct TcsBoardHelper {
TcsBoardHelper(std::array<object_id_t, 16> rtdIds) : rtdIds(rtdIds) {}
std::array<object_id_t, 16> rtdIds = {};
};
class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
public:
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_BOARD_ASS;
static constexpr Event CHILDREN_LOST_MODE =
event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
TcsBoardAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
power::Switch_t switcher, TcsBoardHelper helper);
ReturnValue_t initialize() override;
void performChildOperation() override;
private:
static constexpr uint8_t NUMBER_RTDS = 16;
PowerSwitcher switcher;
bool warningSwitch = true;
TcsBoardHelper helper;
FixedArrayList<ModeListEntry, NUMBER_RTDS> modeTable;
MessageQueueIF* eventQueue = nullptr;
ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
/**
* Check whether it makes sense to send mode commands to the device
* @param object
* @param mode
* @return
*/
bool isUseable(object_id_t object, Mode_t mode);
// ConfirmFailureIF implementation
MessageQueueId_t getEventReceptionQueue() override;
// AssemblyBase implementation
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 startTransition(Mode_t mode, Submode_t submode) override;
void handleModeReached() override;
// These two overrides prevent a transition of the whole assembly back to off just because
// some devices are not working
void handleChildrenLostMode(ReturnValue_t result) override;
void handleModeTransitionFailed(ReturnValue_t result) override;
};
#endif /* MISSION_SYSTEM_TCSSUBSYSTEM_H_ */

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mission/system/TcsSubsystem.cpp
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#include "TcsSubsystem.h"

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mission/system/TcsSubsystem.h
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#ifndef MISSION_SYSTEM_TCSSUBSYSTEM_H_
#define MISSION_SYSTEM_TCSSUBSYSTEM_H_
#include <fsfw/subsystem/SubsystemBase.h>
class TcsSubsystem : SubsystemBase {};
#endif /* MISSION_SYSTEM_TCSSUBSYSTEM_H_ */

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mission/system/definitions.h
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#include <fsfw/modes/ModeMessage.h>
namespace power {
enum class States { IDLE, SWITCHING_POWER, CHECKING_POWER, MODE_COMMANDING };
enum class OpCodes { NONE, TO_OFF_DONE, TO_NOT_OFF_DONE, TIMEOUT_OCCURED };
} // namespace power
namespace duallane {
enum class PwrStates { IDLE, SWITCHING_POWER, CHECKING_POWER, MODE_COMMANDING };
enum class OpCodes { NONE, TO_OFF_DONE, TO_NOT_OFF_DONE, TIMEOUT_OCCURED };
enum Submodes : Submode_t { A_SIDE = 0, B_SIDE = 1, DUAL_MODE = 2 };
} // namespace duallane