Merge remote-tracking branch 'origin/develop' into bugfix_countdown_uses_sysclock
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This commit is contained in:
Robin Müller 2023-03-03 15:30:18 +01:00
commit 2165f34a28
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GPG Key ID: 11D4952C8CCEF814
6 changed files with 102 additions and 91 deletions

2
fsfw

@ -1 +1 @@
Subproject commit 64537d442a335500bdc87ff382099de65f0b7aa7
Subproject commit 6e17e45506b0d9834d3ae9ded6f044e13e3c4abd

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@ -26,7 +26,7 @@ AcsBoardPolling::AcsBoardPolling(object_id_t objectId, SpiComIF& lowLevelComIF,
ReturnValue_t AcsBoardPolling::performOperation(uint8_t operationCode) {
while (true) {
ipcLock->lockMutex();
ipcLock->lockMutex(LOCK_TYPE, LOCK_TIMEOUT);
state = InternalState::IDLE;
ipcLock->unlockMutex();
semaphore->acquire();
@ -177,7 +177,6 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
return returnvalue::FAILED;
}
auto* req = reinterpret_cast<const acs::MgmRm3100Request*>(sendData);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (req->mode != mgm.mode) {
if (req->mode == acs::SimpleSensorMode::NORMAL) {
mgm.performStartup = true;
@ -188,45 +187,47 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
}
return returnvalue::OK;
};
switch (spiCookie->getChipSelectPin()) {
case (gpioIds::MGM_0_LIS3_CS): {
handleLis3Request(mgm0Lis3);
break;
{
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
switch (spiCookie->getChipSelectPin()) {
case (gpioIds::MGM_0_LIS3_CS): {
handleLis3Request(mgm0Lis3);
break;
}
case (gpioIds::MGM_1_RM3100_CS): {
handleRm3100Request(mgm1Rm3100);
break;
}
case (gpioIds::MGM_2_LIS3_CS): {
handleLis3Request(mgm2Lis3);
break;
}
case (gpioIds::MGM_3_RM3100_CS): {
handleRm3100Request(mgm3Rm3100);
break;
}
case (gpioIds::GYRO_0_ADIS_CS): {
handleAdisRequest(gyro0Adis);
break;
}
case (gpioIds::GYRO_2_ADIS_CS): {
handleAdisRequest(gyro2Adis);
break;
}
case (gpioIds::GYRO_1_L3G_CS): {
handleL3gRequest(gyro1L3g);
break;
}
case (gpioIds::GYRO_3_L3G_CS): {
handleL3gRequest(gyro3L3g);
break;
}
}
case (gpioIds::MGM_1_RM3100_CS): {
handleRm3100Request(mgm1Rm3100);
break;
}
case (gpioIds::MGM_2_LIS3_CS): {
handleLis3Request(mgm2Lis3);
break;
}
case (gpioIds::MGM_3_RM3100_CS): {
handleRm3100Request(mgm3Rm3100);
break;
}
case (gpioIds::GYRO_0_ADIS_CS): {
handleAdisRequest(gyro0Adis);
break;
}
case (gpioIds::GYRO_2_ADIS_CS): {
handleAdisRequest(gyro2Adis);
break;
}
case (gpioIds::GYRO_1_L3G_CS): {
handleL3gRequest(gyro1L3g);
break;
}
case (gpioIds::GYRO_3_L3G_CS): {
handleL3gRequest(gyro3L3g);
break;
if (state == InternalState::IDLE) {
state = InternalState::BUSY;
}
}
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (state == InternalState::IDLE) {
state = InternalState::BUSY;
semaphore->release();
}
semaphore->release();
return returnvalue::OK;
}
@ -298,8 +299,8 @@ ReturnValue_t AcsBoardPolling::readReceivedMessage(CookieIF* cookie, uint8_t** b
void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
ReturnValue_t result;
acs::SimpleSensorMode mode;
bool gyroPerformStartup;
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
bool gyroPerformStartup = false;
{
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
mode = l3g.mode;
@ -444,7 +445,7 @@ ReturnValue_t AcsBoardPolling::readAdisCfg(SpiCookie& cookie, size_t transferLen
void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
ReturnValue_t result;
acs::SimpleSensorMode mode;
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
bool cdHasTimedOut = false;
bool mustPerformStartup = false;
{
@ -546,7 +547,7 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
ReturnValue_t result;
acs::SimpleSensorMode mode;
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
bool mustPerformStartup = false;
{
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
@ -639,7 +640,7 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
ReturnValue_t result;
acs::SimpleSensorMode mode;
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
bool mustPerformStartup = false;
{
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);

View File

@ -56,19 +56,28 @@ bool Max31865RtdPolling::rtdIsActive(uint8_t idx) {
return false;
}
bool Max31865RtdPolling::periodicInitHandling() {
ReturnValue_t Max31865RtdPolling::periodicInitHandling() {
using namespace MAX31865;
ReturnValue_t result = returnvalue::OK;
for (auto& rtd : rtds) {
if (rtd == nullptr) {
continue;
}
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
sif::warning << "Max31865RtdReader::periodicInitHandling: Mutex lock failed" << std::endl;
return false;
bool mustPerformInitHandling = false;
bool doWriteLowThreshold = false;
bool doWriteHighThreshold = false;
{
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
sif::warning << "Max31865RtdReader::periodicInitHandling: Mutex lock failed" << std::endl;
continue;
}
mustPerformInitHandling =
(rtd->on or rtd->db.active) and not rtd->db.configured and rtd->cd.hasTimedOut();
doWriteHighThreshold = rtd->writeHighThreshold;
doWriteLowThreshold = rtd->writeLowThreshold;
}
if ((rtd->on or rtd->db.active) and not rtd->db.configured and rtd->cd.hasTimedOut()) {
if (mustPerformInitHandling) {
// Please note that using the manual CS lock wrapper here is problematic. Might be a SPI
// or hardware specific issue where the CS needs to be pulled high and then low again
// between transfers
@ -77,13 +86,13 @@ bool Max31865RtdPolling::periodicInitHandling() {
handleSpiError(rtd, result, "writeCfgReg");
continue;
}
if (rtd->writeLowThreshold) {
if (doWriteLowThreshold) {
result = writeLowThreshold(rtd->spiCookie, rtd->lowThreshold);
if (result != returnvalue::OK) {
handleSpiError(rtd, result, "writeLowThreshold");
}
}
if (rtd->writeHighThreshold) {
if (doWriteHighThreshold) {
result = writeHighThreshold(rtd->spiCookie, rtd->highThreshold);
if (result != returnvalue::OK) {
handleSpiError(rtd, result, "writeHighThreshold");
@ -93,23 +102,12 @@ bool Max31865RtdPolling::periodicInitHandling() {
if (result != returnvalue::OK) {
handleSpiError(rtd, result, "clearFaultStatus");
}
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
rtd->db.configured = true;
rtd->db.active = true;
}
}
bool someRtdUsable = false;
for (auto& rtd : rtds) {
if (rtd == nullptr) {
continue;
}
if (rtdIsActive(rtd->idx)) {
#if OBSW_RTD_AUTO_MODE == 0
result = writeBiasSel(Bias::ON, rtd->spiCookie, BASE_CFG);
#endif
someRtdUsable = true;
}
}
return someRtdUsable;
return returnvalue::OK;
}
ReturnValue_t Max31865RtdPolling::periodicReadReqHandling() {
@ -119,12 +117,8 @@ ReturnValue_t Max31865RtdPolling::periodicReadReqHandling() {
if (rtd == nullptr) {
continue;
}
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
sif::warning << "Max31865RtdReader::periodicReadReqHandling: Mutex lock failed" << std::endl;
return returnvalue::FAILED;
}
if (rtdIsActive(rtd->idx)) {
updateActiveRtdsArray();
if (activeRtdsArray[rtd->idx]) {
ReturnValue_t result = writeCfgReg(rtd->spiCookie, BASE_CFG | (1 << CfgBitPos::ONE_SHOT));
if (result != returnvalue::OK) {
handleSpiError(rtd, result, "writeCfgReg");
@ -144,12 +138,8 @@ ReturnValue_t Max31865RtdPolling::periodicReadHandling() {
if (rtd == nullptr) {
continue;
}
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
sif::warning << "Max31865RtdReader::periodicReadHandling: Mutex lock failed" << std::endl;
return returnvalue::FAILED;
}
if (rtdIsActive(rtd->idx)) {
updateActiveRtdsArray();
if (activeRtdsArray[rtd->idx]) {
// Please note that using the manual CS lock wrapper here is problematic. Might be a SPI
// or hardware specific issue where the CS needs to be pulled high and then low again
// between transfers
@ -166,6 +156,7 @@ ReturnValue_t Max31865RtdPolling::periodicReadHandling() {
handleSpiError(rtd, result, "readRtdVal");
continue;
}
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (faultBitSet) {
rtd->db.faultBitSet = faultBitSet;
}
@ -212,6 +203,10 @@ ReturnValue_t Max31865RtdPolling::sendMessage(CookieIF* cookie, const uint8_t* s
if (cookie == nullptr) {
return returnvalue::FAILED;
}
auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
if (rtdCookie == nullptr) {
return returnvalue::FAILED;
}
// Empty command.. don't fail for now
if (sendLen < 1) {
return returnvalue::OK;
@ -221,7 +216,6 @@ ReturnValue_t Max31865RtdPolling::sendMessage(CookieIF* cookie, const uint8_t* s
sif::warning << "Max31865RtdReader::sendMessage: Mutex lock failed" << std::endl;
return returnvalue::FAILED;
}
auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
uint8_t cmdRaw = sendData[0];
if (cmdRaw > EiveMax31855::RtdCommands::NUM_CMDS) {
sif::warning << "Max31865RtdReader::sendMessage: Invalid command" << std::endl;
@ -310,15 +304,15 @@ ReturnValue_t Max31865RtdPolling::requestReceiveMessage(CookieIF* cookie, size_t
ReturnValue_t Max31865RtdPolling::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
size_t* size) {
auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
if (rtdCookie == nullptr) {
return returnvalue::FAILED;
}
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
// TODO: Emit warning
return returnvalue::FAILED;
}
auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
if (rtdCookie == nullptr) {
return returnvalue::FAILED;
}
uint8_t* exchangePtr = rtdCookie->exchangeBuf.data();
size_t serLen = 0;
auto result = rtdCookie->db.serialize(&exchangePtr, &serLen, rtdCookie->exchangeBuf.size(),
@ -459,6 +453,18 @@ ReturnValue_t Max31865RtdPolling::readNFromReg(SpiCookie* cookie, uint8_t reg, s
return returnvalue::OK;
}
ReturnValue_t Max31865RtdPolling::updateActiveRtdsArray() {
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
sif::warning << "Max31865RtdReader::periodicReadHandling: Mutex lock failed" << std::endl;
return returnvalue::FAILED;
}
for (const auto& rtd : rtds) {
activeRtdsArray[rtd->idx] = rtdIsActive(rtd->idx);
}
return returnvalue::OK;
}
ReturnValue_t Max31865RtdPolling::handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result,
const char* ctx) {
cookie->db.spiErrorCount.value += 1;

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@ -47,6 +47,7 @@ class Max31865RtdPolling : public SystemObject,
private:
std::vector<Max31865ReaderCookie*> rtds;
std::array<uint8_t, 4> cmdBuf = {};
std::array<bool, 12> activeRtdsArray{};
size_t dbLen = 0;
MutexIF* readerLock;
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
@ -59,7 +60,7 @@ class Max31865RtdPolling : public SystemObject,
uint32_t csTimeoutMs = spi::RTD_CS_TIMEOUT;
MutexIF* csLock = nullptr;
bool periodicInitHandling();
ReturnValue_t periodicInitHandling();
ReturnValue_t periodicReadReqHandling();
ReturnValue_t periodicReadHandling();
@ -84,6 +85,8 @@ class Max31865RtdPolling : public SystemObject,
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
ReturnValue_t updateActiveRtdsArray();
ReturnValue_t handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result, const char* ctx);
};

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@ -84,10 +84,11 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
}
// Will be the version in worst case scenario in event of no working MEKF (nor GYRs)
ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
bool sunRateBValid, double *magFieldB, bool magFieldBValid,
double *magRateB, bool magRateBValid, double *sunDirRef,
double *satRateRef, double *outputAngle, double *outputMagMomB) {
ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid,
double *sunRateB, bool sunRateBValid, double *magFieldB,
bool magFieldBValid, double *magRateB, bool magRateBValid,
double *sunDirRef, double *satRateRef, double *outputAngle,
double *outputMagMomB) {
// Check for invalid Inputs
if (!susDirBValid || !magFieldBValid || !magRateBValid) {
return returnvalue::FAILED;
@ -99,7 +100,7 @@ ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBVal
// normalize sunDir and magDir
double magDirB[3] = {0, 0, 0};
VectorOperations<double>::normalize(magFieldB, magDirB, 3);
VectorOperations<double>::normalize(magFieldBT, magDirB, 3);
VectorOperations<double>::normalize(susDirB, susDirB, 3);
// Cosinus angle between sunDir and magDir
@ -160,8 +161,8 @@ ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBVal
// Magnetic moment
double magMomB[3] = {0, 0, 0};
double crossMagFieldTorque[3] = {0, 0, 0};
VectorOperations<double>::cross(magFieldB, torqueB, crossMagFieldTorque);
double magMomFactor = pow(VectorOperations<double>::norm(magFieldB, 3), 2);
VectorOperations<double>::cross(magFieldBT, torqueB, crossMagFieldTorque);
double magMomFactor = pow(VectorOperations<double>::norm(magFieldBT, 3), 2);
VectorOperations<double>::mulScalar(crossMagFieldTorque, 1 / magMomFactor, magMomB, 3);
std::memcpy(outputMagMomB, magMomB, 3 * sizeof(double));

2
tmtc

@ -1 +1 @@
Subproject commit 77fbcede10d44fd15dc7d5d1b3965f06c6a8e7fc
Subproject commit 783d5a8ed56a9683fc75d2aaffcabe82af34ffa9