eive/eive-obsw
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Merge remote-tracking branch 'origin/develop' into thermal_controller
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This commit is contained in:
Robin Müller
2023-03-28 16:37:09 +02:00
parent 36d7852c1d 6a37503154
commit 28d7dcf177
45 changed files with 159 additions and 128 deletions
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9
bsp_q7s/OBSWConfig.h.in
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@ -13,9 +13,12 @@
/** All of the following flags should be enabled for mission code */
/*******************************************************************/
#define OBSW_ENABLE_PERIODIC_HK 0
// This enables a lot of periodically generated telemetry, so it can make sense to
// disable this for debugging purposes.
#define OBSW_ENABLE_PERIODIC_HK @OBSW_ENABLE_PERIODIC_HK@
// This switch will cause the SW to command the EIVE system object to safe mode. This will
// trigger a lot of events, so it can make sense to disable this for debugging purposes
// trigger a lot of events, so it can make sense to disable this for debugging purposes.
#define OBSW_COMMAND_SAFE_MODE_AT_STARTUP 1
#define OBSW_ADD_GOMSPACE_PCDU @OBSW_ADD_GOMSPACE_PCDU@
@ -28,8 +31,8 @@
#define OBSW_ADD_SUS_BOARD_ASS @OBSW_ADD_SUS_BOARD_ASS@
#define OBSW_ADD_ACS_BOARD @OBSW_ADD_ACS_BOARD@
#define OBSW_ADD_ACS_CTRL 1
#define OBSW_ADD_TCS_CTRL 1
#define OBSW_ADD_GPS_CTRL @OBSW_ADD_GPS_CTRL@
#define OBSW_ADD_TCS_CTRL @OBSW_ADD_TCS_CTRL@
#define OBSW_ADD_RW @OBSW_ADD_RW@
#define OBSW_ADD_RTD_DEVICES @OBSW_ADD_RTD_DEVICES@
#define OBSW_ADD_SA_DEPL @OBSW_ADD_SA_DEPL@

6
bsp_q7s/core/CoreController.cpp
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@ -31,8 +31,10 @@
xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;
CoreController::CoreController(object_id_t objectId, const std::atomic_uint16_t &i2cErrors)
CoreController::CoreController(object_id_t objectId, const std::atomic_uint16_t &i2cErrors,
bool enableHkSet)
: ExtendedControllerBase(objectId, 5),
enableHkSet(enableHkSet),
cmdExecutor(4096),
cmdReplyBuf(4096, true),
cmdRepliesSizes(128),
@ -136,7 +138,7 @@ ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &local
localDataPoolMap.emplace(core::TEMPERATURE, &tempPoolEntry);
localDataPoolMap.emplace(core::PS_VOLTAGE, &psVoltageEntry);
localDataPoolMap.emplace(core::PL_VOLTAGE, &plVoltageEntry);
poolManager.subscribeForRegularPeriodicPacket({hkSet.getSid(), false, 10.0});
poolManager.subscribeForRegularPeriodicPacket({hkSet.getSid(), enableHkSet, 12.0});
return returnvalue::OK;
}

3
bsp_q7s/core/CoreController.h
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@ -135,7 +135,7 @@ class CoreController : public ExtendedControllerBase {
static constexpr Event I2C_UNAVAILABLE_REBOOT =
event::makeEvent(SUBSYSTEM_ID, 10, severity::MEDIUM);
CoreController(object_id_t objectId, const std::atomic_uint16_t& i2cErrors);
CoreController(object_id_t objectId, const std::atomic_uint16_t& i2cErrors, bool enableHkSet);
virtual ~CoreController();
ReturnValue_t initialize() override;
@ -179,6 +179,7 @@ class CoreController : public ExtendedControllerBase {
static constexpr uint32_t BOOT_OFFSET_SECONDS = 15;
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;
// States for SD state machine, which is used in non-blocking mode

29
bsp_q7s/core/ObjectFactory.cpp
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@ -187,27 +187,28 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
//*spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
}
void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher,
bool enableHkSets) {
CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_SIZE, addresses::P60DOCK, 500);
CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU1, 500);
CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU2, 500);
CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_SIZE, addresses::ACU, 500);
auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
P60DockHandler* p60dockhandler =
new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie, p60Fdir);
P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF,
p60DockCspCookie, p60Fdir, enableHkSets);
auto pdu1Fdir = new GomspacePowerFdir(objects::PDU1_HANDLER);
Pdu1Handler* pdu1handler =
new Pdu1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
Pdu1Handler* pdu1handler = new Pdu1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF,
pdu1CspCookie, pdu1Fdir, enableHkSets);
auto pdu2Fdir = new GomspacePowerFdir(objects::PDU2_HANDLER);
Pdu2Handler* pdu2handler =
new Pdu2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
Pdu2Handler* pdu2handler = new Pdu2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
pdu2CspCookie, pdu2Fdir, enableHkSets);
auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
ACUHandler* acuhandler =
new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir);
ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie,
acuFdir, enableHkSets);
auto pcduHandler = new PcduHandler(objects::PCDU_HANDLER, 50);
/**
@ -963,14 +964,14 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
starTracker->setCustomFdir(strFdir);
}
void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets) {
auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
new ImtqPollingTask(objects::IMTQ_POLLING, I2C_FATAL_ERRORS);
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::IMTQ_POLLING, imtqI2cCookie,
power::Switches::PDU1_CH3_MGT_5V);
pcdu::Switches::PDU1_CH3_MGT_5V, enableHkSets);
imtqHandler->enableThermalModule(ThermalStateCfg());
imtqHandler->setPowerSwitcher(pwrSwitcher);
imtqHandler->connectModeTreeParent(*imtqAssy);
@ -984,10 +985,10 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
#endif
}
void ObjectFactory::createBpxBatteryComponent() {
void ObjectFactory::createBpxBatteryComponent(bool enableHkSets) {
I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_PL_EIVE);
BpxBatteryHandler* bpxHandler =
new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
BpxBatteryHandler* bpxHandler = new BpxBatteryHandler(
objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie, enableHkSets);
bpxHandler->setStartUpImmediately();
bpxHandler->setToGoToNormalMode(true);
#if OBSW_DEBUG_BPX_BATT == 1

7
bsp_q7s/core/ObjectFactory.h
View File

@ -53,7 +53,8 @@ void produce(void* args);
void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, SerialComIF** uartComIF,
SpiComIF** spiMainComIF, I2cComIF** i2cComIF);
void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher,
bool enableHkSets);
void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);
void createTmpComponents();
@ -63,8 +64,8 @@ void createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF, Ser
PowerSwitchIF& pwrSwitcher);
void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
HeaterHandler*& heaterHandler);
void createImtqComponents(PowerSwitchIF* pwrSwitcher);
void createBpxBatteryComponent();
void createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets);
void createBpxBatteryComponent(bool enableHkSets);
void createStrComponents(PowerSwitchIF* pwrSwitcher);
void createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher, GpioIF& gpioIF);
void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);

17
bsp_q7s/em/emObjectFactory.cpp
View File

@ -29,6 +29,11 @@ void ObjectFactory::produce(void* args) {
StorageManagerIF* ipcStore = nullptr;
StorageManagerIF* tmStore = nullptr;
bool enableHkSets = false;
#if OBSW_ENABLE_PERIODIC_HK == 1
enableHkSets = true;
#endif
PersistentTmStores stores;
ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
*SdCardManager::instance(), &ipcStore, &tmStore, stores);
@ -61,12 +66,12 @@ void ObjectFactory::produce(void* args) {
auto* comCookieDummy = new ComCookieDummy();
pwrSwitcher = new PcduHandlerDummy(objects::PCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
#else
createPcduComponents(gpioComIF, &pwrSwitcher);
createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
#endif
dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF);
new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS);
new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS, enableHkSets);
// Regular FM code, does not work for EM if the hardware is not connected
// createPcduComponents(gpioComIF, &pwrSwitcher);
@ -84,7 +89,7 @@ void ObjectFactory::produce(void* args) {
// createRadSensorComponent(gpioComIF);
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(gpioComIF, uartComIF, *pwrSwitcher);
createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher);
#else
// Still add all GPIOs for EM.
GpioCookie* acsBoardGpios = new GpioCookie();
@ -93,7 +98,7 @@ void ObjectFactory::produce(void* args) {
#endif
#if OBSW_ADD_MGT == 1
createImtqComponents(pwrSwitcher);
createImtqComponents(pwrSwitcher, enableHkSets);
#endif
#if OBSW_ADD_SYRLINKS == 1
@ -105,7 +110,7 @@ void ObjectFactory::produce(void* args) {
#endif
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
createBpxBatteryComponent();
createBpxBatteryComponent(enableHkSets);
#endif
#if OBSW_ADD_STAR_TRACKER == 1
@ -131,7 +136,7 @@ void ObjectFactory::produce(void* args) {
createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
#endif
createAcsController(true);
createAcsController(true, enableHkSets);
HeaterHandler* heaterHandler = nullptr;
ObjectFactory::createGenericHeaterComponents(*gpioComIF, *pwrSwitcher, heaterHandler);
createThermalController(*heaterHandler);

15
bsp_q7s/fmObjectFactory.cpp
View File

@ -24,6 +24,11 @@ void ObjectFactory::produce(void* args) {
StorageManagerIF* ipcStore = nullptr;
StorageManagerIF* tmStore = nullptr;
bool enableHkSets = false;
#if OBSW_ENABLE_PERIODIC_HK == 1
enableHkSets = true;
#endif
PersistentTmStores stores;
ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
*SdCardManager::instance(), &ipcStore, &tmStore, stores);
@ -38,8 +43,8 @@ void ObjectFactory::produce(void* args) {
q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
gpioCallbacks::disableAllDecoder(gpioComIF);
new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS);
createPcduComponents(gpioComIF, &pwrSwitcher);
new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS, enableHkSets);
createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
auto* stackHandler = new Stack5VHandler(*pwrSwitcher);
#if OBSW_ADD_RAD_SENSORS == 1
@ -66,12 +71,12 @@ void ObjectFactory::produce(void* args) {
createPayloadComponents(gpioComIF, *pwrSwitcher);
#if OBSW_ADD_MGT == 1
createImtqComponents(pwrSwitcher);
createImtqComponents(pwrSwitcher, enableHkSets);
#endif
createReactionWheelComponents(gpioComIF, pwrSwitcher);
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
createBpxBatteryComponent();
createBpxBatteryComponent(enableHkSets);
#endif
#if OBSW_ADD_STAR_TRACKER == 1
@ -101,6 +106,6 @@ void ObjectFactory::produce(void* args) {
createMiscComponents();
createThermalController(*heaterHandler);
createAcsController(true);
createAcsController(true, enableHkSets);
satsystem::init();
}