eive/eive-obsw
eive/eive-obsw
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Merge branch 'acs-flp-safe' of https://egit.irs.uni-stuttgart.de/eive/eive-obsw into acs-flp-safe
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This commit is contained in:
Marius Eggert 2023-04-14 18:58:47 +02:00
commit 2d19d94d09
37 changed files with 242 additions and 154 deletions
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11
CHANGELOG.md
View File

@ -17,7 +17,7 @@ will consitute of a breaking change warranting a new major release:
# [unreleased]
- q7s-package: v2.5.0
- STR firmware was updated to v10.3
- STR firmware was updated to v10.7. `wire` library still needs to be updated.
## Fixed
@ -27,10 +27,19 @@ will consitute of a breaking change warranting a new major release:
- Bugfix for STR where an invalid reply was received for special requests
like firmware updates.
- Bugfix for shell command executors in command controller which lead to a crash.
- Important bugfix for STR solution set. Missing STR mode u8 parameter.
- Fix for STR image download.
- Possible fix for STR image upload.
- Fixed regression where the reply result for ACS board and SUS board devices was set to FAILED
even when going to OFF mode. In that case, it has to be set to OK so the device handler can
complete the OFF transition.
## Changed
- STR `wire` library updated to v10.3. Submodule renamed to `sagittactl`.
- Custom FDIR for TMP1075 sensors. The device handlers reject `NEEDS_RECOVERY` health commands
anyway, so it does not really make sense to use the default FDIR.
- Reject `NEEDS_RECOVERY` health commands for the heater health devices.
## Added

4
bsp_q7s/core/CoreController.cpp
View File

@ -369,7 +369,7 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
return actionReboot(data, size);
}
case (EXECUTE_SHELL_CMD_BLOCKING): {
std::string cmdToExecute = std::string(reinterpret_cast<const char*>(data), size);
std::string cmdToExecute = std::string(reinterpret_cast<const char *>(data), size);
int result = std::system(cmdToExecute.c_str());
if (result != 0) {
// TODO: Data reply with returnalue maybe?
@ -378,7 +378,7 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
return EXECUTION_FINISHED;
}
case (EXECUTE_SHELL_CMD_NON_BLOCKING): {
std::string cmdToExecute = std::string(reinterpret_cast<const char*>(data), size);
std::string cmdToExecute = std::string(reinterpret_cast<const char *>(data), size);
if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING or
shellCmdIsExecuting) {
return HasActionsIF::IS_BUSY;

15
bsp_q7s/core/ObjectFactory.cpp
View File

@ -27,8 +27,9 @@
#include <mission/system/acs/ImtqAssembly.h>
#include <mission/system/acs/StrAssembly.h>
#include <mission/system/acs/StrFdir.h>
#include <mission/system/com/SyrlinksAssembly.h>
#include <mission/system/objects/CamSwitcher.h>
#include <mission/system/objects/SyrlinksAssembly.h>
#include <mission/system/tcs/TmpDevFdir.h>
#include "OBSWConfig.h"
#include "bsp_q7s/boardtest/Q7STestTask.h"
@ -62,17 +63,15 @@
#include "mission/system/acs/acsModeTree.h"
#include "mission/system/com/SyrlinksFdir.h"
#include "mission/system/com/comModeTree.h"
#include "mission/system/fdir/RtdFdir.h"
#include "mission/system/objects/TcsBoardAssembly.h"
#include "mission/system/power/GomspacePowerFdir.h"
#include "mission/system/tcs/RtdFdir.h"
#include "mission/system/tcs/TcsBoardAssembly.h"
#include "mission/system/tcs/tcsModeTree.h"
#include "mission/system/tree/payloadModeTree.h"
#include "mission/system/tree/tcsModeTree.h"
#include "mission/tmtc/tmFilters.h"
#include "mission/utility/GlobalConfigHandler.h"
#include "tmtc/pusIds.h"
using gpio::Direction;
using gpio::Levels;
#if OBSW_TEST_LIBGPIOD == 1
#include "linux/boardtest/LibgpiodTest.h"
#endif
@ -123,6 +122,9 @@ using gpio::Levels;
#include "mission/system/acs/AcsBoardAssembly.h"
#include "mission/tmtc/TmFunnelHandler.h"
using gpio::Direction;
using gpio::Levels;
ResetArgs RESET_ARGS_GNSS;
std::atomic_bool LINK_STATE = CcsdsIpCoreHandler::LINK_DOWN;
std::atomic_bool PTME_LOCKED = false;
@ -164,6 +166,7 @@ void ObjectFactory::createTmpComponents() {
new I2cCookie(tmpDevIds[idx].second, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_PS_EIVE));
auto* tmpDevHandler =
new Tmp1075Handler(tmpDevIds[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
tmpDevHandler->setCustomFdir(new TmpDevFdir(tmpDevIds[idx].first));
tmpDevHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
// TODO: Remove this after TCS subsystem was added
// These devices are connected to the 3V3 stack and should be powered permanently. Therefore,

4
dummies/helperFactory.cpp
View File

@ -30,7 +30,7 @@
#include <mission/system/acs/ImtqAssembly.h>
#include <mission/system/acs/StrAssembly.h>
#include <mission/system/objects/CamSwitcher.h>
#include <mission/system/objects/TcsBoardAssembly.h>
#include <mission/system/tcs/TcsBoardAssembly.h>
#include "TemperatureSensorInserter.h"
#include "dummies/Max31865Dummy.h"
@ -38,8 +38,8 @@
#include "mission/genericFactory.h"
#include "mission/system/acs/acsModeTree.h"
#include "mission/system/com/comModeTree.h"
#include "mission/system/tcs/tcsModeTree.h"
#include "mission/system/tree/payloadModeTree.h"
#include "mission/system/tree/tcsModeTree.h"
#include "mission/tcs/defs.h"
void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF) {

6
linux/ObjectFactory.cpp
View File

@ -17,8 +17,8 @@
#include <mission/payload/ScexDeviceHandler.h>
#include <mission/system/acs/SusAssembly.h>
#include <mission/system/acs/SusFdir.h>
#include <mission/system/fdir/RtdFdir.h>
#include <mission/system/objects/TcsBoardAssembly.h>
#include <mission/system/tcs/RtdFdir.h>
#include <mission/system/tcs/TcsBoardAssembly.h>
#include <mission/tcs/Max31865EiveHandler.h>
#include "OBSWConfig.h"
@ -27,8 +27,8 @@
#include "devices/gpioIds.h"
#include "eive/definitions.h"
#include "mission/system/acs/acsModeTree.h"
#include "mission/system/tcs/tcsModeTree.h"
#include "mission/system/tree/payloadModeTree.h"
#include "mission/system/tree/tcsModeTree.h"
#include "mission/tcs/defs.h"
void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,

12
linux/acs/AcsBoardPolling.cpp
View File

@ -122,13 +122,14 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
} else {
sif::warning << "AcsBoardPolling: Unknown ADIS type" << std::endl;
}
adis.replyResult = returnvalue::FAILED;
adis.performStartup = true;
} else if (req->mode == acs::SimpleSensorMode::OFF) {
adis.performStartup = false;
adis.ownReply.cfgWasSet = false;
adis.ownReply.dataWasSet = false;
adis.replyResult = returnvalue::OK;
}
adis.replyResult = returnvalue::FAILED;
adis.mode = req->mode;
}
return returnvalue::OK;
@ -144,10 +145,11 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
if (req->mode == acs::SimpleSensorMode::NORMAL) {
std::memcpy(gyro.sensorCfg, req->ctrlRegs, 5);
gyro.performStartup = true;
gyro.replyResult = returnvalue::FAILED;
} else {
gyro.ownReply.cfgWasSet = false;
gyro.replyResult = returnvalue::OK;
}
gyro.replyResult = returnvalue::FAILED;
gyro.mode = req->mode;
}
return returnvalue::OK;
@ -162,11 +164,12 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
if (req->mode != mgm.mode) {
if (req->mode == acs::SimpleSensorMode::NORMAL) {
mgm.performStartup = true;
mgm.replyResult = returnvalue::FAILED;
} else {
mgm.ownReply.dataWasSet = false;
mgm.replyResult = returnvalue::OK;
mgm.ownReply.temperatureWasSet = false;
}
mgm.replyResult = returnvalue::FAILED;
mgm.mode = req->mode;
}
return returnvalue::OK;
@ -181,10 +184,11 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
if (req->mode != mgm.mode) {
if (req->mode == acs::SimpleSensorMode::NORMAL) {
mgm.performStartup = true;
mgm.replyResult = returnvalue::FAILED;
} else {
mgm.ownReply.dataWasRead = false;
mgm.replyResult = returnvalue::OK;
}
mgm.replyResult = returnvalue::FAILED;
mgm.mode = req->mode;
}
return returnvalue::OK;

38
linux/acs/StrComHandler.cpp
View File

@ -17,6 +17,10 @@
#include "mission/utility/ProgressPrinter.h"
#include "mission/utility/Timestamp.h"
extern "C" {
#include <sagitta/client/actionreq.h>
}
using namespace returnvalue;
StrComHandler::StrComHandler(object_id_t objectId) : SystemObject(objectId) {
@ -305,6 +309,7 @@ ReturnValue_t StrComHandler::performImageUpload() {
uint32_t imageSize = 0;
struct UploadActionRequest uploadReq;
uploadReq.position = 0;
size_t writtenBytes = 0;
#ifdef XIPHOS_Q7S
if (not sdcMan->getActiveSdCard()) {
return HasFileSystemIF::FILESYSTEM_INACTIVE;
@ -327,7 +332,9 @@ ReturnValue_t StrComHandler::performImageUpload() {
#if OBSW_DEBUG_STARTRACKER == 1
ProgressPrinter progressPrinter("Image upload", imageSize);
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
while ((uploadReq.position + 1) * SIZE_IMAGE_PART < imageSize) {
size_t fullChunks = imageSize / SIZE_IMAGE_PART;
size_t remainder = imageSize % SIZE_IMAGE_PART;
for (size_t idx = 0; idx < fullChunks; idx++) {
if (terminate) {
return returnvalue::OK;
}
@ -346,6 +353,7 @@ ReturnValue_t StrComHandler::performImageUpload() {
progressPrinter.print((uploadReq.position + 1) * SIZE_IMAGE_PART);
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
uploadReq.position++;
writtenBytes += SIZE_IMAGE_PART;
// This does a bit of delaying roughly every second
if (uploadReq.position % 50 == 0) {
@ -353,20 +361,20 @@ ReturnValue_t StrComHandler::performImageUpload() {
TaskFactory::delayTask(2);
}
}
std::memset(uploadReq.data, 0, sizeof(uploadReq.data));
uint32_t remainder = imageSize - uploadReq.position * SIZE_IMAGE_PART;
file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg);
file.read(reinterpret_cast<char*>(uploadReq.data), remainder);
file.close();
uploadReq.position++;
arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size);
result = sendAndRead(size, uploadReq.position);
if (result != returnvalue::OK) {
return returnvalue::FAILED;
}
result = checkActionReply(replyLen);
if (result != returnvalue::OK) {
return result;
if (remainder > 0) {
std::memset(uploadReq.data, 0, sizeof(uploadReq.data));
file.seekg(fullChunks * SIZE_IMAGE_PART, file.beg);
file.read(reinterpret_cast<char*>(uploadReq.data), remainder);
file.close();
arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size);
result = sendAndRead(size, uploadReq.position);
if (result != returnvalue::OK) {
return returnvalue::FAILED;
}
result = checkActionReply(replyLen);
if (result != returnvalue::OK) {
return result;
}
}
#if OBSW_DEBUG_STARTRACKER == 1
progressPrinter.print((uploadReq.position + 1) * SIZE_IMAGE_PART);

6
linux/acs/StrComHandler.h
View File

@ -18,10 +18,6 @@
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw_hal/linux/serial/SerialComIF.h"
extern "C" {
#include <sagitta/client/arc_client.h>
}
/**
* @brief Helper class for the star tracker handler to accelerate large data transfers.
*
@ -176,7 +172,7 @@ class StrComHandler : public SystemObject, public DeviceCommunicationIF, public
static const uint32_t FLASH_REGION_SIZE = 0x20000;
struct ImageDownload {
static const uint32_t LAST_POSITION = 4095;
static const uint32_t LAST_POSITION = 4096;
};
static const uint32_t MAX_POLLS = 10000;

4
linux/acs/SusPolling.cpp
View File

@ -69,11 +69,13 @@ ReturnValue_t SusPolling::sendMessage(CookieIF* cookie, const uint8_t* sendData,
if (susDevs[susIdx].mode != susReq->mode) {
if (susReq->mode == acs::SimpleSensorMode::NORMAL) {
susDevs[susIdx].performStartup = true;
susDevs[susIdx].replyResult = returnvalue::FAILED;
} else {
susDevs[susIdx].ownReply.cfgWasSet = false;
susDevs[susIdx].ownReply.dataWasSet = false;
// We are off now, but DHB wants a proper reply.
susDevs[susIdx].replyResult = returnvalue::OK;
}
susDevs[susIdx].replyResult = returnvalue::FAILED;
susDevs[susIdx].mode = susReq->mode;
}
if (state == InternalState::IDLE) {

1
mission/acs/str/StarTrackerHandler.cpp
View File

@ -1084,6 +1084,7 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
localDataPoolMap.emplace(startracker::LISA_QZ, new PoolEntry<float>({0}));
localDataPoolMap.emplace(startracker::LISA_PERC_CLOSE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(startracker::LISA_NR_CLOSE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(startracker::STR_MODE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(startracker::TRUST_WORTHY, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(startracker::STABLE_COUNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(startracker::SOLUTION_STRATEGY, new PoolEntry<uint8_t>({0}));

28
mission/acs/str/arcsecJsonKeys.h
View File

@ -9,7 +9,7 @@ static const char PROPERTIES[] = "properties";
static const char NAME[] = "name";
static const char VALUE[] = "value";
static const char LIMITS[] = "limits";
static const char LIMITS[] = "Limits";
static const char ACTION[] = "action";
static const char FPGA18CURRENT[] = "FPGA18Current";
static const char FPGA25CURRENT[] = "FPGA25Current";
@ -22,20 +22,20 @@ static const char CMOSVRESCURRENT[] = "CMOSVResCurrent";
static const char CMOS_TEMPERATURE[] = "CMOSTemperature";
static const char MCU_TEMPERATURE[] = "MCUTemperature";
static const char MOUNTING[] = "mounting";
static const char MOUNTING[] = "Mounting";
static const char qw[] = "qw";
static const char qx[] = "qx";
static const char qy[] = "qy";
static const char qz[] = "qz";
static const char IMAGE_PROCESSOR[] = "imageprocessor";
static const char IMAGE_PROCESSOR[] = "ImageProcessor";
static const char IMAGE_PROCESSOR_MODE[] = "mode";
static const char STORE[] = "store";
static const char SIGNAL_THRESHOLD[] = "signalThreshold";
static const char IMAGE_PROCESSOR_DARK_THRESHOLD[] = "darkThreshold";
static const char BACKGROUND_COMPENSATION[] = "backgroundcompensation";
static const char CAMERA[] = "camera";
static const char CAMERA[] = "Camera";
static const char MODE[] = "mode";
static const char FOCALLENGTH[] = "focallength";
static const char EXPOSURE[] = "exposure";
@ -77,7 +77,7 @@ static const char ENABLE_HISTOGRAM[] = "enableHistogram";
static const char ENABLE_CONTRAST[] = "enableContrast";
static const char BIN_MODE[] = "binMode";
static const char CENTROIDING[] = "centroiding";
static const char CENTROIDING[] = "Centroiding";
static const char ENABLE_FILTER[] = "enableFilter";
static const char MAX_QUALITY[] = "maxquality";
static const char DARK_THRESHOLD[] = "darkthreshold";
@ -92,7 +92,7 @@ static const char TRANSMATRIX_01[] = "transmatrix01";
static const char TRANSMATRIX_10[] = "transmatrix10";
static const char TRANSMATRIX_11[] = "transmatrix11";
static const char LISA[] = "lisa";
static const char LISA[] = "LISA";
static const char LISA_MODE[] = "mode";
static const char PREFILTER_DIST_THRESHOLD[] = "prefilterDistThreshold";
static const char PREFILTER_ANGLE_THRESHOLD[] = "prefilterAngleThreshold";
@ -108,29 +108,29 @@ static const char MAX_COMBINATIONS[] = "max_combinations";
static const char NR_STARS_STOP[] = "nr_stars_stop";
static const char FRACTION_CLOSE_STOP[] = "fraction_close_stop";
static const char MATCHING[] = "matching";
static const char MATCHING[] = "Matching";
static const char SQUARED_DISTANCE_LIMIT[] = "squaredDistanceLimit";
static const char SQUARED_SHIFT_LIMIT[] = "squaredShiftLimit";
static const char VALIDATION[] = "validation";
static const char VALIDATION[] = "Validation";
static const char STABLE_COUNT[] = "stable_count";
static const char MAX_DIFFERENCE[] = "max_difference";
static const char MIN_TRACKER_CONFIDENCE[] = "min_trackerConfidence";
static const char MIN_MATCHED_STARS[] = "min_matchedStars";
static const char TRACKING[] = "tracking";
static const char TRACKING[] = "Tracking";
static const char THIN_LIMIT[] = "thinLimit";
static const char OUTLIER_THRESHOLD[] = "outlierThreshold";
static const char OUTLIER_THRESHOLD_QUEST[] = "outlierThresholdQUEST";
static const char TRACKER_CHOICE[] = "trackerChoice";
static const char ALGO[] = "algo";
static const char ALGO[] = "Algo";
static const char L2T_MIN_CONFIDENCE[] = "l2t_minConfidence";
static const char L2T_MIN_MATCHED[] = "l2t_minMatched";
static const char T2L_MIN_CONFIDENCE[] = "t2l_minConfidence";
static const char T2L_MIN_MATCHED[] = "t2l_minMatched";
static const char LOGLEVEL[] = "loglevel";
static const char LOGLEVEL[] = "LogLevel";
static const char LOGLEVEL1[] = "loglevel1";
static const char LOGLEVEL2[] = "loglevel2";
static const char LOGLEVEL3[] = "loglevel3";
@ -148,7 +148,7 @@ static const char LOGLEVEL14[] = "loglevel14";
static const char LOGLEVEL15[] = "loglevel15";
static const char LOGLEVEL16[] = "loglevel16";
static const char SUBSCRIPTION[] = "subscription";
static const char SUBSCRIPTION[] = "Subscription";
static const char TELEMETRY_1[] = "telemetry1";
static const char TELEMETRY_2[] = "telemetry2";
static const char TELEMETRY_3[] = "telemetry3";
@ -166,13 +166,13 @@ static const char TELEMETRY_14[] = "telemetry14";
static const char TELEMETRY_15[] = "telemetry15";
static const char TELEMETRY_16[] = "telemetry16";
static const char LOG_SUBSCRIPTION[] = "logsubscription";
static const char LOG_SUBSCRIPTION[] = "LogSubscription";
static const char LEVEL1[] = "level1";
static const char MODULE1[] = "module1";
static const char LEVEL2[] = "level2";
static const char MODULE2[] = "module2";
static const char DEBUG_CAMERA[] = "debugcamera";
static const char DEBUG_CAMERA[] = "DebugCamera";
static const char TIMING[] = "timing";
static const char TEST[] = "test";

4
mission/acs/str/strHelpers.h
View File

@ -91,6 +91,7 @@ enum PoolIds : lp_id_t {
LISA_QZ,
LISA_PERC_CLOSE,
LISA_NR_CLOSE,
STR_MODE,
TRUST_WORTHY,
STABLE_COUNT,
SOLUTION_STRATEGY,
@ -358,7 +359,7 @@ static const uint8_t VERSION_SET_ENTRIES = 5;
static const uint8_t INTERFACE_SET_ENTRIES = 4;
static const uint8_t POWER_SET_ENTRIES = 18;
static const uint8_t TIME_SET_ENTRIES = 4;
static const uint8_t SOLUTION_SET_ENTRIES = 23;
static const uint8_t SOLUTION_SET_ENTRIES = 25;
static const uint8_t HISTOGRAM_SET_ENTRIES = 38;
static const uint8_t CHECKSUM_SET_ENTRIES = 1;
static const uint8_t CAMERA_SET_ENTRIES = 24;
@ -682,6 +683,7 @@ class SolutionSet : public StaticLocalDataSet<SOLUTION_SET_ENTRIES> {
lp_var_t<float>(sid.objectId, PoolIds::LISA_PERC_CLOSE, this);
// Number of close stars in LISA solution
lp_var_t<uint8_t> lisaNrClose = lp_var_t<uint8_t>(sid.objectId, PoolIds::LISA_NR_CLOSE, this);
lp_var_t<uint8_t> strMode = lp_var_t<uint8_t>(sid.objectId, PoolIds::STR_MODE, this);
// Gives a combined overview of the validation parameters (1 for valid solution, otherwise 0)
lp_var_t<uint8_t> isTrustWorthy = lp_var_t<uint8_t>(sid.objectId, PoolIds::TRUST_WORTHY, this);
// Number of times the validation criteria was met

22
mission/genericFactory.cpp
View File

@ -30,7 +30,7 @@
#include <mission/system/acs/AcsBoardAssembly.h>
#include <mission/system/acs/RwAssembly.h>
#include <mission/system/acs/SusAssembly.h>
#include <mission/system/objects/TcsBoardAssembly.h>
#include <mission/system/tcs/TcsBoardAssembly.h>
#include <mission/tcs/HeaterHandler.h>
#include <mission/tmtc/CfdpTmFunnel.h>
#include <mission/tmtc/PersistentTmStore.h>
@ -47,7 +47,7 @@
#include "mission/cfdp/Config.h"
#include "mission/system/acs/RwAssembly.h"
#include "mission/system/acs/acsModeTree.h"
#include "mission/system/tree/tcsModeTree.h"
#include "mission/system/tcs/tcsModeTree.h"
#include "mission/tcs/defs.h"
#include "mission/tmtc/tmFilters.h"
#include "objects/systemObjectList.h"
@ -287,15 +287,17 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
void ObjectFactory::createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF& pwrSwitcher,
HeaterHandler*& heaterHandler) {
HeaterHelper helper({{
{new HealthDevice(objects::HEATER_0_PLOC_PROC_BRD, MessageQueueIF::NO_QUEUE),
{new HeaterHealthDev(objects::HEATER_0_PLOC_PROC_BRD, MessageQueueIF::NO_QUEUE),
gpioIds::HEATER_0},
{new HealthDevice(objects::HEATER_1_PCDU_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_1},
{new HealthDevice(objects::HEATER_2_ACS_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_2},
{new HealthDevice(objects::HEATER_3_OBC_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_3},
{new HealthDevice(objects::HEATER_4_CAMERA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_4},
{new HealthDevice(objects::HEATER_5_STR, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_5},
{new HealthDevice(objects::HEATER_6_DRO, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_6},
{new HealthDevice(objects::HEATER_7_SYRLINKS, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_7},
{new HeaterHealthDev(objects::HEATER_1_PCDU_BRD, MessageQueueIF::NO_QUEUE),
gpioIds::HEATER_1},
{new HeaterHealthDev(objects::HEATER_2_ACS_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_2},
{new HeaterHealthDev(objects::HEATER_3_OBC_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_3},
{new HeaterHealthDev(objects::HEATER_4_CAMERA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_4},
{new HeaterHealthDev(objects::HEATER_5_STR, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_5},
{new HeaterHealthDev(objects::HEATER_6_DRO, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_6},
{new HeaterHealthDev(objects::HEATER_7_SYRLINKS, MessageQueueIF::NO_QUEUE),
gpioIds::HEATER_7},
}});
heaterHandler = new HeaterHandler(objects::HEATER_HANDLER, &gpioIF, helper, &pwrSwitcher,
power::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);

2
mission/system/CMakeLists.txt
View File

@ -1,8 +1,8 @@
add_subdirectory(objects)
add_subdirectory(tree)
add_subdirectory(acs)
add_subdirectory(tcs)
add_subdirectory(com)
add_subdirectory(fdir)
add_subdirectory(power)
target_sources(

1
mission/system/fdir/CMakeLists.txt
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@ -1 +0,0 @@
target_sources(${LIB_EIVE_MISSION} PRIVATE RtdFdir.cpp)

5
mission/system/objects/CMakeLists.txt
View File

@ -1,4 +1,3 @@
target_sources(
${LIB_EIVE_MISSION}
PRIVATE CamSwitcher.cpp TcsSubsystem.cpp PayloadSubsystem.cpp
Stack5VHandler.cpp PowerStateMachineBase.cpp TcsBoardAssembly.cpp)
${LIB_EIVE_MISSION} PRIVATE CamSwitcher.cpp PayloadSubsystem.cpp
Stack5VHandler.cpp PowerStateMachineBase.cpp)

57
mission/system/objects/SyrlinksAssembly.cpp
View File

@ -1,57 +0,0 @@
#include "SyrlinksAssembly.h"
#include <eive/objects.h>
using namespace returnvalue;
SyrlinksAssembly::SyrlinksAssembly(object_id_t objectId) : AssemblyBase(objectId) {
ModeListEntry entry;
entry.setObject(objects::SYRLINKS_HANDLER);
entry.setMode(MODE_OFF);
entry.setSubmode(SUBMODE_NONE);
commandTable.insert(entry);
}
ReturnValue_t SyrlinksAssembly::commandChildren(Mode_t mode, Submode_t submode) {
commandTable[0].setMode(mode);
commandTable[0].setSubmode(submode);
HybridIterator<ModeListEntry> iter(commandTable.begin(), commandTable.end());
if (recoveryState == RECOVERY_IDLE) {
ReturnValue_t result = checkAndHandleHealthState(mode, submode);
if (result == NEED_TO_CHANGE_HEALTH) {
return OK;
}
}
executeTable(iter);
return returnvalue::OK;
}
ReturnValue_t SyrlinksAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
if (childrenMap[objects::SYRLINKS_HANDLER].mode != wantedMode) {
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
return returnvalue::OK;
}
ReturnValue_t SyrlinksAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_OFF) {
return returnvalue::OK;
}
return returnvalue::FAILED;
}
ReturnValue_t SyrlinksAssembly::checkAndHandleHealthState(Mode_t deviceMode,
Submode_t deviceSubmode) {
HealthState health = healthHelper.healthTable->getHealth(objects::SYRLINKS_HANDLER);
if (health == FAULTY or health == PERMANENT_FAULTY) {
overwriteDeviceHealth(objects::SYRLINKS_HANDLER, health);
return NEED_TO_CHANGE_HEALTH;
} else if (health == EXTERNAL_CONTROL) {
modeHelper.setForced(true);
}
return OK;
}
void SyrlinksAssembly::handleChildrenLostMode(ReturnValue_t result) {
startTransition(mode, submode);
}

20
mission/system/objects/SyrlinksAssembly.h
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@ -1,20 +0,0 @@
#ifndef MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_
#define MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_
#include <fsfw/devicehandlers/AssemblyBase.h>
class SyrlinksAssembly : public AssemblyBase {
public:
SyrlinksAssembly(object_id_t objectId);
private:
FixedArrayList<ModeListEntry, 1> commandTable;
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 handleChildrenLostMode(ReturnValue_t result) override;
ReturnValue_t checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode);
};
#endif /* MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_ */

2
mission/system/systemTree.cpp
View File

@ -11,8 +11,8 @@
#include "eive/objects.h"
#include "mission/com/defs.h"
#include "mission/system/acs/acsModeTree.h"
#include "mission/system/tcs/tcsModeTree.h"
#include "mission/system/tree/payloadModeTree.h"
#include "mission/system/tree/tcsModeTree.h"
#include "treeUtil.h"
namespace {

3
mission/system/tcs/CMakeLists.txt Normal file
View File

@ -0,0 +1,3 @@
target_sources(
${LIB_EIVE_MISSION} PRIVATE tcsModeTree.cpp TcsSubsystem.cpp
TcsBoardAssembly.cpp RtdFdir.cpp TmpDevFdir.cpp)

0
mission/system/fdir/RtdFdir.cpp → mission/system/tcs/RtdFdir.cpp
View File

0
mission/system/fdir/RtdFdir.h → mission/system/tcs/RtdFdir.h
View File

0
mission/system/objects/TcsBoardAssembly.cpp → mission/system/tcs/TcsBoardAssembly.cpp
View File

0
mission/system/objects/TcsBoardAssembly.h → mission/system/tcs/TcsBoardAssembly.h
View File

0
mission/system/objects/TcsSubsystem.cpp → mission/system/tcs/TcsSubsystem.cpp
View File

0
mission/system/objects/TcsSubsystem.h → mission/system/tcs/TcsSubsystem.h
View File

91
mission/system/tcs/TmpDevFdir.cpp Normal file
View File

@ -0,0 +1,91 @@
#include "TmpDevFdir.h"
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/modes/HasModesIF.h>
#include <fsfw/power/Fuse.h>
#include <fsfw/thermal/ThermalComponentIF.h>
TmpDevFdir::TmpDevFdir(object_id_t sensorId)
: DeviceHandlerFailureIsolation(sensorId, objects::NO_OBJECT) {}
ReturnValue_t TmpDevFdir::eventReceived(EventMessage* event) {
if (isFdirInActionOrAreWeFaulty(event)) {
return returnvalue::OK;
}
ReturnValue_t result = returnvalue::FAILED;
switch (event->getEvent()) {
case HasModesIF::MODE_TRANSITION_FAILED:
case HasModesIF::OBJECT_IN_INVALID_MODE:
case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT:
// We'll try a recovery as long as defined in MAX_REBOOT.
// Might cause some AssemblyBase cycles, so keep number low.
// Ignored for TMP device, no way to power cycle it without going to OFF/BOOT mode.
// handleRecovery(event->getEvent());
break;
case DeviceHandlerIF::DEVICE_INTERPRETING_REPLY_FAILED:
case DeviceHandlerIF::DEVICE_READING_REPLY_FAILED:
case DeviceHandlerIF::DEVICE_UNREQUESTED_REPLY:
case DeviceHandlerIF::DEVICE_UNKNOWN_REPLY: // Some DH's generate generic reply-ids.
case DeviceHandlerIF::DEVICE_BUILDING_COMMAND_FAILED:
// These faults all mean that there were stupid replies from a device.
// With now way to do a recovery, set the device to faulty immediately.
setFaulty(event->getEvent());
break;
case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
// The two above should never be confirmed.
case DeviceHandlerIF::DEVICE_MISSED_REPLY:
result = sendConfirmationRequest(event);
if (result == returnvalue::OK) {
break;
}
// else
setFaulty(event->getEvent());
break;
case StorageManagerIF::GET_DATA_FAILED:
case StorageManagerIF::STORE_DATA_FAILED:
// Rather strange bugs, occur in RAW mode only. Ignore.
break;
case DeviceHandlerIF::INVALID_DEVICE_COMMAND:
// Ignore, is bad configuration. We can't do anything in flight.
break;
case HasHealthIF::HEALTH_INFO:
case HasModesIF::MODE_INFO:
case HasModesIF::CHANGING_MODE:
// Do nothing, but mark as handled.
break;
//****Thermal*****
case ThermalComponentIF::COMPONENT_TEMP_LOW:
case ThermalComponentIF::COMPONENT_TEMP_HIGH:
case ThermalComponentIF::COMPONENT_TEMP_OOL_LOW:
case ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH:
// Well, the device is not really faulty, but it is required to stay off as long as possible.
setFaulty(event->getEvent());
break;
case ThermalComponentIF::TEMP_NOT_IN_OP_RANGE:
// Ignore, is information only.
break;
//*******Default monitoring variables. Are currently not used.*****
// case DeviceHandlerIF::MONITORING_LIMIT_EXCEEDED:
// setFaulty(event->getEvent());
// break;
// case DeviceHandlerIF::MONITORING_AMBIGUOUS:
// break;
default:
// We don't know the event, someone else should handle it.
return returnvalue::FAILED;
}
return returnvalue::OK;
}
void TmpDevFdir::eventConfirmed(EventMessage* event) {
switch (event->getEvent()) {
case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
case DeviceHandlerIF::DEVICE_MISSED_REPLY:
setFaulty(event->getEvent());
break;
default:
break;
}
}

20
mission/system/tcs/TmpDevFdir.h Normal file
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@ -0,0 +1,20 @@
#ifndef MISSION_SYSTEM_TCS_TMPDEVFDIR_H_
#define MISSION_SYSTEM_TCS_TMPDEVFDIR_H_
#include <fsfw/devicehandlers/DeviceHandlerFailureIsolation.h>
/**
* Special FDIR because we can not simply power cycle the TMP devices which are powered by the
* 3.3 V stack and there is also no way to logically reset or re-configure the TMP devices in
* any way. In general, instead of doing a recovery, the TMP devices should be set faulty
* immediately for the EIVE project.
*/
class TmpDevFdir : public DeviceHandlerFailureIsolation {
public:
TmpDevFdir(object_id_t sensorId);
private:
ReturnValue_t eventReceived(EventMessage* event) override;
void eventConfirmed(EventMessage* event) override;
};
#endif /* MISSION_SYSTEM_TCS_TMPDEVFDIR_H_ */

0
mission/system/tree/tcsModeTree.cpp → mission/system/tcs/tcsModeTree.cpp
View File

2
mission/system/tree/tcsModeTree.h → mission/system/tcs/tcsModeTree.h
View File

@ -1,7 +1,7 @@
#ifndef MISSION_SYSTEM_TREE_TCSMODETREE_H_
#define MISSION_SYSTEM_TREE_TCSMODETREE_H_
#include <mission/system/objects/TcsSubsystem.h>
#include <mission/system/tcs/TcsSubsystem.h>
namespace satsystem {
namespace tcs {

2
mission/system/tree/CMakeLists.txt
View File

@ -1 +1 @@
target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp tcsModeTree.cpp)
target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp)

5
mission/tcs/CMakeLists.txt
View File

@ -1,3 +1,4 @@
target_sources(
${LIB_EIVE_MISSION} PRIVATE HeaterHandler.cpp max1227.cpp
Max31865EiveHandler.cpp Tmp1075Handler.cpp)
${LIB_EIVE_MISSION}
PRIVATE HeaterHandler.cpp max1227.cpp Max31865EiveHandler.cpp
Tmp1075Handler.cpp HeaterHealthDev.cpp)

3
mission/tcs/HeaterHandler.h
View File

@ -15,6 +15,7 @@
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/timemanager/Countdown.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <mission/tcs/HeaterHealthDev.h>
#include <array>
#include <utility>
@ -27,7 +28,7 @@
class PowerSwitchIF;
class HealthTableIF;
using HeaterPair = std::pair<HealthDevice*, gpioId_t>;
using HeaterPair = std::pair<HeaterHealthDev*, gpioId_t>;
struct HeaterHelper {
public:

12
mission/tcs/HeaterHealthDev.cpp Normal file
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@ -0,0 +1,12 @@
#include "HeaterHealthDev.h"
HeaterHealthDev::HeaterHealthDev(object_id_t setObjectId, MessageQueueId_t parentQueue)
: HealthDevice(setObjectId, parentQueue) {}
ReturnValue_t HeaterHealthDev::setHealth(HealthState health) {
// Does not make sense for a simple heater.
if (health == HealthState::NEEDS_RECOVERY) {
return returnvalue::FAILED;
}
return HealthDevice::setHealth(health);
}

12
mission/tcs/HeaterHealthDev.h Normal file
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@ -0,0 +1,12 @@
#ifndef MISSION_TCS_HEATERHEALTHDEV_H_
#define MISSION_TCS_HEATERHEALTHDEV_H_
#include <fsfw/devicehandlers/HealthDevice.h>
class HeaterHealthDev : public HealthDevice {
public:
HeaterHealthDev(object_id_t setObjectId, MessageQueueId_t parentQueue);
ReturnValue_t setHealth(HealthState health) override;
};
#endif /* MISSION_TCS_HEATERHEALTHDEV_H_ */

2
thirdparty/sagittactl vendored

@ -1 +1 @@
Subproject commit 64332216c193fa6483258060b53fc2842c08dcf4
Subproject commit 29e876671a72fcdb0b393e2f692303725f00724f

2
tmtc

@ -1 +1 @@
Subproject commit f8da9cff7c5d6d6bdd483f90ccefb67b2d1e11a4
Subproject commit f57342602da3232c0bfecaecb0c10be6d692b384