diff --git a/CHANGELOG.md b/CHANGELOG.md index 7067a9e5..0a302d53 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -25,6 +25,8 @@ will consitute of a breaking change warranting a new major release: ## Changed - Telemetry relevant datasets for the RWs are now set invalid and partially reset on shotdown. +- I2C PST now has a polling frequency of 0.4 seconds instead of 0.2 seconds. +- GS PST now has a polling frequency of 0.5 seconds instead of 1 second. - Bump FSFW: merged upstream. # [v1.37.2] 2023-03-14 @@ -41,9 +43,12 @@ eive-tmtc: v2.19.1 ## Added - Added `EXECUTE_SHELL_CMD` action command for `CoreController` to execute arbitrary Linux commands. +- Added some missing PLOC commands. + PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/462 - Add `PcduHandlerDummy` component. - Added parameter for timeout until `MEKF_INVALID_MODE_VIOLATION` event is triggered. - +- EIVE system: Add boot mode which is also the initial mode. The fallback mode of the boot mode + will be the SAFE mode. The boot mode can also be used to switch as many devices as possible OFF. ## Fixed - Pointing control of the `AcsController` was still expecting submodes instead of modes. @@ -64,6 +69,11 @@ eive-tmtc: v2.19.1 - Set `OBSW_ADD_TCS_CTRL` to 1. Always add TCS controller now for both EM and FM. - generators module: Bump `fsfwgen` dependency to v0.3.1. The returnvalue CSV files are now sorted. - generators module: Always generate subsystem ID CSV files now. +- The COM subsystem is now not commanded by the EIVE system anymore. Instead, + a separate RX_ONLY mode command will be sent at OBSW boot. After that, + commanding is done autonomously by the COM subsystem internally or by the operator. This prevents + the transmitter from going off during fallbacks to the SAFE mode, which might not always be + desired. ## Changed diff --git a/bsp_q7s/core/scheduling.cpp b/bsp_q7s/core/scheduling.cpp index 54b0a63b..d7094806 100644 --- a/bsp_q7s/core/scheduling.cpp +++ b/bsp_q7s/core/scheduling.cpp @@ -486,7 +486,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction #if OBSW_ADD_I2C_TEST_CODE == 0 FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask( - "I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc); + "I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.4, missedDeadlineFunc); result = pst::pstI2c(i2cPst); if (result != returnvalue::OK) { if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) { @@ -500,7 +500,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction #endif FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask( - "GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc); + "GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc); result = pst::pstGompaceCan(gomSpacePstTask); if (result != returnvalue::OK) { if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) { diff --git a/bsp_q7s/obsw.cpp b/bsp_q7s/obsw.cpp index e16d30bb..e8af57a9 100644 --- a/bsp_q7s/obsw.cpp +++ b/bsp_q7s/obsw.cpp @@ -15,6 +15,7 @@ #include "fsfw/tasks/TaskFactory.h" #include "fsfw/version.h" #include "mission/acsDefs.h" +#include "mission/comDefs.h" #include "mission/system/tree/system.h" #include "q7sConfig.h" #include "watchdog/definitions.h" @@ -68,6 +69,7 @@ int obsw::obsw(int argc, char* argv[]) { #if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1 // This ensures that the PCDU switches were updated. TaskFactory::delayTask(1000); + commandComSubsystemRxOnly(); commandEiveSystemToSafe(); #else announceAllModes(); @@ -118,7 +120,22 @@ void obsw::commandEiveSystemToSafe() { ReturnValue_t result = MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false); if (result != returnvalue::OK) { - sif::error << "Sending safe mode command to EIVE system failed" << std::endl; + sif::error << "obsw: Sending safe mode command to EIVE system failed" << std::endl; + } +} + +void obsw::commandComSubsystemRxOnly() { + auto* comSs = ObjectManager::instance()->get(objects::COM_SUBSYSTEM); + if (comSs == nullptr) { + sif::error << "obsw: Could not retrieve COM subsystem object" << std::endl; + return; + } + CommandMessage msg; + ModeMessage::setCmdModeMessage(msg, com::RX_ONLY, 0); + ReturnValue_t result = MessageQueueSenderIF::sendMessage(comSs->getCommandQueue(), &msg, + MessageQueueIF::NO_QUEUE, false); + if (result != returnvalue::OK) { + sif::error << "obsw: Sending RX_ONLY mode command to COM subsystem failed" << std::endl; } } @@ -129,6 +146,6 @@ void obsw::announceAllModes() { ReturnValue_t result = MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false); if (result != returnvalue::OK) { - sif::error << "Sending safe mode command to EIVE system failed" << std::endl; + sif::error << "obsw: Sending safe mode command to EIVE system failed" << std::endl; } } diff --git a/bsp_q7s/obsw.h b/bsp_q7s/obsw.h index 1a6e4e05..8260a605 100644 --- a/bsp_q7s/obsw.h +++ b/bsp_q7s/obsw.h @@ -7,6 +7,7 @@ int obsw(int argc, char* argv[]); void bootDelayHandling(); void commandEiveSystemToSafe(); +void commandComSubsystemRxOnly(); void announceAllModes(); }; // namespace obsw diff --git a/mission/sysDefs.h b/mission/sysDefs.h new file mode 100644 index 00000000..1d1db0a8 --- /dev/null +++ b/mission/sysDefs.h @@ -0,0 +1,11 @@ +#ifndef MISSION_SYSDEFS_H_ +#define MISSION_SYSDEFS_H_ + +#include "acsDefs.h" +namespace satsystem { + +enum Mode : Mode_t { BOOT = 5, SAFE = acs::AcsMode::SAFE, PTG_IDLE = acs::AcsMode::PTG_IDLE }; + +} + +#endif /* MISSION_SYSDEFS_H_ */ diff --git a/mission/system/tree/system.cpp b/mission/system/tree/system.cpp index 2dd729d7..b5743f57 100644 --- a/mission/system/tree/system.cpp +++ b/mission/system/tree/system.cpp @@ -3,6 +3,7 @@ #include #include #include +#include #include "acsModeTree.h" #include "comModeTree.h" @@ -16,6 +17,7 @@ namespace { // Alias for checker function const auto check = subsystem::checkInsert; +void buildBootSequence(Subsystem& ss, ModeListEntry& eh); void buildSafeSequence(Subsystem& ss, ModeListEntry& eh); void buildIdleSequence(Subsystem& ss, ModeListEntry& eh); } // namespace @@ -33,29 +35,36 @@ void satsystem::init() { auto& comSubsystem = com::init(); comSubsystem.connectModeTreeParent(EIVE_SYSTEM); ModeListEntry entry; + buildBootSequence(EIVE_SYSTEM, entry); buildSafeSequence(EIVE_SYSTEM, entry); buildIdleSequence(EIVE_SYSTEM, entry); - EIVE_SYSTEM.setInitialMode(HasModesIF::MODE_OFF, 0); + EIVE_SYSTEM.setInitialMode(satsystem::Mode::BOOT, 0); } EiveSystem satsystem::EIVE_SYSTEM = EiveSystem(objects::EIVE_SYSTEM, 12, 24); -auto EIVE_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList()); +auto EIVE_SEQUENCE_BOOT = std::make_pair(satsystem::Mode::BOOT, FixedArrayList()); +auto EIVE_TABLE_BOOT_TGT = + std::make_pair((satsystem::Mode::BOOT << 24) | 1, FixedArrayList()); +auto EIVE_TABLE_BOOT_TRANS_0 = + std::make_pair((satsystem::Mode::BOOT << 24) | 2, FixedArrayList()); + +auto EIVE_SEQUENCE_SAFE = std::make_pair(satsystem::Mode::SAFE, FixedArrayList()); auto EIVE_TABLE_SAFE_TGT = - std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList()); + std::make_pair((satsystem::Mode::SAFE << 24) | 1, FixedArrayList()); auto EIVE_TABLE_SAFE_TRANS_0 = - std::make_pair((acs::AcsMode::SAFE << 24) | 2, FixedArrayList()); + std::make_pair((satsystem::Mode::SAFE << 24) | 2, FixedArrayList()); auto EIVE_TABLE_SAFE_TRANS_1 = - std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList()); + std::make_pair((satsystem::Mode::SAFE << 24) | 3, FixedArrayList()); auto EIVE_SEQUENCE_IDLE = - std::make_pair(acs::AcsMode::PTG_IDLE, FixedArrayList()); + std::make_pair(satsystem::Mode::PTG_IDLE, FixedArrayList()); auto EIVE_TABLE_IDLE_TGT = - std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 1, FixedArrayList()); + std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 1, FixedArrayList()); auto EIVE_TABLE_IDLE_TRANS_0 = - std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 2, FixedArrayList()); + std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 2, FixedArrayList()); auto EIVE_TABLE_IDLE_TRANS_1 = - std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 3, FixedArrayList()); + std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 3, FixedArrayList()); namespace { @@ -89,7 +98,6 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) { // Build SAFE transition 0. iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second); - iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_SAFE_TRANS_0.second); iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_0.second); iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_0.second, true); check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_0.first, &EIVE_TABLE_SAFE_TRANS_0.second)), @@ -140,4 +148,48 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) { ctxc); } +void buildBootSequence(Subsystem& ss, ModeListEntry& eh) { + std::string context = "satsystem::buildBootSequence"; + auto ctxc = context.c_str(); + // Insert Helper Table + auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList& table, + bool allowAllSubmodes = false) { + eh.setObject(obj); + eh.setMode(mode); + eh.setSubmode(submode); + if (allowAllSubmodes) { + eh.allowAllSubmodes(); + } + check(table.insert(eh), ctxc); + }; + // Insert Helper Sequence + auto ihs = [&](ArrayList& sequence, Mode_t tableId, uint32_t waitSeconds, + bool checkSuccess) { + eh.setTableId(tableId); + eh.setWaitSeconds(waitSeconds); + eh.setCheckSuccess(checkSuccess); + check(sequence.insert(eh), ctxc); + }; + + iht(objects::ACS_SUBSYSTEM, acs::AcsMode::OFF, 0, EIVE_TABLE_BOOT_TGT.second, true); + iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second); + iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TGT.second); + iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second); + check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TGT.first, &EIVE_TABLE_BOOT_TGT.second)), ctxc); + + // Build SAFE transition 0. + iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second); + iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TRANS_0.second); + iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second); + iht(objects::ACS_SUBSYSTEM, acs::AcsMode::OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second, true); + check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TRANS_0.first, &EIVE_TABLE_BOOT_TRANS_0.second)), + ctxc); + + // Build Safe sequence + ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TGT.first, 0, false); + ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TRANS_0.first, 0, false); + check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_BOOT.first, &EIVE_SEQUENCE_BOOT.second, + EIVE_SEQUENCE_SAFE.first)), + ctxc); +} } // namespace diff --git a/tmtc b/tmtc index 4f48c25b..a9338149 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 4f48c25bf757b6c056072049fe5965da890b4f5b +Subproject commit a93381494ac8f908a327f4c9bf4622399d5754a3