eive/eive-obsw
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Merge remote-tracking branch 'origin/develop' into refactoring_bugfixes_power_switching

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This commit is contained in:
Robin Müller
2023-03-16 17:44:46 +01:00
parent 94ae33a554 52ab77eded
commit 2f0aed97dc
7 changed files with 107 additions and 16 deletions
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4
bsp_q7s/core/scheduling.cpp
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@ -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) {

21
bsp_q7s/obsw.cpp
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@ -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<HasModesIF>(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;
}
}

1
bsp_q7s/obsw.h
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@ -7,6 +7,7 @@ int obsw(int argc, char* argv[]);
void bootDelayHandling();
void commandEiveSystemToSafe();
void commandComSubsystemRxOnly();
void announceAllModes();
}; // namespace obsw