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I2C reboot procedure for EIVE system
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This commit is contained in:
Robin Müller
2023-04-06 16:50:33 +02:00
parent d8ec121131
commit 3bd434bbc3
17 changed files with 267 additions and 154 deletions
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3
mission/system/tree/CMakeLists.txt
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@ -1,2 +1 @@
target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp tcsModeTree.cpp
system.cpp util.cpp)
target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp tcsModeTree.cpp)

2
mission/system/tree/payloadModeTree.cpp
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@ -10,7 +10,7 @@
#include "eive/objects.h"
#include "mission/power/defs.h"
#include "mission/system/objects/PayloadSubsystem.h"
#include "util.h"
#include "mission/system/treeUtil.h"
namespace {
void initOffSequence(Subsystem& ss, ModeListEntry& eh);

195
mission/system/tree/system.cpp
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@ -1,195 +0,0 @@
#include "system.h"
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/subsystem/Subsystem.h>
#include <mission/acs/defs.h>
#include <mission/sysDefs.h>
#include <mission/system/com/comModeTree.h>
#include "eive/objects.h"
#include "mission/com/defs.h"
#include "mission/system/acs/acsModeTree.h"
#include "payloadModeTree.h"
#include "tcsModeTree.h"
#include "util.h"
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
static const auto OFF = HasModesIF::MODE_OFF;
static const auto NML = DeviceHandlerIF::MODE_NORMAL;
void satsystem::init() {
auto& acsSubsystem = acs::init();
acsSubsystem.connectModeTreeParent(EIVE_SYSTEM);
auto& payloadSubsystem = payload::init();
payloadSubsystem.connectModeTreeParent(EIVE_SYSTEM);
auto& tcsSubsystem = tcs::init();
tcsSubsystem.connectModeTreeParent(EIVE_SYSTEM);
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(satsystem::Mode::BOOT, 0);
}
EiveSystem satsystem::EIVE_SYSTEM = EiveSystem(objects::EIVE_SYSTEM, 12, 24);
auto EIVE_SEQUENCE_BOOT = std::make_pair(satsystem::Mode::BOOT, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_BOOT_TGT =
std::make_pair((satsystem::Mode::BOOT << 24) | 1, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_BOOT_TRANS_0 =
std::make_pair((satsystem::Mode::BOOT << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto EIVE_SEQUENCE_SAFE = std::make_pair(satsystem::Mode::SAFE, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_SAFE_TGT =
std::make_pair((satsystem::Mode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_SAFE_TRANS_0 =
std::make_pair((satsystem::Mode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_SAFE_TRANS_1 =
std::make_pair((satsystem::Mode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
auto EIVE_SEQUENCE_IDLE =
std::make_pair(satsystem::Mode::PTG_IDLE, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_IDLE_TGT =
std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_IDLE_TRANS_0 =
std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_IDLE_TRANS_1 =
std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
namespace {
void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::buildSafeSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& 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<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
bool checkSuccess) {
eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess);
check(sequence.insert(eh), ctxc);
};
// Do no track submode to allow transitions to DETUMBLE submode.
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TGT.second, true);
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TGT.second);
check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TGT.first, &EIVE_TABLE_SAFE_TGT.second)), ctxc);
// Build SAFE transition 0.
iht(objects::TCS_SUBSYSTEM, NML, 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)),
ctxc);
// Build Safe sequence
ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TGT.first, 0, false);
ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_0.first, 0, false);
check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_SAFE.first, &EIVE_SEQUENCE_SAFE.second,
EIVE_SEQUENCE_SAFE.first)),
ctxc);
}
void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::buildIdleSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
check(table.insert(eh), ctxc);
};
// Insert Helper Sequence
auto ihs = [&](ArrayList<ModeListEntry>& 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::PTG_IDLE, 0, EIVE_TABLE_IDLE_TGT.second);
check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TGT.first, &EIVE_TABLE_IDLE_TGT.second)), ctxc);
// Build IDLE transition 0
iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_IDLE_TRANS_0.second);
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_IDLE_TRANS_0.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TRANS_0.second);
check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_0.first, &EIVE_TABLE_IDLE_TRANS_0.second)),
ctxc);
// Build IDLE sequence
ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TGT.first, 0, false);
ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_0.first, 0, false);
check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_IDLE.first, &EIVE_SEQUENCE_IDLE.second,
EIVE_SEQUENCE_SAFE.first)),
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<ModeListEntry>& 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<ModeListEntry>& 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

14
mission/system/tree/system.h
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@ -1,14 +0,0 @@
#ifndef MISSION_SYSTEM_TREE_SYSTEM_H_
#define MISSION_SYSTEM_TREE_SYSTEM_H_
#include <mission/system/objects/EiveSystem.h>
namespace satsystem {
void init();
extern EiveSystem EIVE_SYSTEM;
} // namespace satsystem
#endif /* MISSION_SYSTEM_TREE_SYSTEM_H_ */

2
mission/system/tree/tcsModeTree.cpp
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@ -3,7 +3,7 @@
#include "eive/objects.h"
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
#include "fsfw/subsystem/Subsystem.h"
#include "mission/system/tree/util.h"
#include "mission/system/treeUtil.h"
TcsSubsystem satsystem::tcs::SUBSYSTEM(objects::TCS_SUBSYSTEM, 12, 24);

19
mission/system/tree/util.cpp
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@ -1,19 +0,0 @@
#include "util.h"
#include "fsfw/container/FixedMap.h"
#include "fsfw/serviceinterface.h"
void subsystem::checkInsert(ReturnValue_t result, const char* ctx) {
if (result != returnvalue::OK) {
sif::warning << "satsystem::checkInsert: Insertion failed at " << ctx;
if (result == containers::KEY_ALREADY_EXISTS) {
sif::warning << ": Key already exists" << std::endl;
} else if (result == containers::MAP_FULL) {
sif::warning << ": Map full" << std::endl;
} else if (result == containers::LIST_FULL) {
sif::warning << ": List full" << std::endl;
} else {
sif::warning << std::endl;
}
}
}

12
mission/system/tree/util.h
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@ -1,12 +0,0 @@
#ifndef MISSION_SYSTEM_TREE_UTIL_H_
#define MISSION_SYSTEM_TREE_UTIL_H_
#include <fsfw/retval.h>
namespace subsystem {
void checkInsert(ReturnValue_t result, const char* ctx);
}
#endif /* MISSION_SYSTEM_TREE_UTIL_H_ */