eive/eive-obsw
eive/eive-obsw
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Merge branch 'str_set_time' of https://egit.irs.uni-stuttgart.de/eive/eive-obsw into str_set_time

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This commit is contained in:
Robin Müller 2023-07-13 13:21:56 +02:00
commit 448e24e69f
5 changed files with 27 additions and 13 deletions
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2
CMakeLists.txt
View File

@ -93,7 +93,7 @@ set(OBSW_ADD_BPX_BATTERY_HANDLER
1
CACHE STRING "Add BPX battery module")
set(OBSW_ADD_STAR_TRACKER
${INIT_VAL}
1
CACHE STRING "Add Startracker module")
set(OBSW_ADD_SUN_SENSORS
${INIT_VAL}

17
linux/acs/StrComHandler.cpp
View File

@ -2,6 +2,7 @@
#include <fcntl.h>
#include <fsfw/filesystem/HasFileSystemIF.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <mission/acs/str/strHelpers.h>
@ -23,6 +24,8 @@ extern "C" {
using namespace returnvalue;
static constexpr bool PACKET_WIRETAPPING = false;
StrComHandler::StrComHandler(object_id_t objectId) : SystemObject(objectId) {
lock = MutexFactory::instance()->createMutex();
semaphore.acquire();
@ -680,6 +683,10 @@ ReturnValue_t StrComHandler::sendMessage(CookieIF* cookie, const uint8_t* sendDa
const uint8_t* txFrame;
size_t frameLen;
datalinkLayer.encodeFrame(sendData, sendLen, &txFrame, frameLen);
if(PACKET_WIRETAPPING) {
sif::debug << "Sendign STR frame" << std::endl;
arrayprinter::print(txFrame, frameLen);
}
ssize_t bytesWritten = write(serialPort, txFrame, frameLen);
if (bytesWritten != static_cast<ssize_t>(frameLen)) {
sif::warning << "StrComHandler: Sending packet failed" << std::endl;
@ -782,8 +789,10 @@ ReturnValue_t StrComHandler::handleSerialReception() {
<< std::endl;
return FAILED;
} else if (bytesRead > 0) {
// sif::info << "Received " << bytesRead << " bytes from the STR" << std::endl;
// arrayprinter::print(recBuf.data(), bytesRead);
if(PACKET_WIRETAPPING) {
sif::info << "Received " << bytesRead << " bytes from the STR" << std::endl;
arrayprinter::print(recBuf.data(), bytesRead);
}
datalinkLayer.feedData(recBuf.data(), bytesRead);
}
return OK;
@ -797,6 +806,10 @@ ReturnValue_t StrComHandler::readOneReply(uint32_t failParameter) {
handleSerialReception();
result = datalinkLayer.checkRingBufForFrame(&replyPtr, replyLen);
if (result == returnvalue::OK) {
if(PACKET_WIRETAPPING) {
sif::debug << "Received STR reply frame" << std::endl;
arrayprinter::print(replyPtr, replyLen);
}
return returnvalue::OK;
} else if (result != ArcsecDatalinkLayer::DEC_IN_PROGRESS) {
triggerEvent(STR_HELPER_DEC_ERROR, result, failParameter);

13
mission/acs/str/StarTrackerHandler.cpp
View File

@ -352,7 +352,7 @@ ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t
}
case (FwBootState::SET_TIME): {
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::SET_TIME;
*id = startracker::SET_TIME_FROM_SYS_TIME;
return buildCommandFromCommand(*id, nullptr, 0);
}
case (FwBootState::LOGLEVEL): {
@ -465,7 +465,8 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
preparePingRequest();
return returnvalue::OK;
}
case (startracker::SET_TIME): {
case (startracker::SET_TIME_FROM_SYS_TIME): {
// Might be buggy, need more answers from arcsec...
SetTimeActionRequest setTimeRequest{};
timeval tv;
Clock::getClock(&tv);
@ -674,7 +675,7 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::LOGLEVEL, 3, nullptr,
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::SET_TIME, 3, nullptr,
this->insertInCommandAndReplyMap(startracker::SET_TIME_FROM_SYS_TIME, 3, nullptr,
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::LOGSUBSCRIPTION, 3, nullptr,
startracker::MAX_FRAME_SIZE * 2 + 2);
@ -923,7 +924,7 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
ReturnValue_t result = returnvalue::OK;
switch (id) {
case (startracker::SET_TIME): {
case (startracker::SET_TIME_FROM_SYS_TIME): {
result = handleActionReply(packet);
break;
}
@ -1394,7 +1395,7 @@ ReturnValue_t StarTrackerHandler::scanForActionReply(uint8_t replyId, DeviceComm
break;
}
case (ARC_ACTION_REQ_SETTIME_ID): {
*foundId = startracker::SET_TIME;
*foundId = startracker::SET_TIME_FROM_SYS_TIME;
break;
}
case (startracker::ID::CHECKSUM): {
@ -2013,7 +2014,7 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
startupState = StartupState::BOOT_BOOTLOADER;
}
if (bootState == FwBootState::VERIFY_BOOT) {
bootState = FwBootState::SET_TIME;
bootState = FwBootState::LOGLEVEL;
} else if (internalState == InternalState::BOOTLOADER_CHECK) {
triggerEvent(BOOTING_BOOTLOADER_FAILED_EVENT);
internalState = InternalState::FAILED_BOOTLOADER_BOOT;

6
mission/acs/str/strHelpers.h
View File

@ -326,7 +326,7 @@ static const DeviceCommandId_t DEBUG_CAMERA = 83;
static const DeviceCommandId_t FIRMWARE_UPDATE = 84;
static const DeviceCommandId_t DISABLE_TIMESTAMP_GENERATION = 85;
static const DeviceCommandId_t ENABLE_TIMESTAMP_GENERATION = 86;
static constexpr DeviceCommandId_t SET_TIME = 87;
static constexpr DeviceCommandId_t SET_TIME_FROM_SYS_TIME = 87;
static const DeviceCommandId_t NONE = 0xFFFFFFFF;
static const uint32_t VERSION_SET_ID = REQ_VERSION;
@ -650,7 +650,7 @@ class SolutionSet : public StaticLocalDataSet<SOLUTION_SET_ENTRIES> {
// Ticks timestamp
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_SOLUTION_SET, this);
/// Unix time stamp
lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_SOLUTION_SET, this);
lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_SOLUTION_SET, this);
// Calibrated quaternion (takes into account the mounting quaternion), typically same as
// track q values
lp_var_t<float> caliQw = lp_var_t<float>(sid.objectId, PoolIds::CALI_QW, this);
@ -695,7 +695,7 @@ class SolutionSet : public StaticLocalDataSet<SOLUTION_SET_ENTRIES> {
void printSet() {
PoolReadGuard rg(this);
sif::info << "SolutionSet::printSet: Ticks: " << this->ticks << std::endl;
sif::info << "SolutionSet::printSet: Time: " << this->time << std::endl;
sif::info << "SolutionSet::printSet: Time: " << this->timeUs << std::endl;
sif::info << "SolutionSet::printSet: Calibrated quaternion Qw: " << this->caliQw << std::endl;
sif::info << "SolutionSet::printSet: Calibrated quaternion Qx: " << this->caliQx << std::endl;
sif::info << "SolutionSet::printSet: Calibrated quaternion Qy: " << this->caliQy << std::endl;

2
tmtc

@ -1 +1 @@
Subproject commit 9be81f1725004b55e937718fbaddc4f4e4e74081
Subproject commit 1f2f2aac13b0b32c22f0a75e557743ad32f7dc70