eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 Wiki Activity

Merge branch 'develop' into acs-flp-safe
All checks were successful
EIVE/eive-obsw/pipeline/pr-develop This commit looks good
Details

Browse Source
This commit is contained in:
Marius Eggert
2023-04-05 11:05:53 +02:00
parent 96bd188e57 858c6c301e
commit 4ca8c38c98
335 changed files with 4742 additions and 3096 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
mission/CMakeLists.txt
View File

@ -1,13 +1,17 @@
add_subdirectory(controller)
add_subdirectory(core)
add_subdirectory(devices)
add_subdirectory(utility)
add_subdirectory(memory)
add_subdirectory(tmtc)
add_subdirectory(system)
add_subdirectory(csp)
add_subdirectory(com)
add_subdirectory(acs)
add_subdirectory(power)
add_subdirectory(tcs)
add_subdirectory(payload)
add_subdirectory(cfdp)
add_subdirectory(config)
target_sources(${LIB_EIVE_MISSION} PRIVATE acsDefs.cpp payloadDefs.cpp
trace.cpp)
target_sources(
${LIB_EIVE_MISSION}
PRIVATE SolarArrayDeploymentHandler.cpp genericFactory.cpp
pollingSeqTables.cpp scheduling.cpp)

7
mission/devices/SolarArrayDeploymentHandler.cpp → mission/SolarArrayDeploymentHandler.cpp
View File

@ -1,7 +1,7 @@
#include "SolarArrayDeploymentHandler.h"
#include <fsfw/filesystem/HasFileSystemIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <mission/SolarArrayDeploymentHandler.h>
#include <mission/utility/trace.h>
#include <filesystem>
#include <fstream>
@ -11,14 +11,13 @@
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "mission/trace.h"
static constexpr bool DEBUG_MODE = true;
SolarArrayDeploymentHandler::SolarArrayDeploymentHandler(object_id_t setObjectId_,
GpioIF& gpioInterface,
PowerSwitchIF& mainLineSwitcher_,
pcdu::Switches mainLineSwitch_,
power::Switches mainLineSwitch_,
gpioId_t deplSA1, gpioId_t deplSA2,
SdCardMountedIF& sdcMountedIF)
: SystemObject(setObjectId_),

4
mission/devices/SolarArrayDeploymentHandler.h → mission/SolarArrayDeploymentHandler.h
View File

@ -2,6 +2,7 @@
#define MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include <mission/utility/trace.h>
#include <unordered_map>
@ -19,7 +20,6 @@
#include "fsfw/timemanager/Countdown.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "mission/memory/SdCardMountedIF.h"
#include "mission/trace.h"
#include "returnvalues/classIds.h"
enum DeploymentChannels : uint8_t { SA_1 = 1, SA_2 = 2 };
@ -107,7 +107,7 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
* @param burnTimeMs Time duration the power will be applied to the burn wires.
*/
SolarArrayDeploymentHandler(object_id_t setObjectId, GpioIF& gpio,
PowerSwitchIF& mainLineSwitcher, pcdu::Switches mainLineSwitch,
PowerSwitchIF& mainLineSwitcher, power::Switches mainLineSwitch,
gpioId_t deplSA1, gpioId_t deplSA2, SdCardMountedIF& sdcMountedIF);
virtual ~SolarArrayDeploymentHandler();

18
mission/acs/CMakeLists.txt Normal file
View File

@ -0,0 +1,18 @@
target_sources(
${LIB_EIVE_MISSION}
PRIVATE GyrAdis1650XHandler.cpp
GyrL3gCustomHandler.cpp
ImtqHandler.cpp
MgmLis3CustomHandler.cpp
MgmRm3100CustomHandler.cpp
RwHandler.cpp
SusHandler.cpp
gyroAdisHelpers.cpp
imtqHelpers.cpp
rwHelpers.cpp
defs.cpp)
# Dependency on proprietary library
if(TGT_BSP MATCHES "arm/q7s")
add_subdirectory(str)
endif()

15
mission/devices/GyrAdis1650XHandler.cpp → mission/acs/GyrAdis1650XHandler.cpp
View File

@ -1,8 +1,8 @@
#include "mission/devices/GyrAdis1650XHandler.h"
#include "GyrAdis1650XHandler.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include "mission/devices/devicedefinitions/acsPolling.h"
#include "mission/acs/acsBoardPolling.h"
GyrAdis1650XHandler::GyrAdis1650XHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, adis1650x::Type type)
@ -28,11 +28,7 @@ void GyrAdis1650XHandler::doStartUp() {
}
if (breakCountdown.hasTimedOut()) {
updatePeriodicReply(true, adis1650x::REPLY);
if (goToNormalMode) {
setMode(MODE_NORMAL);
} else {
setMode(MODE_ON);
}
setMode(MODE_ON);
internalState = InternalState::NONE;
}
}
@ -91,12 +87,11 @@ ReturnValue_t GyrAdis1650XHandler::scanForReply(const uint8_t *start, size_t rem
getMode() == _MODE_POWER_DOWN) {
return IGNORE_FULL_PACKET;
}
*foundLen = remainingSize;
if (remainingSize != sizeof(acs::Adis1650XReply)) {
*foundLen = remainingSize;
return returnvalue::FAILED;
}
*foundId = adis1650x::REPLY;
*foundLen = remainingSize;
if (internalState == InternalState::SHUTDOWN) {
commandExecuted = true;
}
@ -208,8 +203,6 @@ adis1650x::BurstModes GyrAdis1650XHandler::getBurstMode() {
return adis1650x::burstModeFromMscCtrl(currentCtrlReg);
}
void GyrAdis1650XHandler::setToGoToNormalModeImmediately() { goToNormalMode = true; }
void GyrAdis1650XHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);

6
mission/devices/GyrAdis1650XHandler.h → mission/acs/GyrAdis1650XHandler.h
View File

@ -1,8 +1,8 @@
#ifndef MISSION_DEVICES_GYROADIS16507HANDLER_H_
#define MISSION_DEVICES_GYROADIS16507HANDLER_H_
#include <mission/devices/devicedefinitions/acsPolling.h>
#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
#include <mission/acs/acsBoardPolling.h>
#include <mission/acs/gyroAdisHelpers.h>
#include "FSFWConfig.h"
#include "OBSWConfig.h"
@ -21,7 +21,6 @@ class GyrAdis1650XHandler : public DeviceHandlerBase {
adis1650x::Type type);
void enablePeriodicPrintouts(bool enable, uint8_t divider);
void setToGoToNormalModeImmediately();
// DeviceHandlerBase abstract function implementation
void doStartUp() override;
@ -47,7 +46,6 @@ class GyrAdis1650XHandler : public DeviceHandlerBase {
AdisGyroConfigDataset configDataset;
double sensitivity = adis1650x::SENSITIVITY_UNSET;
bool goToNormalMode = false;
bool warningSwitch = true;
enum class InternalState { NONE, STARTUP, SHUTDOWN };

17
mission/devices/GyrL3gCustomHandler.cpp → mission/acs/GyrL3gCustomHandler.cpp
View File

@ -1,10 +1,10 @@
#include <mission/devices/GyrL3gCustomHandler.h>
#include <mission/acs/GyrL3gCustomHandler.h>
#include <mission/acs/acsBoardPolling.h>
#include <cmath>
#include "fsfw/datapool/PoolReadGuard.h"
#include "mission/devices/devicedefinitions/acsPolling.h"
GyrL3gCustomHandler::GyrL3gCustomHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, uint32_t transitionDelayMs)
@ -23,11 +23,7 @@ void GyrL3gCustomHandler::doStartUp() {
if (internalState == InternalState::STARTUP) {
if (commandExecuted) {
if (goNormalModeImmediately) {
setMode(MODE_NORMAL);
} else {
setMode(_MODE_TO_ON);
}
setMode(MODE_ON);
internalState = InternalState::NONE;
commandExecuted = false;
}
@ -103,12 +99,11 @@ ReturnValue_t GyrL3gCustomHandler::scanForReply(const uint8_t *start, size_t len
if (getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON or getMode() == _MODE_POWER_DOWN) {
return IGNORE_FULL_PACKET;
}
*foundLen = len;
if (len != sizeof(acs::GyroL3gReply)) {
*foundLen = len;
return returnvalue::FAILED;
}
*foundId = l3gd20h::REPLY;
*foundLen = len;
*foundId = adis1650x::REPLY;
if (internalState == InternalState::SHUTDOWN) {
commandExecuted = true;
}
@ -145,8 +140,6 @@ uint32_t GyrL3gCustomHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return this->transitionDelayMs;
}
void GyrL3gCustomHandler::setToGoToNormalMode(bool enable) { this->goNormalModeImmediately = true; }
ReturnValue_t GyrL3gCustomHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(l3gd20h::ANG_VELOC_X, new PoolEntry<float>({0.0}));

8
mission/devices/GyrL3gCustomHandler.h → mission/acs/GyrL3gCustomHandler.h
View File

@ -4,7 +4,7 @@
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
#include <mission/devices/devicedefinitions/acsPolling.h>
#include <mission/acs/acsBoardPolling.h>
/**
* @brief Device Handler for the L3GD20H gyroscope sensor
@ -32,11 +32,6 @@ class GyrL3gCustomHandler : public DeviceHandlerBase {
*/
void setAbsoluteLimits(float limitX, float limitY, float limitZ);
/**
* @brief Configure device handler to go to normal mode immediately
*/
void setToGoToNormalMode(bool enable);
protected:
/* DeviceHandlerBase overrides */
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
@ -69,7 +64,6 @@ class GyrL3gCustomHandler : public DeviceHandlerBase {
bool commandExecuted = false;
uint8_t statusReg = 0;
bool goNormalModeImmediately = false;
uint8_t ctrlReg1Value = l3gd20h::CTRL_REG_1_VAL;
uint8_t ctrlReg2Value = l3gd20h::CTRL_REG_2_VAL;

61
mission/devices/ImtqHandler.cpp → mission/acs/ImtqHandler.cpp
View File

@ -20,7 +20,7 @@
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Countdown.h>
#include <fsfw/timemanager/clockDefinitions.h>
#include <mission/devices/ImtqHandler.h>
#include <mission/acs/ImtqHandler.h>
#include <cmath>
#include <fsfw/datapoollocal/LocalPoolVariable.tpp>
@ -30,8 +30,9 @@
static constexpr bool ACTUATION_WIRETAPPING = false;
ImtqHandler::ImtqHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
power::Switch_t pwrSwitcher)
power::Switch_t pwrSwitcher, bool enableHkSets)
: DeviceHandlerBase(objectId, comIF, comCookie),
enableHkSets(enableHkSets),
statusSet(this),
dipoleSet(*this),
rawMtmNoTorque(this),
@ -150,19 +151,25 @@ void ImtqHandler::doStartUp() {
}
void ImtqHandler::doShutDown() {
updatePeriodicReply(false, imtq::cmdIds::REPLY_NO_TORQUE);
updatePeriodicReply(false, imtq::cmdIds::REPLY_WITH_TORQUE);
specialRequestActive = false;
firstReplyCycle = true;
internalState = InternalState::NONE;
commandExecuted = false;
statusSet.setValidity(false, true);
rawMtmNoTorque.setValidity(false, true);
rawMtmWithTorque.setValidity(false, true);
hkDatasetNoTorque.setValidity(false, true);
hkDatasetWithTorque.setValidity(false, true);
calMtmMeasurementSet.setValidity(false, true);
setMode(_MODE_POWER_DOWN);
if (internalState != InternalState::SHUTDOWN) {
commandExecuted = false;
internalState = InternalState::SHUTDOWN;
}
if (internalState == InternalState::SHUTDOWN and commandExecuted) {
updatePeriodicReply(false, imtq::cmdIds::REPLY_NO_TORQUE);
updatePeriodicReply(false, imtq::cmdIds::REPLY_WITH_TORQUE);
specialRequestActive = false;
firstReplyCycle = true;
internalState = InternalState::NONE;
commandExecuted = false;
statusSet.setValidity(false, true);
rawMtmNoTorque.setValidity(false, true);
rawMtmWithTorque.setValidity(false, true);
hkDatasetNoTorque.setValidity(false, true);
hkDatasetWithTorque.setValidity(false, true);
calMtmMeasurementSet.setValidity(false, true);
setMode(_MODE_POWER_DOWN);
}
}
ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
@ -177,7 +184,7 @@ ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
}
default: {
*id = imtq::cmdIds::REQUEST;
request.request = imtq::RequestType::DO_NOTHING;
request.requestType = imtq::RequestType::DO_NOTHING;
request.specialRequest = imtq::SpecialRequest::NONE;
expectedReply = DeviceHandlerIF::NO_COMMAND_ID;
rawPacket = reinterpret_cast<uint8_t*>(&request);
@ -189,7 +196,7 @@ ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
}
ReturnValue_t ImtqHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
if (internalState == InternalState::STARTUP) {
if (internalState == InternalState::STARTUP or internalState == InternalState::SHUTDOWN) {
*id = imtq::cmdIds::REQUEST;
return buildCommandFromCommand(*id, nullptr, 0);
}
@ -200,7 +207,7 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
const uint8_t* commandData,
size_t commandDataLen) {
auto genericSpecialRequest = [&](imtq::SpecialRequest specialRequest) {
request.request = imtq::RequestType::MEASURE_NO_ACTUATION;
request.requestType = imtq::RequestType::MEASURE_NO_ACTUATION;
request.specialRequest = specialRequest;
expectedReply = imtq::cmdIds::REPLY_NO_TORQUE;
specialRequestActive = true;
@ -237,9 +244,16 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
return returnvalue::OK;
}
case (imtq::cmdIds::REQUEST): {
request.request = imtq::RequestType::MEASURE_NO_ACTUATION;
request.requestType = imtq::RequestType::MEASURE_NO_ACTUATION;
request.specialRequest = imtq::SpecialRequest::NONE;
// 6 ms integration time instead of 10 ms.
request.integrationTimeSel = 2;
expectedReply = imtq::cmdIds::REPLY_NO_TORQUE;
if (internalState == InternalState::SHUTDOWN) {
request.mode = acs::SimpleSensorMode::OFF;
} else {
request.mode = acs::SimpleSensorMode::NORMAL;
}
rawPacket = reinterpret_cast<uint8_t*>(&request);
rawPacketLen = sizeof(imtq::Request);
return returnvalue::OK;
@ -266,7 +280,7 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
}
expectedReply = imtq::cmdIds::REPLY_WITH_TORQUE;
request.request = imtq::RequestType::ACTUATE;
request.requestType = imtq::RequestType::ACTUATE;
request.specialRequest = imtq::SpecialRequest::NONE;
std::memcpy(request.dipoles, dipoleSet.dipoles.value, sizeof(request.dipoles));
request.torqueDuration = dipoleSet.currentTorqueDurationMs.value;
@ -308,6 +322,9 @@ ReturnValue_t ImtqHandler::scanForReply(const uint8_t* start, size_t remainingSi
if (getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON or getMode() == _MODE_POWER_DOWN) {
return IGNORE_FULL_PACKET;
}
if (internalState == InternalState::SHUTDOWN) {
commandExecuted = true;
}
if (remainingSize > 0) {
*foundLen = remainingSize;
*foundId = expectedReply;
@ -778,9 +795,9 @@ ReturnValue_t ImtqHandler::initializeLocalDataPool(localpool::DataPool& localDat
localDataPoolMap.emplace(imtq::FINA_NEG_Z_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), false, 10.0));
subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), enableHkSets, 30.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), false, 10.0));
subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), enableHkSets, 30.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(rawMtmNoTorque.getSid(), false, 10.0));
poolManager.subscribeForDiagPeriodicPacket(

5
mission/devices/ImtqHandler.h → mission/acs/ImtqHandler.h
View File

@ -2,7 +2,7 @@
#define MISSION_DEVICES_IMTQHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/devices/devicedefinitions/imtqHelpers.h>
#include <mission/acs/imtqHelpers.h>
#include <string.h>
#include "events/subsystemIdRanges.h"
@ -18,7 +18,7 @@ class ImtqHandler : public DeviceHandlerBase {
enum NormalPollingMode { UNCALIBRATED = 0, CALIBRATED = 1, BOTH = 2 };
ImtqHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
power::Switch_t pwrSwitcher);
power::Switch_t pwrSwitcher, bool enableHkSets);
virtual ~ImtqHandler();
void setPollingMode(NormalPollingMode pollMode);
@ -85,6 +85,7 @@ class ImtqHandler : public DeviceHandlerBase {
enum class InternalState { NONE, STARTUP, SHUTDOWN } internalState = InternalState::NONE;
bool commandExecuted = false;
bool enableHkSets = false;
imtq::Request request{};

4
mission/devices/MgmLis3CustomHandler.cpp → mission/acs/MgmLis3CustomHandler.cpp
View File

@ -1,4 +1,4 @@
#include <mission/devices/MgmLis3CustomHandler.h>
#include "MgmLis3CustomHandler.h"
#include <cmath>
@ -20,7 +20,7 @@ void MgmLis3CustomHandler::doStartUp() {
}
if (internalState == InternalState::STARTUP) {
if (commandExecuted) {
setMode(MODE_NORMAL);
setMode(MODE_ON);
internalState = InternalState::NONE;
commandExecuted = false;
}

2
mission/devices/MgmLis3CustomHandler.h → mission/acs/MgmLis3CustomHandler.h
View File

@ -5,7 +5,7 @@
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "mission/devices/devicedefinitions/acsPolling.h"
#include "mission/acs/acsBoardPolling.h"
class PeriodicOperationDivider;

4
mission/devices/MgmRm3100CustomHandler.cpp → mission/acs/MgmRm3100CustomHandler.cpp
View File

@ -1,4 +1,4 @@
#include <mission/devices/MgmRm3100CustomHandler.h>
#include "MgmRm3100CustomHandler.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
@ -25,7 +25,7 @@ void MgmRm3100CustomHandler::doStartUp() {
if (commandExecuted) {
commandExecuted = false;
internalState = InternalState::NONE;
setMode(MODE_NORMAL);
setMode(MODE_ON);
}
}
}

2
mission/devices/MgmRm3100CustomHandler.h → mission/acs/MgmRm3100CustomHandler.h
View File

@ -5,7 +5,7 @@
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "mission/devices/devicedefinitions/acsPolling.h"
#include "mission/acs/acsBoardPolling.h"
/**
* @brief Device Handler for the RM3100 geomagnetic magnetometer sensor

4
mission/devices/RwHandler.cpp → mission/acs/RwHandler.cpp
View File

@ -33,6 +33,7 @@ void RwHandler::doStartUp() {
sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to high";
}
updatePeriodicReply(true, rws::REPLY_ID);
statusSet.setReportingEnabled(true);
setMode(_MODE_TO_ON);
}
@ -48,6 +49,7 @@ void RwHandler::doShutDown() {
statusSet.referenceSpeed = 0.0;
statusSet.state = 0;
statusSet.setValidity(false, true);
statusSet.setReportingEnabled(false);
}
{
PoolReadGuard pg(&tmDataset);
@ -304,7 +306,7 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP
localDataPoolMap.emplace(rws::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(rws::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 5.0));
subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 12.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(tmDataset.getSid(), false, 30.0));
poolManager.subscribeForRegularPeriodicPacket(

2
mission/devices/RwHandler.h → mission/acs/RwHandler.h
View File

@ -3,7 +3,7 @@
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
#include <mission/acs/rwHelpers.h>
#include <string.h>
#include "events/subsystemIdRanges.h"

4
mission/devices/SusHandler.cpp → mission/acs/SusHandler.cpp
View File

@ -1,6 +1,6 @@
#include "SusHandler.h"
#include <mission/devices/max1227.h>
#include <mission/tcs/max1227.h>
#include <cmath>
@ -20,7 +20,7 @@ void SusHandler::doStartUp() {
}
if (internalState == InternalState::STARTUP) {
if (commandExecuted) {
setMode(MODE_NORMAL);
setMode(MODE_ON);
internalState = InternalState::NONE;
commandExecuted = false;
}

4
mission/devices/SusHandler.h → mission/acs/SusHandler.h
View File

@ -3,11 +3,11 @@
#include <eive/eventSubsystemIds.h>
#include <eive/resultClassIds.h>
#include <mission/acs/susMax1227Helpers.h>
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "mission/devices/devicedefinitions/acsPolling.h"
#include "mission/devices/devicedefinitions/susMax1227Helpers.h"
#include "mission/acs/acsBoardPolling.h"
class SusHandler : public DeviceHandlerBase {
public:

4
mission/devices/devicedefinitions/acsPolling.h → mission/acs/acsBoardPolling.h
View File

@ -1,13 +1,13 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_ACSPOLLING_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_ACSPOLLING_H_
#include <mission/acs/defs.h>
#include "fsfw/thermal/tcsDefinitions.h"
#include "gyroAdisHelpers.h"
namespace acs {
enum SimpleSensorMode { NORMAL = 0, OFF = 1 };
struct Adis1650XRequest {
SimpleSensorMode mode;
adis1650x::Type type;

6
mission/devices/devicedefinitions/GPSDefinitions.h → mission/acs/archive/GPSDefinitions.h
View File

@ -1,5 +1,5 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GPSDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_GPSDEFINITIONS_H_
#ifndef MISSION_ACS_ARCHIVE_GPSDEFINITIONS_H_
#define MISSION_ACS_ARCHIVE_GPSDEFINITIONS_H_
#include "eive/eventSubsystemIds.h"
#include "fsfw/datapoollocal/StaticLocalDataSet.h"
@ -72,4 +72,4 @@ class GpsPrimaryDataset : public StaticLocalDataSet<18> {
: StaticLocalDataSet(hkOwner, GpsHyperion::DATASET_ID) {}
};
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GPSDEFINITIONS_H_ */
#endif /* MISSION_ACS_ARCHIVE_GPSDEFINITIONS_H_ */

3
mission/devices/GPSHyperionHandler.cpp → mission/acs/archive/GPSHyperionHandler.cpp
View File

@ -1,6 +1,7 @@
#include "GPSHyperionHandler.h"
#include "devicedefinitions/GPSDefinitions.h"
#include <mission/acs/archive/GPSDefinitions.h>
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/timemanager/Clock.h"
#include "lwgps/lwgps.h"

3
mission/devices/GPSHyperionHandler.h → mission/acs/archive/GPSHyperionHandler.h
View File

@ -1,7 +1,8 @@
#ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
#define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
#include "devicedefinitions/GPSDefinitions.h"
#include <mission/acs/archive/GPSDefinitions.h>
#include "fsfw/FSFW.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "lwgps/lwgps.h"

0
mission/devices/LegacySusHandler.cpp → mission/acs/archive/LegacySusHandler.cpp
View File

4
mission/devices/LegacySusHandler.h → mission/acs/archive/LegacySusHandler.h
View File

@ -2,11 +2,11 @@
#define MISSION_DEVICES_LEGACYSUSHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/devices/devicedefinitions/susMax1227Helpers.h>
#include <mission/acs/susMax1227Helpers.h>
#include <mission/tcs/max1227.h>
#include "events/subsystemIdRanges.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "mission/devices/max1227.h"
#include "returnvalues/classIds.h"
/**

2
mission/acsDefs.cpp → mission/acs/defs.cpp
View File

@ -1,4 +1,4 @@
#include "acsDefs.h"
#include "defs.h"
const char* acs::getModeStr(AcsMode mode) {
static const char* modeStr = "UNKNOWN";

2
mission/acsDefs.h → mission/acs/defs.h
View File

@ -6,6 +6,8 @@
namespace acs {
enum class SimpleSensorMode { NORMAL = 0, OFF = 1 };
// These modes are the modes of the ACS controller and of the ACS subsystem.
enum AcsMode : Mode_t {
OFF = HasModesIF::MODE_OFF,

0
mission/devices/devicedefinitions/gyroAdisHelpers.cpp → mission/acs/gyroAdisHelpers.cpp
View File

0
mission/devices/devicedefinitions/gyroAdisHelpers.h → mission/acs/gyroAdisHelpers.h
View File

21
mission/devices/devicedefinitions/imtqHelpers.cpp → mission/acs/imtqHelpers.cpp
View File

@ -1,5 +1,26 @@
#include "imtqHelpers.h"
uint16_t imtq::integrationTimeFromSelectValue(uint8_t value) {
switch (value) {
case (0):
return 2;
case (1):
return 3;
case (2):
return 6;
case (3):
return 10;
case (4):
return 20;
case (5):
return 40;
case (6):
return 80;
default:
return 10;
}
}
size_t imtq::getReplySize(CC::CC cc, size_t* optSecondSize) {
switch (cc) {
// Software reset is a bit special and can also cause a I2C NAK because

19
mission/devices/devicedefinitions/imtqHelpers.h → mission/acs/imtqHelpers.h
View File

@ -5,11 +5,17 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <mission/acs/defs.h>
class ImtqHandler;
// C garbage which can be included from gps.h
#undef STATUS_SET
namespace imtq {
uint16_t integrationTimeFromSelectValue(uint8_t value);
enum class RequestType : uint8_t { MEASURE_NO_ACTUATION, ACTUATE, DO_NOTHING };
enum class SpecialRequest : uint8_t {
@ -24,7 +30,8 @@ enum class SpecialRequest : uint8_t {
};
struct Request {
imtq::RequestType request = imtq::RequestType::MEASURE_NO_ACTUATION;
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
imtq::RequestType requestType = imtq::RequestType::MEASURE_NO_ACTUATION;
imtq::SpecialRequest specialRequest = imtq::SpecialRequest::NONE;
uint8_t integrationTimeSel = 3;
int16_t dipoles[3]{};
@ -54,9 +61,10 @@ static const ReturnValue_t CC_UNAVAILABLE = MAKE_RETURN_CODE(5);
static const ReturnValue_t INTERNAL_PROCESSING_ERROR = MAKE_RETURN_CODE(6);
static const ReturnValue_t REJECTED_WITHOUT_REASON = MAKE_RETURN_CODE(7);
static const ReturnValue_t CMD_ERR_UNKNOWN = MAKE_RETURN_CODE(8);
static constexpr ReturnValue_t STARTUP_CFG_ERROR = MAKE_RETURN_CODE(9);
//! [EXPORT] : [COMMENT] The status reply to a self test command was received but no self test
//! command has been sent. This should normally never happen.
static const ReturnValue_t UNEXPECTED_SELF_TEST_REPLY = MAKE_RETURN_CODE(0xA7);
static const ReturnValue_t UNEXPECTED_SELF_TEST_REPLY = MAKE_RETURN_CODE(10);
namespace cmdIds {
@ -159,6 +167,13 @@ enum CC : uint8_t {
} // namespace CC
namespace param {
static constexpr uint16_t SEL_MTM = 0x2002;
static constexpr uint16_t INTEGRATION_TIME_SELECT = 0x2003;
} // namespace param
size_t getReplySize(CC::CC cc, size_t* optSecondSize = nullptr);
namespace mode {

0
mission/devices/devicedefinitions/rwHelpers.cpp → mission/acs/rwHelpers.cpp
View File

0
mission/devices/devicedefinitions/rwHelpers.h → mission/acs/rwHelpers.h
View File

73
mission/acs/str/ArcsecDatalinkLayer.cpp Normal file
View File

@ -0,0 +1,73 @@
#include <mission/acs/str/ArcsecDatalinkLayer.h>
ArcsecDatalinkLayer::ArcsecDatalinkLayer() : decodeRingBuf(BUFFER_LENGTHS, true) { slipInit(); }
ArcsecDatalinkLayer::~ArcsecDatalinkLayer() {}
ReturnValue_t ArcsecDatalinkLayer::checkRingBufForFrame(const uint8_t** decodedFrame,
size_t& frameLen) {
size_t currentLen = decodeRingBuf.getAvailableReadData();
if (currentLen == 0) {
return DEC_IN_PROGRESS;
}
decodeRingBuf.readData(rxAnalysisBuffer, currentLen);
for (size_t idx = 0; idx < currentLen; idx++) {
enum arc_dec_result decResult =
arc_transport_decode_body(rxAnalysisBuffer[idx], &slipInfo, decodedRxFrame, &rxFrameSize);
switch (decResult) {
case ARC_DEC_INPROGRESS: {
break;
}
case ARC_DEC_ERROR_FRAME_SHORT: {
decodeRingBuf.deleteData(idx);
return REPLY_TOO_SHORT;
}
case ARC_DEC_ERROR_CHECKSUM:
decodeRingBuf.deleteData(idx);
return CRC_FAILURE;
case ARC_DEC_ASYNC:
case ARC_DEC_SYNC: {
// Reset length of SLIP struct for next frame
slipInfo.length = 0;
if (decodedFrame != nullptr) {
*decodedFrame = decodedRxFrame;
}
frameLen = rxFrameSize;
decodeRingBuf.deleteData(idx);
return returnvalue::OK;
}
default:
sif::debug << "ArcsecDatalinkLayer::decodeFrame: Unknown result code" << std::endl;
break;
return returnvalue::FAILED;
}
}
decodeRingBuf.deleteData(currentLen);
return DEC_IN_PROGRESS;
}
ReturnValue_t ArcsecDatalinkLayer::feedData(const uint8_t* rawData, size_t rawDataLen) {
if (rawDataLen > 4096) {
sif::error << "ArcsecDatalinklayer: Can not write more than 4096 bytes to ring buffer"
<< std::endl;
return returnvalue::FAILED;
}
return decodeRingBuf.writeData(rawData, rawDataLen);
}
void ArcsecDatalinkLayer::reset() {
slipInit();
decodeRingBuf.clear();
}
void ArcsecDatalinkLayer::slipInit() {
slip_decode_init(rxBufferArc, sizeof(rxBufferArc), &slipInfo);
}
void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, size_t length, const uint8_t** txFrame,
size_t& size) {
arc_transport_encode_body(data, length, txEncoded, &size);
if (txFrame != nullptr) {
*txFrame = txEncoded;
}
}

90
mission/acs/str/ArcsecDatalinkLayer.h Normal file
View File

@ -0,0 +1,90 @@
#ifndef BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
#define BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
#include <fsfw/container/SimpleRingBuffer.h>
#include <fsfw/devicehandlers/CookieIF.h>
#include <mission/acs/str/strHelpers.h>
#include "arcsec/common/misc.h"
#include "eive/resultClassIds.h"
#include "fsfw/returnvalues/returnvalue.h"
/**
* @brief Helper class to handle the datalinklayer of replies from the star tracker of arcsec.
*/
class ArcsecDatalinkLayer {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER;
//! [EXPORT] : [COMMENT] More data required to complete frame
static const ReturnValue_t DEC_IN_PROGRESS = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Data too short to represent a valid frame
static const ReturnValue_t REPLY_TOO_SHORT = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Detected CRC failure in received frame
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA2);
static const uint8_t STATUS_OK = 0;
static constexpr size_t BUFFER_LENGTHS = 4096;
ArcsecDatalinkLayer();
virtual ~ArcsecDatalinkLayer();
/**
* Feed received data to the internal ring buffer.
* @param rawData
* @param rawDataLen
* @return
*/
ReturnValue_t feedData(const uint8_t* rawData, size_t rawDataLen);
/**
* Runs the arcsec datalink layer decoding algorithm on the data in the ring buffer, decoding
* frames in the process.
* @param decodedFrame
* @param frameLen
* @return
* - returnvalue::OK if a frame was found
* - DEC_IN_PROGRESS if frame decoding is in progress
* - Anything else is a decoding error
*/
ReturnValue_t checkRingBufForFrame(const uint8_t** decodedFrame, size_t& frameLen);
/**
* @brief SLIP encodes data pointed to by data pointer.
*
* @param data Pointer to data to encode
* @param length Length of buffer to encode
*/
void encodeFrame(const uint8_t* data, size_t length, const uint8_t** txFrame, size_t& frameLen);
void reset();
private:
static const uint8_t ID_OFFSET = 1;
static const uint8_t STATUS_OFFSET = 2;
// User to buffer and analyse data and allow feeding and checking for frames asychronously.
SimpleRingBuffer decodeRingBuf;
uint8_t rxAnalysisBuffer[BUFFER_LENGTHS];
// Used by arcsec slip decoding function to process received data. This should only be written
// to or read from by arcsec functions!
uint8_t rxBufferArc[startracker::MAX_FRAME_SIZE];
// Decoded frame will be copied to this buffer
uint8_t decodedRxFrame[startracker::MAX_FRAME_SIZE];
// Size of decoded frame
uint32_t rxFrameSize = 0;
// Buffer where encoded frames will be stored. First byte of encoded frame represents type of
// reply
uint8_t txEncoded[startracker::MAX_FRAME_SIZE * 2 + 2];
// Size of encoded frame
uint32_t txFrameSize = 0;
slip_decode_state slipInfo;
void slipInit();
};
#endif /* BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_ */

102
mission/acs/str/ArcsecJsonParamBase.cpp Normal file
View File

@ -0,0 +1,102 @@
#include <mission/acs/str/ArcsecJsonParamBase.h>
#include <mission/acs/str/arcsecJsonKeys.h>
#include "arcsecJsonKeys.h"
ArcsecJsonParamBase::ArcsecJsonParamBase(std::string setName) : setName(setName) {}
ReturnValue_t ArcsecJsonParamBase::create(uint8_t* buffer) {
ReturnValue_t result = createCommand(buffer);
if (result != returnvalue::OK) {
sif::warning << "ArcsecJsonParamBase::create: Failed to create parameter command for set "
<< setName << std::endl;
}
return result;
}
ReturnValue_t ArcsecJsonParamBase::getParam(const std::string name, std::string& value) {
for (json::iterator it = set.begin(); it != set.end(); ++it) {
if ((*it)[arcseckeys::NAME] == name) {
value = (*it)[arcseckeys::VALUE];
convertEmpty(value);
return returnvalue::OK;
}
}
return PARAM_NOT_EXISTS;
}
void ArcsecJsonParamBase::convertEmpty(std::string& value) {
if (value == "") {
value = "0";
}
}
void ArcsecJsonParamBase::addfloat(const std::string value, uint8_t* buffer) {
float param = std::stof(value);
std::memcpy(buffer, &param, sizeof(param));
}
void ArcsecJsonParamBase::adduint8(const std::string value, uint8_t* buffer) {
uint8_t param = std::stoi(value);
std::memcpy(buffer, &param, sizeof(param));
}
void ArcsecJsonParamBase::addint16(const std::string value, uint8_t* buffer) {
int16_t param = std::stoi(value);
std::memcpy(buffer, &param, sizeof(param));
}
void ArcsecJsonParamBase::adduint16(const std::string value, uint8_t* buffer) {
uint16_t param = std::stoi(value);
std::memcpy(buffer, &param, sizeof(param));
}
void ArcsecJsonParamBase::adduint32(const std::string value, uint8_t* buffer) {
uint32_t param = std::stoi(value);
std::memcpy(buffer, &param, sizeof(param));
}
void ArcsecJsonParamBase::addSetParamHeader(uint8_t* buffer, uint8_t setId) {
*buffer = static_cast<uint8_t>(TMTC_SETPARAMREQ);
*(buffer + 1) = setId;
}
ReturnValue_t ArcsecJsonParamBase::init(const std::string filename) {
ReturnValue_t result = returnvalue::OK;
if (not std::filesystem::exists(filename)) {
sif::warning << "ArcsecJsonParamBase::init: JSON file " << filename << " does not exist"
<< std::endl;
return JSON_FILE_NOT_EXISTS;
}
try {
createJsonObject(filename);
result = initSet();
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
} catch (json::exception& e) {
// TODO: Re-create json file from backup here.
return returnvalue::FAILED;
}
}
void ArcsecJsonParamBase::createJsonObject(const std::string fullname) {
json j;
std::ifstream file(fullname);
file >> j;
file.close();
properties = j[arcseckeys::PROPERTIES];
}
ReturnValue_t ArcsecJsonParamBase::initSet() {
for (json::iterator it = properties.begin(); it != properties.end(); ++it) {
if ((*it)["name"] == setName) {
set = (*it)["fields"];
return returnvalue::OK;
}
}
sif::warning << "ArcsecJsonParamBase::initSet: Set " << setName << "not present in json file"
<< std::endl;
return SET_NOT_EXISTS;
}

146
mission/acs/str/ArcsecJsonParamBase.h Normal file
View File

@ -0,0 +1,146 @@
#ifndef BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_
#define BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_
#include <mission/acs/str/strHelpers.h>
#include <filesystem>
#include <fstream>
#include <nlohmann/json.hpp>
#include "arcsec/common/generated/tmtcstructs.h"
#include "arcsec/common/genericstructs.h"
#include "eive/resultClassIds.h"
#include "fsfw/returnvalues/returnvalue.h"
using json = nlohmann::json;
/**
* @brief Base class for creation of parameter configuration commands. Reads parameter set
* from a json file located on the filesystem and generates the appropriate command
* to apply the parameters to the star tracker software.
*
* @author J. Meier
*/
class ArcsecJsonParamBase {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::ARCSEC_JSON_BASE;
//! [EXPORT] : [COMMENT] Specified json file does not exist
static const ReturnValue_t JSON_FILE_NOT_EXISTS = MAKE_RETURN_CODE(1);
//! [EXPORT] : [COMMENT] Requested set does not exist in json file
static const ReturnValue_t SET_NOT_EXISTS = MAKE_RETURN_CODE(2);
//! [EXPORT] : [COMMENT] Requested parameter does not exist in json file
static const ReturnValue_t PARAM_NOT_EXISTS = MAKE_RETURN_CODE(3);
virtual ~ArcsecJsonParamBase() = default;
/**
* @brief Constructor
*
* @param fullname Name with absolute path of json file containing the parameters to set.
*/
ArcsecJsonParamBase(std::string setName);
/**
* @brief Initializes the properties json object and the set json object
*
* @param fullname Name including absolute path to json file
* @param setName The name of the set to work on
*
* @param return JSON_FILE_NOT_EXISTS if specified file does not exist, otherwise
* returnvalue::OK
*/
ReturnValue_t init(const std::string filename);
/**
* @brief Fills a buffer with a parameter set
*
* @param fullname The name including the absolute path of the json file containing the
* parameter set.
* @param buffer Pointer to the buffer the command will be written to
*/
ReturnValue_t create(uint8_t* buffer);
/**
* @brief Returns the size of the parameter command.
*/
virtual size_t getSize() = 0;
protected:
/**
* @brief Reads the value of a parameter from a json set
*
* @param name The name of the parameter
* @param value The string representation of the read value
*
* @return returnvalue::OK if successful, otherwise PARAM_NOT_EXISTS
*/
ReturnValue_t getParam(const std::string name, std::string& value);
/**
* @brief Converts empty string which is equal to define a value as zero.
*/
void convertEmpty(std::string& value);
/**
* @brief This function adds a float represented as string to a buffer
*
* @param value The float in string representation to add
* @param buffer Pointer to the buffer the float will be written to
*/
void addfloat(const std::string value, uint8_t* buffer);
/**
* @brief This function adds a uint8_t represented as string to a buffer
*
* @param value The uint8_t in string representation to add
* @param buffer Pointer to the buffer the uint8_t will be written to
*/
void adduint8(const std::string value, uint8_t* buffer);
/**
* @brief This function adds a int16_t represented as string to a buffer
*
* @param value The int16_t in string representation to add
* @param buffer Pointer to the buffer the int16_t will be written to
*/
void addint16(const std::string value, uint8_t* buffer);
/**
* @brief This function adds a uint16_t represented as string to a buffer
*
* @param value The uint16_t in string representation to add
* @param buffer Pointer to the buffer the uint16_t will be written to
*/
void adduint16(const std::string value, uint8_t* buffer);
/**
* @brief This function adds a uint32_t represented as string to a buffer
*
* @param value The uint32_t in string representation to add
* @param buffer Pointer to the buffer the uint32_t will be written to
*/
void adduint32(const std::string value, uint8_t* buffer);
void addSetParamHeader(uint8_t* buffer, uint8_t setId);
private:
json properties;
json set;
std::string setName;
/**
* @brief This function must be implemented by the derived class to define creation of a
* parameter command.
*/
virtual ReturnValue_t createCommand(uint8_t* buffer) = 0;
void createJsonObject(const std::string fullname);
/**
* @brief Extracts the json set object form the json file
*
* @param setName The name of the set to create the json object from
*/
ReturnValue_t initSet();
};
#endif /* BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_ */

4
mission/acs/str/CMakeLists.txt Normal file
View File

@ -0,0 +1,4 @@
target_sources(
${OBSW_NAME}
PRIVATE StarTrackerHandler.cpp strJsonCommands.cpp ArcsecDatalinkLayer.cpp
ArcsecJsonParamBase.cpp strHelpers.cpp)

2136
mission/acs/str/StarTrackerHandler.cpp Normal file
View File

File diff suppressed because it is too large Load Diff

501
mission/acs/str/StarTrackerHandler.h Normal file
View File

@ -0,0 +1,501 @@
#ifndef MISSION_DEVICES_STARTRACKERHANDLER_H_
#define MISSION_DEVICES_STARTRACKERHANDLER_H_
#include <fsfw/datapool/PoolReadGuard.h>
#include <linux/acs/StrComHandler.h>
#include <mission/acs/str/ArcsecJsonParamBase.h>
#include <mission/acs/str/strHelpers.h>
#include <mission/acs/str/strJsonCommands.h>
#include <thread>
#include "OBSWConfig.h"
#include "arcsec/common/SLIP.h"
#include "devices/powerSwitcherList.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/src/fsfw/serialize/SerializeAdapter.h"
#include "fsfw/timemanager/Countdown.h"
/**
* @brief This is the device handler for the star tracker from arcsec.
*
* @details Datasheet: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
* Arbeitsdaten/08_Used%20Components/ArcSec_KULeuven_Startracker/
* Sagitta%201.0%20Datapack&fileid=659181
* @author J. Meier
*/
class StarTrackerHandler : public DeviceHandlerBase {
public:
/**
* @brief Constructor
*
* @param objectId
* @param comIF
* @param comCookie
* @param gpioComIF Pointer to gpio communication interface
* @param enablePin GPIO connected to the enable pin of the reaction wheels. Must be pulled
* to high to enable the device.
*/
StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
const char* jsonFileStr, StrComHandler* strHelper,
power::Switch_t powerSwitch);
virtual ~StarTrackerHandler();
ReturnValue_t initialize() override;
/**
* @brief Overwrite this function from DHB to handle commands executed by the str image
* loader task.
*/
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
void performOperationHook() override;
Submode_t getInitialSubmode() override;
static const Submode_t SUBMODE_BOOTLOADER = 1;
static const Submode_t SUBMODE_FIRMWARE = 2;
protected:
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
void fillCommandAndReplyMap() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen) override;
ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
size_t* foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
void setNormalDatapoolEntriesInvalid() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
/**
* @brief Overwritten here to always read all available data from theSerialComIF.
*/
virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
virtual ReturnValue_t doSendReadHook() override;
ReturnValue_t getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) override;
virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER;
//! [EXPORT] : [COMMENT] Status in temperature reply signals error
static const ReturnValue_t TEMPERATURE_REQ_FAILED = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Ping command failed
static const ReturnValue_t PING_FAILED = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Status in version reply signals error
static const ReturnValue_t VERSION_REQ_FAILED = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Status in interface reply signals error
static const ReturnValue_t INTERFACE_REQ_FAILED = MAKE_RETURN_CODE(0xA3);
//! [EXPORT] : [COMMENT] Status in power reply signals error
static const ReturnValue_t POWER_REQ_FAILED = MAKE_RETURN_CODE(0xA4);
//! [EXPORT] : [COMMENT] Status of reply to parameter set command signals error
static const ReturnValue_t SET_PARAM_FAILED = MAKE_RETURN_CODE(0xA5);
//! [EXPORT] : [COMMENT] Status of reply to action command signals error
static const ReturnValue_t ACTION_FAILED = MAKE_RETURN_CODE(0xA6);
//! [EXPORT] : [COMMENT] Received invalid path string. Exceeds allowed length
static const ReturnValue_t FILE_PATH_TOO_LONG = MAKE_RETURN_CODE(0xA7);
//! [EXPORT] : [COMMENT] Name of file received with command is too long
static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA8);
//! [EXPORT] : [COMMENT] Received version reply with invalid program ID
static const ReturnValue_t INVALID_PROGRAM = MAKE_RETURN_CODE(0xA9);
//! [EXPORT] : [COMMENT] Status field reply signals error
static const ReturnValue_t REPLY_ERROR = MAKE_RETURN_CODE(0xAA);
//! [EXPORT] : [COMMENT] Received command which is too short (some data is missing for proper
//! execution)
static const ReturnValue_t COMMAND_TOO_SHORT = MAKE_RETURN_CODE(0xAB);
//! [EXPORT] : [COMMENT] Received command with invalid length (too few or too many parameters)
static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xAC);
//! [EXPORT] : [COMMENT] Region mismatch between send and received data
static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xAD);
//! [EXPORT] : [COMMENT] Address mismatch between send and received data
static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xAE);
//! [EXPORT] : [COMMENT] Length field mismatch between send and received data
static const ReturnValue_t lENGTH_MISMATCH = MAKE_RETURN_CODE(0xAF);
//! [EXPORT] : [COMMENT] Specified file does not exist
static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xB0);
//! [EXPORT] : [COMMENT] Download blob pixel command has invalid type field
static const ReturnValue_t INVALID_TYPE = MAKE_RETURN_CODE(0xB1);
//! [EXPORT] : [COMMENT] Received FPGA action command with invalid ID
static const ReturnValue_t INVALID_ID = MAKE_RETURN_CODE(0xB2);
//! [EXPORT] : [COMMENT] Received reply is too short
static const ReturnValue_t REPLY_TOO_SHORT = MAKE_RETURN_CODE(0xB3);
//! [EXPORT] : [COMMENT] Received reply with invalid CRC
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xB4);
//! [EXPORT] : [COMMENT] Star tracker handler currently executing a command and using the
//! communication interface
static const ReturnValue_t STR_HELPER_EXECUTING = MAKE_RETURN_CODE(0xB5);
//! [EXPORT] : [COMMENT] Star tracker is already in firmware mode
static const ReturnValue_t STARTRACKER_ALREADY_BOOTED = MAKE_RETURN_CODE(0xB6);
//! [EXPORT] : [COMMENT] Star tracker must be in firmware mode to run this command
static const ReturnValue_t STARTRACKER_NOT_RUNNING_FIRMWARE = MAKE_RETURN_CODE(0xB7);
//! [EXPORT] : [COMMENT] Star tracker must be in bootloader mode to run this command
static const ReturnValue_t STARTRACKER_NOT_RUNNING_BOOTLOADER = MAKE_RETURN_CODE(0xB8);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HANDLER;
//! [EXPORT] : [COMMENT] Failed to boot firmware
static const Event BOOTING_FIRMWARE_FAILED_EVENT = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] Failed to boot star tracker into bootloader mode
static const Event BOOTING_BOOTLOADER_FAILED_EVENT = MAKE_EVENT(2, severity::LOW);
static const size_t MAX_PATH_SIZE = 50;
static const size_t MAX_FILE_NAME = 30;
static const uint8_t STATUS_OFFSET = 2;
static const uint8_t PARAMS_OFFSET = 2;
static const uint8_t TICKS_OFFSET = 3;
static const uint8_t TIME_OFFSET = 7;
static const uint8_t PARAMETER_ID_OFFSET = 1;
static const uint8_t ACTION_ID_OFFSET = 1;
static const uint8_t ACTION_DATA_OFFSET = 3;
// Ping request will reply ping with this ID (data field)
static const uint32_t PING_ID = 0x55;
static const uint32_t BOOT_REGION_ID = 1;
static const MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
static const uint32_t MUTEX_TIMEOUT = 20;
static const uint32_t BOOT_TIMEOUT = 1000;
static const uint32_t DEFAULT_TRANSITION_DELAY = 15000;
struct FlashReadCmd {
// Minimum length of a read command (region, length and filename)
static const size_t MIN_LENGTH = 7;
};
struct ChecksumCmd {
static const uint8_t ADDRESS_OFFSET = 1;
static const uint8_t LENGTH_OFFSET = 5;
// Length of checksum command
static const size_t LENGTH = 9;
uint8_t rememberRegion = 0;
uint32_t rememberAddress = 0;
uint32_t rememberLength = 0;
};
ChecksumCmd checksumCmd;
MessageQueueIF* eventQueue = nullptr;
startracker::TemperatureSet temperatureSet;
startracker::VersionSet versionSet;
startracker::PowerSet powerSet;
startracker::InterfaceSet interfaceSet;
startracker::TimeSet timeSet;
startracker::SolutionSet solutionSet;
startracker::HistogramSet histogramSet;
startracker::ChecksumSet checksumSet;
startracker::CameraSet cameraSet;
startracker::LimitsSet limitsSet;
startracker::LogLevelSet loglevelSet;
startracker::MountingSet mountingSet;
startracker::ImageProcessorSet imageProcessorSet;
startracker::CentroidingSet centroidingSet;
startracker::LisaSet lisaSet;
startracker::MatchingSet matchingSet;
startracker::TrackingSet trackingSet;
startracker::ValidationSet validationSet;
startracker::AlgoSet algoSet;
startracker::SubscriptionSet subscriptionSet;
startracker::LogSubscriptionSet logSubscriptionSet;
startracker::DebugCameraSet debugCameraSet;
// Pointer to object responsible for uploading and downloading images to/from the star tracker
StrComHandler* strHelper = nullptr;
uint8_t commandBuffer[startracker::MAX_FRAME_SIZE];
// Countdown to insert delay for star tracker to switch from bootloader to firmware program
// Loading firmware requires some time and the command will not trigger a reply when executed
Countdown bootCountdown;
struct JsonConfigs {
Tracking tracking;
LogLevel logLevel;
LogSubscription logSubscription;
DebugCamera debugCamera;
Algo algo;
Validation validation;
Matching matching;
Lisa lisa;
Centroiding centroiding;
Camera camera;
ImageProcessor imageProcessor;
Mounting mounting;
Limits limits;
Subscription subscription;
};
JsonConfigs jcfgs;
Countdown jcfgCountdown = Countdown(250);
bool commandExecuted = false;
std::thread jsonCfgTask;
static void setUpJsonCfgs(JsonConfigs& cfgs, const char* paramJsonFile);
std::string paramJsonFile;
enum class NormalState { TEMPERATURE_REQUEST, SOLUTION_REQUEST };
NormalState normalState = NormalState::TEMPERATURE_REQUEST;
enum class StartupState {
IDLE,
CHECK_PROGRAM,
WAIT_CHECK_PROGRAM,
BOOT_BOOTLOADER,
WAIT_JCFG,
DONE
};
StartupState startupState = StartupState::IDLE;
enum class InternalState {
IDLE,
BOOT_FIRMWARE,
DONE,
FAILED_FIRMWARE_BOOT,
BOOT_BOOTLOADER,
BOOTLOADER_CHECK,
FAILED_BOOTLOADER_BOOT
};
enum class FwBootState {
NONE,
BOOT_DELAY,
REQ_VERSION,
VERIFY_BOOT,
LOGLEVEL,
LIMITS,
TRACKING,
MOUNTING,
IMAGE_PROCESSOR,
CAMERA,
BLOB,
CENTROIDING,
LISA,
MATCHING,
VALIDATION,
ALGO,
LOG_SUBSCRIPTION,
DEBUG_CAMERA,
WAIT_FOR_EXECUTION,
};
FwBootState bootState = FwBootState::NONE;
InternalState internalState = InternalState::IDLE;
bool reinitNextSetParam = false;
bool strHelperHandlingSpecialRequest = false;
const power::Switch_t powerSwitch = power::NO_SWITCH;
/**
* @brief Handles internal state
*/
void handleInternalState();
/**
* @brief Checks mode for commands requiring MODE_ON of MODE_NORMAL for execution.
*
* @param actionId Action id of command to execute
*/
ReturnValue_t checkMode(ActionId_t actionId);
/**
* @brief This function initializes the serial link ip protocol struct slipInfo.
*/
void slipInit();
ReturnValue_t scanForActionReply(uint8_t replyId, DeviceCommandId_t* foundId);
ReturnValue_t scanForSetParameterReply(uint8_t replyId, DeviceCommandId_t* foundId);
ReturnValue_t scanForGetParameterReply(uint8_t replyId, DeviceCommandId_t* foundId);
ReturnValue_t scanForTmReply(uint8_t replyId, DeviceCommandId_t* foundId);
/**
* @brief Fills command buffer with data to ping the star tracker
*/
void preparePingRequest();
/**
* @brief Fills command buffer with data to request the time telemetry.
*/
void prepareTimeRequest();
/**
* @brief Handles all received event messages
*/
void handleEvent(EventMessage* eventMessage);
/**
* @brief Extracts information for flash-read-command from TC data and starts execution of
* flash-read-procedure
*
* @param commandData Pointer to received command data
* @param commandDataLen Size of received command data
*
* @return returnvalue::OK if start of execution was successful, otherwise error return value
*/
ReturnValue_t executeFlashReadCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Fills command buffer with data to boot image (works only when star tracker is
* in bootloader mode).
*/
void prepareBootCommand();
/**
* @brief Fills command buffer with command to get the checksum of a flash part
*/
ReturnValue_t prepareChecksumCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Fills the command buffer with the command to take an image.
*/
void prepareTakeImageCommand(const uint8_t* commandData);
/**
* @brief Fills command buffer with data to request the version telemetry packet
*/
void prepareVersionRequest();
/**
* @brief Fills the command buffer with data to request the interface telemetry packet.
*/
void prepareInterfaceRequest();
/**
* @brief Fills the command buffer with data to request the power telemetry packet.
*/
void preparePowerRequest();
/**
* @brief Fills command buffer with data to reboot star tracker.
*/
void prepareSwitchToBootloaderCmd();
/**
* @brief Fills command buffer with data to subscribe to a telemetry packet.
*
* @param tmId The ID of the telemetry packet to subscribe to
*/
void prepareSubscriptionCommand(const uint8_t* tmId);
/**
* @brief Fills command buffer with data to request solution telemtry packet (contains
* attitude information)
*/
void prepareSolutionRequest();
/**
* @brief Fills command buffer with data to request temperature from star tracker
*/
void prepareTemperatureRequest();
/**
* @brief Fills command buffer with data to request histogram
*/
void prepareHistogramRequest();
/**
* @brief Reads parameters from json file specified by string in commandData and
* prepares the command to apply the parameter set to the star tracker
*
* @param commandData Contains string with file name
* @param commandDataLen Length of command
* @param paramSet The object defining the command generation
*
* @return returnvalue::OK if successful, otherwise error return Value
*/
ReturnValue_t prepareParamCommand(const uint8_t* commandData, size_t commandDataLen,
ArcsecJsonParamBase& paramSet, bool reinitSet);
/**
* @brief The following function will fill the command buffer with the command to request
* a parameter set.
*/
ReturnValue_t prepareRequestCameraParams();
ReturnValue_t prepareRequestLimitsParams();
ReturnValue_t prepareRequestLogLevelParams();
ReturnValue_t prepareRequestMountingParams();
ReturnValue_t prepareRequestImageProcessorParams();
ReturnValue_t prepareRequestCentroidingParams();
ReturnValue_t prepareRequestLisaParams();
ReturnValue_t prepareRequestMatchingParams();
ReturnValue_t prepareRequestTrackingParams();
ReturnValue_t prepareRequestValidationParams();
ReturnValue_t prepareRequestAlgoParams();
ReturnValue_t prepareRequestSubscriptionParams();
ReturnValue_t prepareRequestLogSubscriptionParams();
ReturnValue_t prepareRequestDebugCameraParams();
/**
* @brief Handles action replies with datasets.
*/
ReturnValue_t handleActionReplySet(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
size_t size);
/**
* @brief Default function to handle action replies
*/
ReturnValue_t handleActionReply(const uint8_t* rawFrame);
/**
* @brief Handles reply to upload centroid command
*/
ReturnValue_t handleUploadCentroidReply();
/**
* @brief Handles reply to checksum command
*/
ReturnValue_t handleChecksumReply(const uint8_t* rawFrame);
/**
* @brief Handles all set parameter replies
*/
ReturnValue_t handleSetParamReply(const uint8_t* rawFrame);
ReturnValue_t handlePingReply(const uint8_t* rawFrame);
ReturnValue_t handleParamRequest(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
size_t size);
/**
* @brief Checks the loaded program by means of the version set
*/
ReturnValue_t checkProgram();
/**
* @brief Handles the startup state machine
*/
void handleStartup(uint8_t parameterId);
/**
* @brief Handles telemtry replies and fills the appropriate dataset
*
* @param dataset Dataset where reply data will be written to
* @param size Size of the dataset
*
* @return returnvalue::OK if successful, otherwise error return value
*/
ReturnValue_t handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset, size_t size);
/**
* @brief Checks if star tracker is in valid mode for executing the received command.
*
* @param actioId Id of received command
*
* @return returnvalue::OK if star tracker is in valid mode, otherwise error return value
*/
ReturnValue_t checkCommand(ActionId_t actionId);
void doOnTransition(Submode_t subModeFrom);
void doNormalTransition(Mode_t modeFrom, Submode_t subModeFrom);
void bootFirmware(Mode_t toMode);
void bootBootloader();
};
#endif /* MISSION_DEVICES_STARTRACKERHANDLER_H_ */

181
mission/acs/str/arcsecJsonKeys.h Normal file
View File

@ -0,0 +1,181 @@
#ifndef BSP_Q7S_DEVICES_DEVICEDEFINITIONS_ARCSECJSONKEYS_H_
#define BSP_Q7S_DEVICES_DEVICEDEFINITIONS_ARCSECJSONKEYS_H_
/**
* @brief Keys used in JSON file of ARCSEC.
*/
namespace arcseckeys {
static const char PROPERTIES[] = "properties";
static const char NAME[] = "name";
static const char VALUE[] = "value";
static const char LIMITS[] = "limits";
static const char ACTION[] = "action";
static const char FPGA18CURRENT[] = "FPGA18Current";
static const char FPGA25CURRENT[] = "FPGA25Current";
static const char FPGA10CURRENT[] = "FPGA10Current";
static const char MCUCURRENT[] = "MCUCurrent";
static const char CMOS21CURRENT[] = "CMOS21Current";
static const char CMOSPIXCURRENT[] = "CMOSPixCurrent";
static const char CMOS33CURRENT[] = "CMOS33Current";
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 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_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 MODE[] = "mode";
static const char FOCALLENGTH[] = "focallength";
static const char EXPOSURE[] = "exposure";
static const char INTERVAL[] = "interval";
static const char OFFSET[] = "offset";
static const char PGAGAIN[] = "PGAGain";
static const char ADCGAIN[] = "ADCGain";
static const char REG_1[] = "reg1";
static const char VAL_1[] = "val1";
static const char REG_2[] = "reg2";
static const char VAL_2[] = "val2";
static const char REG_3[] = "reg3";
static const char VAL_3[] = "val3";
static const char REG_4[] = "reg4";
static const char VAL_4[] = "val4";
static const char REG_5[] = "reg5";
static const char VAL_5[] = "val5";
static const char REG_6[] = "reg6";
static const char VAL_6[] = "val6";
static const char REG_7[] = "reg7";
static const char VAL_7[] = "val7";
static const char REG_8[] = "reg8";
static const char VAL_8[] = "val8";
static const char FREQ_1[] = "freq1";
static const char BLOB[] = "blob";
static const char MIN_VALUE[] = "minValue";
static const char MIN_DISTANCE[] = "minDistance";
static const char NEIGHBOUR_DISTANCE[] = "neighbourDistance";
static const char NEIGHBOUR_BRIGHT_PIXELS[] = "neighbourBrightPixels";
static const char MIN_TOTAL_VALUE[] = "minTotalValue";
static const char MAX_TOTAL_VALUE[] = "maxTotalValue";
static const char MIN_BRIGHT_NEIGHBOURS[] = "minBrightNeighbours";
static const char MAX_BRIGHT_NEIGHBOURS[] = "maxBrightNeighbours";
static const char MAX_PIXEL_TO_CONSIDER[] = "maxPixelsToConsider";
// static const char SIGNAL_THRESHOLD[] = "signalThreshold";
static const char BLOB_DARK_THRESHOLD[] = "darkThreshold";
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 ENABLE_FILTER[] = "enableFilter";
static const char MAX_QUALITY[] = "maxquality";
static const char DARK_THRESHOLD[] = "darkthreshold";
static const char MIN_QUALITY[] = "minquality";
static const char MAX_INTENSITY[] = "maxintensity";
static const char MIN_INTENSITY[] = "minintensity";
static const char MAX_MAGNITUDE[] = "maxmagnitude";
static const char GAUSSIAN_CMAX[] = "gaussianCmax";
static const char GAUSSIAN_CMIN[] = "gaussianCmin";
static const char TRANSMATRIX_00[] = "transmatrix00";
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_MODE[] = "mode";
static const char PREFILTER_DIST_THRESHOLD[] = "prefilterDistThreshold";
static const char PREFILTER_ANGLE_THRESHOLD[] = "prefilterAngleThreshold";
static const char FOV_WIDTH[] = "fov_width";
static const char FOV_HEIGHT[] = "fov_height";
static const char FLOAT_STAR_LIMIT[] = "float_star_limit";
static const char CLOSE_STAR_LIMIT[] = "close_star_limit";
static const char RATING_WEIGHT_CLOSE_STAR_COUNT[] = "rating_weight_close_star_count";
static const char RATING_WEIGHT_FRACTION_CLOSE[] = "rating_weight_fraction_close";
static const char RATING_WEIGHT_MEAN_SUM[] = "rating_weight_mean_sum";
static const char RATING_WEIGHT_DB_STAR_COUNT[] = "rating_weight_db_star_count";
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 SQUARED_DISTANCE_LIMIT[] = "squaredDistanceLimit";
static const char SQUARED_SHIFT_LIMIT[] = "squaredShiftLimit";
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 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 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 LOGLEVEL1[] = "loglevel1";
static const char LOGLEVEL2[] = "loglevel2";
static const char LOGLEVEL3[] = "loglevel3";
static const char LOGLEVEL4[] = "loglevel4";
static const char LOGLEVEL5[] = "loglevel5";
static const char LOGLEVEL6[] = "loglevel6";
static const char LOGLEVEL7[] = "loglevel7";
static const char LOGLEVEL8[] = "loglevel8";
static const char LOGLEVEL9[] = "loglevel9";
static const char LOGLEVEL10[] = "loglevel10";
static const char LOGLEVEL11[] = "loglevel11";
static const char LOGLEVEL12[] = "loglevel12";
static const char LOGLEVEL13[] = "loglevel13";
static const char LOGLEVEL14[] = "loglevel14";
static const char LOGLEVEL15[] = "loglevel15";
static const char LOGLEVEL16[] = "loglevel16";
static const char SUBSCRIPTION[] = "subscription";
static const char TELEMETRY_1[] = "telemetry1";
static const char TELEMETRY_2[] = "telemetry2";
static const char TELEMETRY_3[] = "telemetry3";
static const char TELEMETRY_4[] = "telemetry4";
static const char TELEMETRY_5[] = "telemetry5";
static const char TELEMETRY_6[] = "telemetry6";
static const char TELEMETRY_7[] = "telemetry7";
static const char TELEMETRY_8[] = "telemetry8";
static const char TELEMETRY_9[] = "telemetry9";
static const char TELEMETRY_10[] = "telemetry10";
static const char TELEMETRY_11[] = "telemetry11";
static const char TELEMETRY_12[] = "telemetry12";
static const char TELEMETRY_13[] = "telemetry13";
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 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 TIMING[] = "timing";
static const char TEST[] = "test";
} // namespace arcseckeys
#endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_ARCSECJSONKEYS_H_ */

7
mission/acs/str/strHelpers.cpp Normal file
View File

@ -0,0 +1,7 @@
#include <mission/acs/str/strHelpers.h>
uint8_t startracker::getReplyFrameType(const uint8_t* rawFrame) { return rawFrame[0]; }
uint8_t startracker::getId(const uint8_t* rawFrame) { return rawFrame[1]; }
uint8_t startracker::getStatusField(const uint8_t* rawFrame) { return rawFrame[2]; }

1518
mission/acs/str/strHelpers.h Normal file
View File

File diff suppressed because it is too large Load Diff

918
mission/acs/str/strJsonCommands.cpp Normal file
View File

@ -0,0 +1,918 @@
#include <mission/acs/str/arcsecJsonKeys.h>
#include <mission/acs/str/strJsonCommands.h>
#include "arcsecJsonKeys.h"
Limits::Limits() : ArcsecJsonParamBase(arcseckeys::LIMITS) {}
size_t Limits::getSize() { return COMMAND_SIZE; }
ReturnValue_t Limits::createCommand(uint8_t* buffer) {
ReturnValue_t result = returnvalue::OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, startracker::ID::LIMITS);
offset = 2;
result = getParam(arcseckeys::ACTION, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::FPGA18CURRENT, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::FPGA25CURRENT, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::FPGA10CURRENT, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MCUCURRENT, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOS21CURRENT, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOSPIXCURRENT, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOS33CURRENT, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOSVRESCURRENT, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOS_TEMPERATURE, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MCU_TEMPERATURE, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
return returnvalue::OK;
}
Tracking::Tracking() : ArcsecJsonParamBase(arcseckeys::TRACKING) {}
size_t Tracking::getSize() { return COMMAND_SIZE; }
ReturnValue_t Tracking::createCommand(uint8_t* buffer) {
ReturnValue_t result = returnvalue::OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, startracker::ID::TRACKING);
offset = 2;
result = getParam(arcseckeys::THIN_LIMIT, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::OUTLIER_THRESHOLD, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::OUTLIER_THRESHOLD_QUEST, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::TRACKER_CHOICE, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
return returnvalue::OK;
}
Mounting::Mounting() : ArcsecJsonParamBase(arcseckeys::MOUNTING) {}
size_t Mounting::getSize() { return COMMAND_SIZE; }
ReturnValue_t Mounting::createCommand(uint8_t* buffer) {
ReturnValue_t result = returnvalue::OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, startracker::ID::MOUNTING);
offset = 2;
result = getParam(arcseckeys::qw, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::qx, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::qy, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::qz, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
return returnvalue::OK;
}
ImageProcessor::ImageProcessor() : ArcsecJsonParamBase(arcseckeys::IMAGE_PROCESSOR) {}
size_t ImageProcessor::getSize() { return COMMAND_SIZE; }
ReturnValue_t ImageProcessor::createCommand(uint8_t* buffer) {
ReturnValue_t result = returnvalue::OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, startracker::ID::IMAGE_PROCESSOR);
offset = 2;
result = getParam(arcseckeys::IMAGE_PROCESSOR_MODE, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::STORE, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::SIGNAL_THRESHOLD, param);
if (result != returnvalue::OK) {
return result;
}
adduint16(param, buffer + offset);
offset += sizeof(uint16_t);
result = getParam(arcseckeys::IMAGE_PROCESSOR_DARK_THRESHOLD, param);
if (result != returnvalue::OK) {
return result;
}
adduint16(param, buffer + offset);
offset += sizeof(uint16_t);
result = getParam(arcseckeys::BACKGROUND_COMPENSATION, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
return returnvalue::OK;
}
Camera::Camera() : ArcsecJsonParamBase(arcseckeys::CAMERA) {}
size_t Camera::getSize() { return COMMAND_SIZE; }
ReturnValue_t Camera::createCommand(uint8_t* buffer) {
ReturnValue_t result = returnvalue::OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, startracker::ID::CAMERA);
offset = 2;
result = getParam(arcseckeys::MODE, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::FOCALLENGTH, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::EXPOSURE, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::INTERVAL, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::OFFSET, param);
if (result != returnvalue::OK) {
return result;
}
addint16(param, buffer + offset);
offset += sizeof(int16_t);
result = getParam(arcseckeys::PGAGAIN, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::ADCGAIN, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_1, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_1, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_2, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_2, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_3, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_3, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_4, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_4, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_5, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_5, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_6, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_6, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_7, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_7, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_8, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_8, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::FREQ_1, param);
if (result != returnvalue::OK) {
return result;
}
adduint32(param, buffer + offset);
return returnvalue::OK;
}
Centroiding::Centroiding() : ArcsecJsonParamBase(arcseckeys::CENTROIDING) {}
size_t Centroiding::getSize() { return COMMAND_SIZE; }
ReturnValue_t Centroiding::createCommand(uint8_t* buffer) {
ReturnValue_t result = returnvalue::OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, startracker::ID::CENTROIDING);
offset = 2;
result = getParam(arcseckeys::ENABLE_FILTER, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::MAX_QUALITY, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::DARK_THRESHOLD, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MIN_QUALITY, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MAX_INTENSITY, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MIN_INTENSITY, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MAX_MAGNITUDE, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::GAUSSIAN_CMAX, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::GAUSSIAN_CMIN, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::TRANSMATRIX_00, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::TRANSMATRIX_01, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::TRANSMATRIX_10, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::TRANSMATRIX_11, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
return returnvalue::OK;
}
Lisa::Lisa() : ArcsecJsonParamBase(arcseckeys::LISA) {}
size_t Lisa::getSize() { return COMMAND_SIZE; }
ReturnValue_t Lisa::createCommand(uint8_t* buffer) {
ReturnValue_t result = returnvalue::OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, startracker::ID::LISA);
offset = 2;
result = getParam(arcseckeys::LISA_MODE, param);
if (result != returnvalue::OK) {
return result;
}
adduint32(param, buffer + offset);
offset += sizeof(uint32_t);
result = getParam(arcseckeys::PREFILTER_DIST_THRESHOLD, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::PREFILTER_ANGLE_THRESHOLD, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::FOV_WIDTH, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::FOV_HEIGHT, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::FLOAT_STAR_LIMIT, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CLOSE_STAR_LIMIT, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::RATING_WEIGHT_CLOSE_STAR_COUNT, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::RATING_WEIGHT_FRACTION_CLOSE, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::RATING_WEIGHT_MEAN_SUM, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::RATING_WEIGHT_DB_STAR_COUNT, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MAX_COMBINATIONS, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::NR_STARS_STOP, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::FRACTION_CLOSE_STOP, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
return returnvalue::OK;
}
Matching::Matching() : ArcsecJsonParamBase(arcseckeys::MATCHING) {}
size_t Matching::getSize() { return COMMAND_SIZE; }
ReturnValue_t Matching::createCommand(uint8_t* buffer) {
ReturnValue_t result = returnvalue::OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, startracker::ID::MATCHING);
offset = 2;
result = getParam(arcseckeys::SQUARED_DISTANCE_LIMIT, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::SQUARED_SHIFT_LIMIT, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
return returnvalue::OK;
}
Validation::Validation() : ArcsecJsonParamBase(arcseckeys::VALIDATION) {}
size_t Validation::getSize() { return COMMAND_SIZE; }
ReturnValue_t Validation::createCommand(uint8_t* buffer) {
ReturnValue_t result = returnvalue::OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, startracker::ID::VALIDATION);
offset = 2;
result = getParam(arcseckeys::STABLE_COUNT, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::MAX_DIFFERENCE, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MIN_TRACKER_CONFIDENCE, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MIN_MATCHED_STARS, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
return returnvalue::OK;
}
Algo::Algo() : ArcsecJsonParamBase(arcseckeys::ALGO) {}
size_t Algo::getSize() { return COMMAND_SIZE; }
ReturnValue_t Algo::createCommand(uint8_t* buffer) {
ReturnValue_t result = returnvalue::OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, startracker::ID::ALGO);
offset = 2;
result = getParam(arcseckeys::MODE, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::L2T_MIN_CONFIDENCE, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::L2T_MIN_MATCHED, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::T2L_MIN_CONFIDENCE, param);
if (result != returnvalue::OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::T2L_MIN_MATCHED, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
return returnvalue::OK;
}
LogLevel::LogLevel() : ArcsecJsonParamBase(arcseckeys::LOGLEVEL) {}
size_t LogLevel::getSize() { return COMMAND_SIZE; }
ReturnValue_t LogLevel::createCommand(uint8_t* buffer) {
ReturnValue_t result = returnvalue::OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, startracker::ID::LOG_LEVEL);
offset = 2;
result = getParam(arcseckeys::LOGLEVEL1, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::LOGLEVEL2, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::LOGLEVEL3, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::LOGLEVEL4, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::LOGLEVEL5, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::LOGLEVEL6, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::LOGLEVEL7, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::LOGLEVEL8, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::LOGLEVEL9, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::LOGLEVEL10, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::LOGLEVEL11, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::LOGLEVEL12, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::LOGLEVEL13, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::LOGLEVEL14, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::LOGLEVEL15, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::LOGLEVEL16, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
return returnvalue::OK;
}
Subscription::Subscription() : ArcsecJsonParamBase(arcseckeys::SUBSCRIPTION) {}
size_t Subscription::getSize() { return COMMAND_SIZE; }
ReturnValue_t Subscription::createCommand(uint8_t* buffer) {
ReturnValue_t result = returnvalue::OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, startracker::ID::SUBSCRIPTION);
offset = 2;
result = getParam(arcseckeys::TELEMETRY_1, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::TELEMETRY_2, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::TELEMETRY_3, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::TELEMETRY_4, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::TELEMETRY_5, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::TELEMETRY_6, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::TELEMETRY_7, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::TELEMETRY_8, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::TELEMETRY_9, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::TELEMETRY_10, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::TELEMETRY_11, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::TELEMETRY_12, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::TELEMETRY_13, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::TELEMETRY_14, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::TELEMETRY_15, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::TELEMETRY_16, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
return returnvalue::OK;
}
LogSubscription::LogSubscription() : ArcsecJsonParamBase(arcseckeys::LOG_SUBSCRIPTION) {}
size_t LogSubscription::getSize() { return COMMAND_SIZE; }
ReturnValue_t LogSubscription::createCommand(uint8_t* buffer) {
ReturnValue_t result = returnvalue::OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, startracker::ID::LOG_SUBSCRIPTION);
offset = 2;
result = getParam(arcseckeys::LEVEL1, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::MODULE1, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::LEVEL2, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::MODULE2, param);
if (result != returnvalue::OK) {
return result;
}
adduint8(param, buffer + offset);
return returnvalue::OK;
}
DebugCamera::DebugCamera() : ArcsecJsonParamBase(arcseckeys::DEBUG_CAMERA) {}
size_t DebugCamera::getSize() { return COMMAND_SIZE; }
ReturnValue_t DebugCamera::createCommand(uint8_t* buffer) {
ReturnValue_t result = returnvalue::OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, startracker::ID::DEBUG_CAMERA);
offset = 2;
result = getParam(arcseckeys::TIMING, param);
if (result != returnvalue::OK) {
return result;
}
adduint32(param, buffer + offset);
offset += sizeof(uint32_t);
result = getParam(arcseckeys::TEST, param);
if (result != returnvalue::OK) {
return result;
}
adduint32(param, buffer + offset);
return returnvalue::OK;
}

241
mission/acs/str/strJsonCommands.h Normal file
View File

@ -0,0 +1,241 @@
#ifndef BSP_Q7S_DEVICES_DEVICEDEFINITIONS_STARTRACKERJSONCOMMANDS_H_
#define BSP_Q7S_DEVICES_DEVICEDEFINITIONS_STARTRACKERJSONCOMMANDS_H_
/**
* @brief This file defines a few helper classes to generate commands by means of the parameters
* defined in the arcsec json files.
* @author J. Meier
*/
#include <mission/acs/str/ArcsecJsonParamBase.h>
#include <string>
#include "fsfw/serviceinterface/ServiceInterface.h"
/**
* @brief Generates command to set the limit parameters
*
*/
class Limits : public ArcsecJsonParamBase {
public:
Limits();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 43;
virtual ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the tracking algorithm.
*
*/
class Tracking : public ArcsecJsonParamBase {
public:
Tracking();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 15;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to set the mounting quaternion
*
*/
class Mounting : public ArcsecJsonParamBase {
public:
Mounting();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 18;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the image processor
*
*/
class ImageProcessor : public ArcsecJsonParamBase {
public:
ImageProcessor();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 9;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to set the mounting quaternion
*
*/
class Camera : public ArcsecJsonParamBase {
public:
Camera();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 39;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the centroiding algorithm
*
*/
class Centroiding : public ArcsecJsonParamBase {
public:
Centroiding();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 51;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the LISA (lost in space algorithm)
*
*/
class Lisa : public ArcsecJsonParamBase {
public:
Lisa();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 52;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the matching algorithm
*
*/
class Matching : public ArcsecJsonParamBase {
public:
Matching();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 10;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the validation parameters
*
*/
class Validation : public ArcsecJsonParamBase {
public:
Validation();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 12;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates command to configure the mechanism of automatically switching between the
* LISA and other algorithms.
*
*/
class Algo : public ArcsecJsonParamBase {
public:
Algo();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 13;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates command to configure the log level parameters.
*
*/
class LogLevel : public ArcsecJsonParamBase {
public:
LogLevel();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 18;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates command to set subscription parameters.
*
*/
class Subscription : public ArcsecJsonParamBase {
public:
Subscription();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 18;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates command to set log subscription parameters.
*
*/
class LogSubscription : public ArcsecJsonParamBase {
public:
LogSubscription();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 6;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates command to set debug camera parameters
*
*/
class DebugCamera : public ArcsecJsonParamBase {
public:
DebugCamera();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 10;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
#endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_STARTRACKERJSONCOMMANDS_H_ */

0
mission/devices/devicedefinitions/susMax1227Helpers.h → mission/acs/susMax1227Helpers.h
View File

11
mission/com/CMakeLists.txt Normal file
View File

@ -0,0 +1,11 @@
target_sources(
${LIB_EIVE_MISSION}
PRIVATE SyrlinksHandler.cpp
CcsdsIpCoreHandler.cpp
LiveTmTask.cpp
PersistentLogTmStoreTask.cpp
TmStoreTaskBase.cpp
VirtualChannel.cpp
VirtualChannelWithQueue.cpp
PersistentSingleTmStoreTask.cpp
LiveTmTask.cpp)

242
mission/tmtc/CcsdsIpCoreHandler.cpp → mission/com/CcsdsIpCoreHandler.cpp
View File

@ -11,13 +11,15 @@
#include "fsfw/serialize/SerializeAdapter.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
#include "mission/com/syrlinksDefs.h"
CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t tcDestination,
PtmeConfig& ptmeConfig, std::atomic_bool& linkState,
GpioIF* gpioIF, PtmeGpios gpioIds)
GpioIF* gpioIF, PtmeGpios gpioIds,
std::atomic_bool& ptmeLocked)
: SystemObject(objectId),
linkState(linkState),
ptmeLocked(ptmeLocked),
tcDestination(tcDestination),
parameterHelper(this),
actionHelper(this, nullptr),
@ -29,12 +31,14 @@ CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t tcDesti
auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
eventQueue =
QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
ptmeLocked = true;
}
CcsdsIpCoreHandler::~CcsdsIpCoreHandler() = default;
ReturnValue_t CcsdsIpCoreHandler::performOperation(uint8_t operationCode) {
readCommandQueue();
performPtmeUpdateWhenApplicable();
return returnvalue::OK;
}
@ -71,11 +75,11 @@ ReturnValue_t CcsdsIpCoreHandler::initialize() {
}
// This also pulls the PTME out of reset state.
if (batPriorityParam == 0) {
disablePrioritySelectMode();
} else {
enablePrioritySelectMode();
}
updateBatPriorityFromParam();
ptmeConfig.setPollThreshold(
static_cast<AxiPtmeConfig::IdlePollThreshold>(params.pollThresholdParam));
resetPtme();
ptmeLocked = false;
#if OBSW_SYRLINKS_SIMULATED == 1
// Update data on rising edge
@ -117,7 +121,10 @@ ReturnValue_t CcsdsIpCoreHandler::getParameter(uint8_t domainId, uint8_t uniqueI
ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues,
uint16_t startAtIndex) {
if ((domainId == 0) and (uniqueIdentifier == ParamId::BAT_PRIORITY)) {
if (domainId != 0) {
return HasParametersIF::INVALID_DOMAIN_ID;
}
if (uniqueIdentifier == ParamId::BAT_PRIORITY) {
uint8_t newVal = 0;
ReturnValue_t result = newValues->getElement(&newVal);
if (result != returnvalue::OK) {
@ -126,11 +133,33 @@ ReturnValue_t CcsdsIpCoreHandler::getParameter(uint8_t domainId, uint8_t uniqueI
if (newVal > 1) {
return HasParametersIF::INVALID_VALUE;
}
parameterWrapper->set(batPriorityParam);
if (mode == MODE_ON) {
updateBatPriorityOnTxOff = true;
} else if (mode == MODE_OFF) {
updateBatPriorityFromParam();
parameterWrapper->set(params.batPriorityParam);
if (newVal != params.batPriorityParam) {
// This ensures that the BAT priority is updated at some point when an update of the PTME is
// allowed
updateContext.updateBatPrio = true;
// If we are off, we can do the update after X cycles. Otherwise, wait until the transmitter
// goes off.
if (mode == MODE_OFF) {
initPtmeUpdateAfterXCycles();
}
}
return returnvalue::OK;
} else if (uniqueIdentifier == ParamId::POLL_THRESHOLD) {
uint8_t newVal = 0;
ReturnValue_t result = newValues->getElement(&newVal);
if (result != returnvalue::OK) {
return result;
}
if (newVal > static_cast<uint8_t>(AxiPtmeConfig::NEVER)) {
return HasParametersIF::INVALID_VALUE;
}
parameterWrapper->set(newVal);
if (newVal != params.pollThresholdParam) {
updateContext.updatePollThreshold = true;
if (mode == MODE_OFF) {
initPtmeUpdateAfterXCycles();
}
}
return returnvalue::OK;
}
@ -148,50 +177,33 @@ ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueu
const uint8_t* data, size_t size) {
ReturnValue_t result = returnvalue::OK;
switch (actionId) {
case SET_LOW_RATE: {
submode = static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW);
result = ptmeConfig.setRate(RATE_100KBPS);
break;
}
case SET_HIGH_RATE: {
submode = static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH);
result = ptmeConfig.setRate(RATE_500KBPS);
break;
}
case ARBITRARY_RATE: {
uint32_t bitrate = 0;
SerializeAdapter::deSerialize(&bitrate, &data, &size, SerializeIF::Endianness::BIG);
result = ptmeConfig.setRate(bitrate);
result = SerializeAdapter::deSerialize(&bitrate, &data, &size, SerializeIF::Endianness::BIG);
if (result != returnvalue::OK) {
return result;
}
ptmeConfig.setRate(bitrate);
updateContext.updateClockRate = true;
if (mode == MODE_OFF) {
initPtmeUpdateAfterXCycles();
}
break;
}
case EN_TRANSMITTER: {
enableTransmit();
if (mode == HasModesIF::MODE_OFF) {
mode = HasModesIF::MODE_ON;
}
return EXECUTION_FINISHED;
}
case DISABLE_TRANSMITTER: {
disableTransmit();
if (mode == HasModesIF::MODE_ON) {
mode = HasModesIF::MODE_OFF;
}
return EXECUTION_FINISHED;
}
case ENABLE_TX_CLK_MANIPULATOR: {
result = ptmeConfig.configTxManipulator(true);
ptmeConfig.configTxManipulator(true);
break;
}
case DISABLE_TX_CLK_MANIPULATOR: {
result = ptmeConfig.configTxManipulator(false);
ptmeConfig.configTxManipulator(false);
break;
}
case UPDATE_ON_RISING_EDGE: {
result = ptmeConfig.invertTxClock(false);
ptmeConfig.invertTxClock(false);
break;
}
case UPDATE_ON_FALLING_EDGE: {
result = ptmeConfig.invertTxClock(true);
ptmeConfig.invertTxClock(true);
break;
}
default:
@ -206,12 +218,8 @@ ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueu
void CcsdsIpCoreHandler::updateLinkState() { linkState = LINK_UP; }
void CcsdsIpCoreHandler::enableTransmit() {
// Reset PTME on each transmit enable.
updateBatPriorityFromParam();
#ifndef TE0720_1CFA
gpioIF->pullHigh(ptmeGpios.enableTxClock);
gpioIF->pullHigh(ptmeGpios.enableTxData);
#endif
linkState = LINK_UP;
}
@ -236,34 +244,23 @@ ReturnValue_t CcsdsIpCoreHandler::checkModeCommand(Mode_t mode, Submode_t submod
}
void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
auto rateSet = [&](uint32_t rate) {
ReturnValue_t result = ptmeConfig.setRate(rate);
if (result == returnvalue::OK) {
this->mode = HasModesIF::MODE_ON;
}
};
triggerEvent(CHANGING_MODE, mode, submode);
if (mode == HasModesIF::MODE_ON) {
enableTransmit();
if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_DEFAULT)) {
com::Datarate currentDatarate = com::getCurrentDatarate();
if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
rateSet(RATE_100KBPS);
} else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
rateSet(RATE_500KBPS);
}
} else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH)) {
rateSet(RATE_500KBPS);
} else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW)) {
rateSet(RATE_100KBPS);
if (this->submode != submode) {
initPtmeUpdateAfterXCycles();
updateContext.enableTransmitAfterPtmeUpdate = true;
updateContext.updateClockRate = true;
this->submode = submode;
this->mode = mode;
updateContext.setModeAfterUpdate = true;
return;
}
// No rate change, so enable transmitter right away.
enableTransmit();
} else if (mode == HasModesIF::MODE_OFF) {
disableTransmit();
this->mode = HasModesIF::MODE_OFF;
}
this->submode = submode;
modeHelper.modeChanged(mode, submode);
announceMode(false);
setMode(mode, submode);
}
void CcsdsIpCoreHandler::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, submode); }
@ -274,9 +271,9 @@ void CcsdsIpCoreHandler::disableTransmit() {
gpioIF->pullLow(ptmeGpios.enableTxData);
#endif
linkState = LINK_DOWN;
if (updateBatPriorityOnTxOff) {
updateBatPriorityFromParam();
updateBatPriorityOnTxOff = false;
// Some parameters need update and transmitter is off now.
if (updateContext.updateBatPrio or updateContext.updateClockRate) {
initPtmeUpdateAfterXCycles();
}
}
@ -294,26 +291,95 @@ ModeTreeChildIF& CcsdsIpCoreHandler::getModeTreeChildIF() { return *this; }
object_id_t CcsdsIpCoreHandler::getObjectId() const { return SystemObject::getObjectId(); }
void CcsdsIpCoreHandler::enablePrioritySelectMode() {
ptmeConfig.enableBatPriorityBit(true);
// Reset the PTME
gpioIF->pullLow(ptmeGpios.ptmeResetn);
usleep(10);
gpioIF->pullHigh(ptmeGpios.ptmeResetn);
}
void CcsdsIpCoreHandler::enablePrioritySelectMode() { ptmeConfig.enableBatPriorityBit(true); }
void CcsdsIpCoreHandler::disablePrioritySelectMode() {
ptmeConfig.enableBatPriorityBit(false);
// Reset the PTME
gpioIF->pullLow(ptmeGpios.ptmeResetn);
usleep(10);
gpioIF->pullHigh(ptmeGpios.ptmeResetn);
}
void CcsdsIpCoreHandler::disablePrioritySelectMode() { ptmeConfig.enableBatPriorityBit(false); }
void CcsdsIpCoreHandler::updateBatPriorityFromParam() {
if (batPriorityParam == 0) {
if (params.batPriorityParam == 0) {
disablePrioritySelectMode();
} else {
enablePrioritySelectMode();
}
}
void CcsdsIpCoreHandler::setMode(Mode_t mode, Submode_t submode) {
this->submode = submode;
this->mode = mode;
modeHelper.modeChanged(mode, submode);
announceMode(false);
}
void CcsdsIpCoreHandler::performPtmeUpdateWhenApplicable() {
if (not updateContext.performPtmeUpdateAfterXCycles) {
return;
}
if (updateContext.ptmeUpdateCycleCount >= 2) {
bool doResetPtme = false;
if (updateContext.updateBatPrio) {
updateBatPriorityFromParam();
updateContext.updateBatPrio = false;
doResetPtme = true;
}
if (updateContext.updatePollThreshold) {
ptmeConfig.setPollThreshold(
static_cast<AxiPtmeConfig::IdlePollThreshold>(params.pollThresholdParam));
updateContext.updatePollThreshold = false;
doResetPtme = true;
}
ReturnValue_t result = returnvalue::OK;
if (updateContext.updateClockRate) {
if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_DEFAULT)) {
com::Datarate currentDatarate = com::getCurrentDatarate();
if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
result = ptmeConfig.setRate(RATE_100KBPS);
} else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
result = ptmeConfig.setRate(RATE_500KBPS);
}
} else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH)) {
result = ptmeConfig.setRate(RATE_500KBPS);
} else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW)) {
result = ptmeConfig.setRate(RATE_100KBPS);
}
if (result != returnvalue::OK) {
sif::error << "CcsdsIpCoreHandler: Setting datarate failed" << std::endl;
}
updateContext.updateClockRate = false;
doResetPtme = true;
}
finishPtmeUpdateAfterXCycles(doResetPtme);
return;
}
updateContext.ptmeUpdateCycleCount++;
}
void CcsdsIpCoreHandler::resetPtme() {
gpioIF->pullLow(ptmeGpios.ptmeResetn);
usleep(10);
gpioIF->pullHigh(ptmeGpios.ptmeResetn);
}
void CcsdsIpCoreHandler::initPtmeUpdateAfterXCycles() {
if (not updateContext.performPtmeUpdateAfterXCycles) {
updateContext.performPtmeUpdateAfterXCycles = true;
updateContext.ptmeUpdateCycleCount = 0;
ptmeLocked = true;
}
}
void CcsdsIpCoreHandler::finishPtmeUpdateAfterXCycles(bool doResetPtme) {
if (doResetPtme) {
resetPtme();
}
ptmeLocked = false;
updateContext.performPtmeUpdateAfterXCycles = false;
updateContext.ptmeUpdateCycleCount = 0;
if (updateContext.enableTransmitAfterPtmeUpdate) {
enableTransmit();
updateContext.enableTransmitAfterPtmeUpdate = false;
}
if (updateContext.setModeAfterUpdate) {
setMode(mode, submode);
updateContext.setModeAfterUpdate = false;
}
}

42
mission/tmtc/CcsdsIpCoreHandler.h → mission/com/CcsdsIpCoreHandler.h
View File

@ -2,7 +2,7 @@
#define CCSDSHANDLER_H_
#include <fsfw/modes/HasModesIF.h>
#include <mission/tmtc/VirtualChannelWithQueue.h>
#include <mission/com/VirtualChannelWithQueue.h>
#include <cstdint>
#include <unordered_map>
@ -23,7 +23,7 @@
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
#include "linux/ipcore/PtmeConfig.h"
#include "mission/comDefs.h"
#include "mission/com/defs.h"
struct PtmeGpios {
gpioId_t enableTxClock = gpio::NO_GPIO;
@ -36,6 +36,10 @@ struct PtmeGpios {
* programmable logic of the Q7S.
*
* @details
* From a system view, OFF means that the transmitter is off, on means that the transmitter is on.
* The handler will only take care of the IP configuration, the actual swithing and configuration
* of the COM hardware (Syrlinks for the EIVE project) will be done in a separate device handler.
*
* After reboot default CADU bitrate is always set to 100 kbps (results in downlink rate
* of 200 kbps due to convolutional code added by syrlinks transceiver). The IP core handler exposes
* a parameter to enable the priority selection mode for the PTME core.
@ -56,7 +60,7 @@ class CcsdsIpCoreHandler : public SystemObject,
public ReceivesParameterMessagesIF,
public HasActionsIF {
public:
enum ParamId : uint8_t { BAT_PRIORITY = 0 };
enum ParamId : uint8_t { BAT_PRIORITY = 0, POLL_THRESHOLD = 1 };
static const bool LINK_UP = true;
static const bool LINK_DOWN = false;
@ -75,7 +79,8 @@ class CcsdsIpCoreHandler : public SystemObject,
* @param enTxData GPIO ID of RS485 tx data enable
*/
CcsdsIpCoreHandler(object_id_t objectId, object_id_t tcDestination, PtmeConfig& ptmeConfig,
std::atomic_bool& linkState, GpioIF* gpioIF, PtmeGpios gpioIds);
std::atomic_bool& linkState, GpioIF* gpioIF, PtmeGpios gpioIds,
std::atomic_bool& ptmeLocked);
~CcsdsIpCoreHandler();
@ -133,9 +138,8 @@ class CcsdsIpCoreHandler : public SystemObject,
//! [EXPORT] : [COMMENT] Received action message with unknown action id
static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xA0);
// using VirtualChannelMap = std::unordered_map<VcId_t, VirtualChannelWithQueue*>;
// VirtualChannelMap virtualChannelMap;
std::atomic_bool& linkState;
std::atomic_bool& ptmeLocked;
object_id_t tcDestination;
@ -152,9 +156,22 @@ class CcsdsIpCoreHandler : public SystemObject,
PtmeConfig& ptmeConfig;
PtmeGpios ptmeGpios;
// BAT priority bit on by default to enable priority selection mode for the PTME.
uint8_t batPriorityParam = 0;
bool updateBatPriorityOnTxOff = false;
struct Parameters {
// BAT priority bit on by default to enable priority selection mode for the PTME.
uint8_t batPriorityParam = 0;
uint8_t pollThresholdParam = static_cast<uint8_t>(AxiPtmeConfig::IdlePollThreshold::POLL_4);
} params;
struct UpdateContext {
bool updateBatPrio = false;
bool updateClockRate = false;
bool updatePollThreshold = false;
bool enableTransmitAfterPtmeUpdate = false;
uint8_t ptmeUpdateCycleCount = 0;
bool performPtmeUpdateAfterXCycles = false;
bool setModeAfterUpdate = false;
} updateContext{};
GpioIF* gpioIF = nullptr;
@ -176,6 +193,8 @@ class CcsdsIpCoreHandler : public SystemObject,
*/
void disableTransmit();
void performPtmeUpdateWhenApplicable();
/**
* The following set of functions configure the mode of the PTME bandwith allocation table (BAT)
* module. This consists of the following 2 steps:
@ -185,6 +204,11 @@ class CcsdsIpCoreHandler : public SystemObject,
void enablePrioritySelectMode();
void disablePrioritySelectMode();
void updateBatPriorityFromParam();
void setMode(Mode_t mode, Submode_t submode);
void resetPtme();
void initPtmeUpdateAfterXCycles();
void finishPtmeUpdateAfterXCycles(bool doResetPtme);
};
#endif /* CCSDSHANDLER_H_ */

107
mission/com/LiveTmTask.cpp Normal file
View File

@ -0,0 +1,107 @@
#include "LiveTmTask.h"
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/subsystem/helper.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
LiveTmTask::LiveTmTask(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel,
VirtualChannelWithQueue& channel, const std::atomic_bool& ptmeLocked)
: SystemObject(objectId),
modeHelper(this),
pusFunnel(pusFunnel),
cfdpFunnel(cfdpFunnel),
channel(channel),
ptmeLocked(ptmeLocked) {
requestQueue = QueueFactory::instance()->createMessageQueue();
}
ReturnValue_t LiveTmTask::performOperation(uint8_t opCode) {
readCommandQueue();
while (true) {
bool performWriteOp = true;
if (mode == MODE_OFF or ptmeLocked) {
performWriteOp = false;
}
// The funnel tasks are scheduled here directly as well.
ReturnValue_t result = channel.handleNextTm(performWriteOp);
if (result == DirectTmSinkIF::IS_BUSY) {
sif::error << "Lost live TM, PAPB busy" << std::endl;
}
if (result == MessageQueueIF::EMPTY) {
if (tmFunnelCd.hasTimedOut()) {
pusFunnel.performOperation(0);
cfdpFunnel.performOperation(0);
tmFunnelCd.resetTimer();
}
// Read command queue during idle times.
readCommandQueue();
// 40 ms IDLE delay. Might tweak this in the future.
TaskFactory::delayTask(40);
} else {
packetCounter++;
}
}
}
MessageQueueId_t LiveTmTask::getCommandQueue() const { return requestQueue->getId(); }
void LiveTmTask::getMode(Mode_t* mode, Submode_t* submode) {
if (mode != nullptr) {
*mode = this->mode;
}
if (submode != nullptr) {
*submode = SUBMODE_NONE;
}
}
ReturnValue_t LiveTmTask::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) {
if (mode == MODE_ON or mode == MODE_OFF) {
return returnvalue::OK;
}
return returnvalue::FAILED;
}
void LiveTmTask::startTransition(Mode_t mode, Submode_t submode) {
this->mode = mode;
modeHelper.modeChanged(mode, submode);
announceMode(false);
}
void LiveTmTask::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, SUBMODE_NONE); }
object_id_t LiveTmTask::getObjectId() const { return SystemObject::getObjectId(); }
const HasHealthIF* LiveTmTask::getOptHealthIF() const { return nullptr; }
const HasModesIF& LiveTmTask::getModeIF() const { return *this; }
ReturnValue_t LiveTmTask::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
return modetree::connectModeTreeParent(parent, *this, nullptr, modeHelper);
}
void LiveTmTask::readCommandQueue(void) {
CommandMessage commandMessage;
ReturnValue_t result = returnvalue::FAILED;
result = requestQueue->receiveMessage(&commandMessage);
if (result == returnvalue::OK) {
result = modeHelper.handleModeCommand(&commandMessage);
if (result == returnvalue::OK) {
return;
}
CommandMessage reply;
reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND, commandMessage.getCommand());
requestQueue->reply(&reply);
return;
}
}
ModeTreeChildIF& LiveTmTask::getModeTreeChildIF() { return *this; }
ReturnValue_t LiveTmTask::initialize() {
modeHelper.initialize();
return returnvalue::OK;
}

57
mission/com/LiveTmTask.h Normal file
View File

@ -0,0 +1,57 @@
#ifndef MISSION_TMTC_LIVETMTASK_H_
#define MISSION_TMTC_LIVETMTASK_H_
#include <fsfw/modes/HasModesIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/subsystem/ModeTreeChildIF.h>
#include <fsfw/subsystem/ModeTreeConnectionIF.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/timemanager/Countdown.h>
#include <mission/com/VirtualChannelWithQueue.h>
#include <mission/tmtc/CfdpTmFunnel.h>
#include <mission/tmtc/PusTmFunnel.h>
class LiveTmTask : public SystemObject,
public HasModesIF,
public ExecutableObjectIF,
public ModeTreeChildIF,
public ModeTreeConnectionIF {
public:
LiveTmTask(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel,
VirtualChannelWithQueue& channel, const std::atomic_bool& ptmeLocked);
ReturnValue_t performOperation(uint8_t opCode) override;
ReturnValue_t initialize() override;
ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
private:
MessageQueueIF* requestQueue;
ModeHelper modeHelper;
Mode_t mode = HasModesIF::MODE_OFF;
Countdown tmFunnelCd = Countdown(100);
PusTmFunnel& pusFunnel;
CfdpTmFunnel& cfdpFunnel;
VirtualChannelWithQueue& channel;
uint32_t packetCounter = 0;
const std::atomic_bool& ptmeLocked;
void readCommandQueue(void);
MessageQueueId_t getCommandQueue() const override;
void getMode(Mode_t* mode, Submode_t* submode) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
void startTransition(Mode_t mode, Submode_t submode) override;
void announceMode(bool recursive) override;
object_id_t getObjectId() const override;
const HasHealthIF* getOptHealthIF() const override;
const HasModesIF& getModeIF() const override;
ModeTreeChildIF& getModeTreeChildIF() override;
};
#endif /* MISSION_TMTC_LIVETMTASK_H_ */

74
mission/com/PersistentLogTmStoreTask.cpp Normal file
View File

@ -0,0 +1,74 @@
#include "PersistentLogTmStoreTask.h"
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
PersistentLogTmStoreTask::PersistentLogTmStoreTask(object_id_t objectId, StorageManagerIF& ipcStore,
LogStores stores, VirtualChannel& channel,
SdCardMountedIF& sdcMan,
const std::atomic_bool& ptmeLocked)
: TmStoreTaskBase(objectId, ipcStore, channel, sdcMan, ptmeLocked),
stores(stores),
okStoreContext(persTmStore::DUMP_OK_STORE_DONE, persTmStore::DUMP_OK_CANCELLED),
notOkStoreContext(persTmStore::DUMP_NOK_STORE_DONE, persTmStore::DUMP_NOK_CANCELLED),
miscStoreContext(persTmStore::DUMP_MISC_STORE_DONE, persTmStore::DUMP_MISC_CANCELLED) {}
ReturnValue_t PersistentLogTmStoreTask::performOperation(uint8_t opCode) {
bool someonesBusy = false;
bool vcBusyDuringDump = false;
auto stateHandlingForStore = [&](bool storeIsBusy, DumpContext& ctx) {
if (storeIsBusy) {
someonesBusy = true;
}
if (fileHasSwapped) {
someFileWasSwapped = fileHasSwapped;
}
if (ctx.vcBusyDuringDump) {
vcBusyDuringDump = true;
}
};
while (true) {
readCommandQueue();
if (not cyclicStoreCheck()) {
continue;
}
someonesBusy = false;
someFileWasSwapped = false;
vcBusyDuringDump = false;
stateHandlingForStore(handleOneStore(stores.okStore, okStoreContext), okStoreContext);
stateHandlingForStore(handleOneStore(stores.notOkStore, notOkStoreContext), notOkStoreContext);
stateHandlingForStore(handleOneStore(stores.miscStore, miscStoreContext), miscStoreContext);
if (not someonesBusy) {
TaskFactory::delayTask(100);
} else if (vcBusyDuringDump) {
// TODO: Might not be necessary
sif::debug << "VC busy, delaying" << std::endl;
TaskFactory::delayTask(10);
}
}
}
bool PersistentLogTmStoreTask::initStoresIfPossible() {
if (sdcMan.isSdCardUsable(std::nullopt)) {
stores.okStore.initializeTmStore();
stores.miscStore.initializeTmStore();
stores.notOkStore.initializeTmStore();
return true;
}
return false;
}
void PersistentLogTmStoreTask::startTransition(Mode_t mode, Submode_t submode) {
if (mode == MODE_OFF) {
bool channelIsOn = channel.isTxOn();
cancelDump(okStoreContext, stores.okStore, channelIsOn);
cancelDump(notOkStoreContext, stores.notOkStore, channelIsOn);
cancelDump(miscStoreContext, stores.miscStore, channelIsOn);
this->mode = MODE_OFF;
} else if (mode == MODE_ON) {
this->mode = MODE_ON;
}
modeHelper.modeChanged(mode, submode);
announceMode(false);
}

12
mission/tmtc/PersistentLogTmStoreTask.h → mission/com/PersistentLogTmStoreTask.h
View File

@ -5,11 +5,11 @@
#include <fsfw/storagemanager/StorageManagerIF.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
#include <mission/core/GenericFactory.h>
#include <mission/com/TmStoreTaskBase.h>
#include <mission/com/VirtualChannelWithQueue.h>
#include <mission/genericFactory.h>
#include <mission/tmtc/PersistentTmStore.h>
#include <mission/tmtc/PersistentTmStoreWithTmQueue.h>
#include <mission/tmtc/TmStoreTaskBase.h>
#include <mission/tmtc/VirtualChannelWithQueue.h>
struct LogStores {
LogStores(PersistentTmStores& stores)
@ -22,7 +22,8 @@ struct LogStores {
class PersistentLogTmStoreTask : public TmStoreTaskBase, public ExecutableObjectIF {
public:
PersistentLogTmStoreTask(object_id_t objectId, StorageManagerIF& ipcStore, LogStores tmStore,
VirtualChannel& channel, SdCardMountedIF& sdcMan);
VirtualChannel& channel, SdCardMountedIF& sdcMan,
const std::atomic_bool& ptmeLocked);
ReturnValue_t performOperation(uint8_t opCode) override;
@ -35,7 +36,8 @@ class PersistentLogTmStoreTask : public TmStoreTaskBase, public ExecutableObject
Countdown graceDelayDuringDumping = Countdown(200);
bool someFileWasSwapped = false;
bool initStoresIfPossible();
bool initStoresIfPossible() override;
void startTransition(Mode_t mode, Submode_t submode) override;
};
#endif /* MISSION_TMTC_PERSISTENTLOGTMSTORETASK_H_ */

54
mission/com/PersistentSingleTmStoreTask.cpp Normal file
View File

@ -0,0 +1,54 @@
#include "PersistentSingleTmStoreTask.h"
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <unistd.h>
PersistentSingleTmStoreTask::PersistentSingleTmStoreTask(
object_id_t objectId, StorageManagerIF& ipcStore, PersistentTmStoreWithTmQueue& tmStore,
VirtualChannel& channel, Event eventIfDumpDone, Event eventIfCancelled, SdCardMountedIF& sdcMan,
const std::atomic_bool& ptmeLocked)
: TmStoreTaskBase(objectId, ipcStore, channel, sdcMan, ptmeLocked),
storeWithQueue(tmStore),
dumpContext(eventIfDumpDone, eventIfCancelled) {}
ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) {
while (true) {
readCommandQueue();
// Delay done by the check
if (not cyclicStoreCheck()) {
continue;
}
bool busy = handleOneStore(storeWithQueue, dumpContext);
if (not busy) {
TaskFactory::delayTask(100);
} else if (dumpContext.vcBusyDuringDump) {
sif::debug << "VC busy, delaying" << std::endl;
// TODO: Might not be necessary
TaskFactory::delayTask(10);
} else {
// TODO: Would be best to remove this, but not delaying here can lead to evil issues.
TaskFactory::delayTask(2);
}
}
}
bool PersistentSingleTmStoreTask::initStoresIfPossible() {
if (sdcMan.isSdCardUsable(std::nullopt)) {
storeWithQueue.initializeTmStore();
return true;
}
return false;
}
void PersistentSingleTmStoreTask::startTransition(Mode_t mode, Submode_t submode) {
if (mode == MODE_OFF) {
cancelDump(dumpContext, storeWithQueue, channel.isTxOn());
this->mode = MODE_OFF;
} else if (mode == MODE_ON) {
this->mode = MODE_ON;
}
modeHelper.modeChanged(mode, submode);
announceMode(false);
}

11
mission/tmtc/PersistentSingleTmStoreTask.h → mission/com/PersistentSingleTmStoreTask.h
View File

@ -3,15 +3,16 @@
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <mission/com/TmStoreTaskBase.h>
#include <mission/com/VirtualChannel.h>
#include <mission/tmtc/PersistentTmStoreWithTmQueue.h>
#include <mission/tmtc/TmStoreTaskBase.h>
#include <mission/tmtc/VirtualChannel.h>
class PersistentSingleTmStoreTask : public TmStoreTaskBase, public ExecutableObjectIF {
public:
PersistentSingleTmStoreTask(object_id_t objectId, StorageManagerIF& ipcStore,
PersistentTmStoreWithTmQueue& storeWithQueue, VirtualChannel& channel,
Event eventIfDumpDone, SdCardMountedIF& sdcMan);
Event eventIfDumpDone, Event eventIfCancelled,
SdCardMountedIF& sdcMan, const std::atomic_bool& ptmeLocked);
ReturnValue_t performOperation(uint8_t opCode) override;
@ -21,7 +22,9 @@ class PersistentSingleTmStoreTask : public TmStoreTaskBase, public ExecutableObj
Countdown tcHandlingCd = Countdown(400);
Countdown graceDelayDuringDumping = Countdown(100);
bool initStoresIfPossible();
bool initStoresIfPossible() override;
void startTransition(Mode_t mode, Submode_t submode) override;
};
#endif /* MISSION_TMTC_PERSISTENTSINGLETMSTORETASK_H_ */

206
mission/devices/SyrlinksHandler.cpp → mission/com/SyrlinksHandler.cpp
View File

@ -1,6 +1,6 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/CRC.h>
#include <mission/devices/SyrlinksHandler.h>
#include <mission/com/SyrlinksHandler.h>
#include "OBSWConfig.h"
#include "mission/config/comCfg.h"
@ -27,8 +27,9 @@ void SyrlinksHandler::doStartUp() {
if (internalState == InternalState::ENABLE_TEMPERATURE_PROTECTION) {
if (commandExecuted) {
// Go to normal mode immediately and disable transmitter on startup.
setMode(_MODE_TO_NORMAL);
setMode(_MODE_TO_ON);
internalState = InternalState::IDLE;
transState = TransitionState::IDLE;
commandExecuted = false;
}
}
@ -36,14 +37,16 @@ void SyrlinksHandler::doStartUp() {
void SyrlinksHandler::doShutDown() {
// In any case, always disable TX first.
if (internalState != InternalState::SET_TX_STANDBY) {
internalState = InternalState::SET_TX_STANDBY;
if (internalState != InternalState::TX_TRANSITION) {
internalState = InternalState::TX_TRANSITION;
transState = TransitionState::SET_TX_STANDBY;
commandExecuted = false;
}
if (internalState == InternalState::SET_TX_STANDBY) {
if (internalState == InternalState::TX_TRANSITION) {
if (commandExecuted) {
temperatureSet.setValidity(false, true);
internalState = InternalState::OFF;
transState = TransitionState::IDLE;
commandExecuted = false;
setMode(_MODE_POWER_DOWN);
}
@ -97,33 +100,47 @@ ReturnValue_t SyrlinksHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
}
ReturnValue_t SyrlinksHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
if (transState == TransitionState::CMD_PENDING or transState == TransitionState::DONE) {
return NOTHING_TO_SEND;
}
switch (internalState) {
case InternalState::ENABLE_TEMPERATURE_PROTECTION: {
*id = syrlinks::WRITE_LCL_CONFIG;
transState = TransitionState::CMD_PENDING;
return buildCommandFromCommand(*id, nullptr, 0);
}
case InternalState::SET_TX_MODULATION: {
*id = syrlinks::SET_TX_MODE_MODULATION;
return buildCommandFromCommand(*id, nullptr, 0);
}
case InternalState::SELECT_MODULATION_BPSK: {
*id = syrlinks::SET_WAVEFORM_BPSK;
return buildCommandFromCommand(*id, nullptr, 0);
}
case InternalState::SELECT_MODULATION_0QPSK: {
*id = syrlinks::SET_WAVEFORM_0QPSK;
return buildCommandFromCommand(*id, nullptr, 0);
}
case InternalState::SET_TX_CW: {
*id = syrlinks::SET_TX_MODE_CW;
return buildCommandFromCommand(*id, nullptr, 0);
}
case InternalState::SET_TX_STANDBY: {
*id = syrlinks::SET_TX_MODE_STANDBY;
return buildCommandFromCommand(*id, nullptr, 0);
}
default:
case InternalState::TX_TRANSITION: {
switch (transState) {
case TransitionState::SET_TX_MODULATION: {
*id = syrlinks::SET_TX_MODE_MODULATION;
return buildCommandFromCommand(*id, nullptr, 0);
}
case TransitionState::SELECT_MODULATION_BPSK: {
*id = syrlinks::SET_WAVEFORM_BPSK;
return buildCommandFromCommand(*id, nullptr, 0);
}
case TransitionState::SELECT_MODULATION_0QPSK: {
*id = syrlinks::SET_WAVEFORM_0QPSK;
return buildCommandFromCommand(*id, nullptr, 0);
}
case TransitionState::SET_TX_CW: {
*id = syrlinks::SET_TX_MODE_CW;
return buildCommandFromCommand(*id, nullptr, 0);
}
case TransitionState::SET_TX_STANDBY: {
*id = syrlinks::SET_TX_MODE_STANDBY;
return buildCommandFromCommand(*id, nullptr, 0);
}
default: {
return NOTHING_TO_SEND;
}
}
transState = TransitionState::CMD_PENDING;
break;
}
default: {
break;
}
}
return NOTHING_TO_SEND;
}
@ -442,7 +459,6 @@ ReturnValue_t SyrlinksHandler::interpretDeviceReply(DeviceCommandId_t id, const
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
return returnvalue::OK;
}
@ -620,8 +636,6 @@ void SyrlinksHandler::parseAgcHighByte(const uint8_t* packet) {
agcValueHighByte = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
}
void SyrlinksHandler::setNormalDatapoolEntriesInvalid() {}
uint32_t SyrlinksHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 2500; }
ReturnValue_t SyrlinksHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -641,16 +655,20 @@ ReturnValue_t SyrlinksHandler::initializeLocalDataPool(localpool::DataPool& loca
localDataPoolMap.emplace(syrlinks::TEMP_BASEBAND_BOARD, new PoolEntry<float>({0}));
localDataPoolMap.emplace(syrlinks::TEMP_POWER_AMPLIFIER, new PoolEntry<float>({0}));
bool enableHkSets = false;
#if OBSW_ENABLE_PERIODIC_HK == 1
enableHkSets = true;
#endif
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(txDataset.getSid(), false, 5.0));
subdp::DiagnosticsHkPeriodicParams(txDataset.getSid(), enableHkSets, 60.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(rxDataset.getSid(), false, 5.0));
subdp::DiagnosticsHkPeriodicParams(rxDataset.getSid(), enableHkSets, 60.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(temperatureSet.getSid(), false, 10.0));
subdp::RegularHkPeriodicParams(temperatureSet.getSid(), enableHkSets, 120.0));
return returnvalue::OK;
}
void SyrlinksHandler::setModeNormal() { setMode(MODE_NORMAL); }
void SyrlinksHandler::setModeNormal() { setMode(_MODE_TO_NORMAL); }
float SyrlinksHandler::calcTempVal(uint16_t raw) { return 0.126984 * raw - 67.87; }
@ -669,15 +687,37 @@ ReturnValue_t SyrlinksHandler::handleAckReply(const uint8_t* packet) {
break;
}
case (syrlinks::SET_WAVEFORM_BPSK):
case (syrlinks::SET_WAVEFORM_0QPSK):
case (syrlinks::SET_TX_MODE_STANDBY):
case (syrlinks::SET_TX_MODE_MODULATION):
case (syrlinks::SET_TX_MODE_CW): {
case (syrlinks::SET_WAVEFORM_0QPSK): {
if (result == returnvalue::OK and isTransitionalMode()) {
transState = TransitionState::SET_TX_MODULATION;
commandExecuted = true;
}
break;
}
case (syrlinks::SET_TX_MODE_STANDBY): {
if (result == returnvalue::OK and isTransitionalMode()) {
transState = TransitionState::DONE;
commandExecuted = true;
}
break;
}
case (syrlinks::SET_TX_MODE_MODULATION): {
if (result == returnvalue::OK and isTransitionalMode()) {
transState = TransitionState::DONE;
commandExecuted = true;
}
break;
}
case (syrlinks::SET_TX_MODE_CW): {
if (result == returnvalue::OK and isTransitionalMode()) {
commandExecuted = true;
transState = TransitionState::DONE;
}
break;
}
default: {
sif::error << "Syrlinks: Unexpected ACK reply" << std::endl;
}
}
switch (rememberCommandId) {
case (syrlinks::SET_TX_MODE_STANDBY): {
@ -695,7 +735,7 @@ ReturnValue_t SyrlinksHandler::handleAckReply(const uint8_t* packet) {
ReturnValue_t SyrlinksHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
if (mode == HasModesIF::MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL) {
if (submode >= com::Submode::NUM_SUBMODES) {
if (submode >= com::Submode::NUM_SUBMODES or submode < com::Submode::RX_ONLY) {
return HasModesIF::INVALID_SUBMODE;
}
return returnvalue::OK;
@ -722,68 +762,54 @@ void SyrlinksHandler::setDebugMode(bool enable) { this->debugMode = enable; }
void SyrlinksHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
Mode_t tgtMode = getBaseMode(getMode());
auto commandDone = [&]() {
setMode(tgtMode);
auto doneHandler = [&]() {
internalState = InternalState::IDLE;
transState = TransitionState::IDLE;
DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
};
auto txOnHandler = [&](InternalState selMod) {
if (internalState == InternalState::IDLE) {
commandExecuted = false;
internalState = selMod;
}
// Select modulation first (BPSK or 0QPSK).
if (internalState == selMod) {
if (commandExecuted) {
internalState = InternalState::SET_TX_MODULATION;
commandExecuted = false;
}
}
// Now go into modulation mode.
if (internalState == InternalState::SET_TX_MODULATION) {
if (commandExecuted) {
commandDone();
return true;
}
}
return false;
};
if (transState == TransitionState::DONE) {
return doneHandler();
}
auto txStandbyHandler = [&]() {
if (internalState == InternalState::IDLE) {
internalState = InternalState::SET_TX_STANDBY;
commandExecuted = false;
}
if (internalState == InternalState::SET_TX_STANDBY) {
if (commandExecuted) {
commandDone();
return;
}
}
txDataset.setReportingEnabled(false);
poolManager.changeCollectionInterval(temperatureSet.getSid(), 60.0);
transState = TransitionState::SET_TX_STANDBY;
internalState = InternalState::TX_TRANSITION;
};
auto txOnHandler = [&](TransitionState tgtTransitionState) {
txDataset.setReportingEnabled(true);
poolManager.changeCollectionInterval(txDataset.getSid(), 10.0);
poolManager.changeCollectionInterval(temperatureSet.getSid(), 5.0);
transState = tgtTransitionState;
internalState = InternalState::TX_TRANSITION;
};
if (tgtMode == HasModesIF::MODE_ON or tgtMode == DeviceHandlerIF::MODE_NORMAL) {
// If submode has not changed, no special transition handling necessary.
if (getSubmode() == subModeFrom) {
return doneHandler();
}
// Transition is on-going, wait for it to finish.
if (transState != TransitionState::IDLE) {
return;
}
// Transition start logic.
switch (getSubmode()) {
case (com::Submode::RX_AND_TX_DEFAULT_DATARATE): {
auto currentDatarate = com::getCurrentDatarate();
if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
if (txOnHandler(InternalState::SELECT_MODULATION_BPSK)) {
return;
}
txOnHandler(TransitionState::SELECT_MODULATION_BPSK);
} else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
if (txOnHandler(InternalState::SELECT_MODULATION_0QPSK)) {
return;
}
txOnHandler(TransitionState::SELECT_MODULATION_0QPSK);
}
break;
}
case (com::Submode::RX_AND_TX_LOW_DATARATE): {
if (txOnHandler(InternalState::SELECT_MODULATION_BPSK)) {
return;
}
txOnHandler(TransitionState::SELECT_MODULATION_BPSK);
break;
}
case (com::Submode::RX_AND_TX_HIGH_DATARATE): {
if (txOnHandler(InternalState::SELECT_MODULATION_0QPSK)) {
return;
}
txOnHandler(TransitionState::SELECT_MODULATION_0QPSK);
break;
}
case (com::Submode::RX_ONLY): {
@ -791,21 +817,17 @@ void SyrlinksHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
return;
}
case (com::Submode::RX_AND_TX_CW): {
if (internalState == InternalState::IDLE) {
internalState = InternalState::SET_TX_STANDBY;
commandExecuted = false;
}
if (commandExecuted) {
commandDone();
return;
}
txOnHandler(TransitionState::SET_TX_CW);
break;
}
default: {
commandDone();
sif::error << "SyrlinksHandler: Unexpected submode " << getSubmode() << std::endl;
DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
}
}
} else if (tgtMode == HasModesIF::MODE_OFF) {
txStandbyHandler();
} else {
return doneHandler();
}
}

18
mission/devices/SyrlinksHandler.h → mission/com/SyrlinksHandler.h
View File

@ -7,8 +7,8 @@
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/timemanager/Countdown.h"
#include "fsfw_hal/linux/gpio/Gpio.h"
#include "mission/comDefs.h"
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
#include "mission/com/defs.h"
#include "mission/com/syrlinksDefs.h"
#include "returnvalues/classIds.h"
/**
@ -46,7 +46,6 @@ class SyrlinksHandler : public DeviceHandlerBase {
size_t* foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
ReturnValue_t getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) override;
void setNormalDatapoolEntriesInvalid() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
@ -118,15 +117,20 @@ class SyrlinksHandler : public DeviceHandlerBase {
enum class InternalState {
OFF,
ENABLE_TEMPERATURE_PROTECTION,
TX_TRANSITION,
IDLE
} internalState = InternalState::OFF;
enum class TransitionState {
IDLE,
SELECT_MODULATION_BPSK,
SELECT_MODULATION_0QPSK,
SET_TX_MODULATION,
SET_TX_CW,
SET_TX_STANDBY,
IDLE
};
InternalState internalState = InternalState::OFF;
CMD_PENDING,
DONE
} transState = TransitionState::IDLE;
/**
* This object is used to store the id of the next command to execute. This controls the

228
mission/com/TmStoreTaskBase.cpp Normal file
View File

@ -0,0 +1,228 @@
#include "TmStoreTaskBase.h"
#include <fsfw/ipc/CommandMessageIF.h>
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/subsystem/helper.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <fsfw/tmstorage/TmStoreMessage.h>
#include "mission/persistentTmStoreDefs.h"
TmStoreTaskBase::TmStoreTaskBase(object_id_t objectId, StorageManagerIF& ipcStore,
VirtualChannel& channel, SdCardMountedIF& sdcMan,
const std::atomic_bool& ptmeLocked)
: SystemObject(objectId),
modeHelper(this),
ipcStore(ipcStore),
tmReader(&timeReader),
channel(channel),
sdcMan(sdcMan),
ptmeLocked(ptmeLocked) {
requestQueue = QueueFactory::instance()->createMessageQueue(10);
}
bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store,
DumpContext& dumpContext) {
ReturnValue_t result;
bool tmToStoreReceived = false;
bool tcRequestReceived = false;
bool dumpPerformed = false;
fileHasSwapped = false;
dumpContext.packetWasDumped = false;
dumpContext.vcBusyDuringDump = false;
// Store TM persistently
result = store.handleNextTm();
if (result == returnvalue::OK) {
tmToStoreReceived = true;
}
// Dump TMs
if (store.getState() == PersistentTmStore::State::DUMPING) {
if (handleOneDump(store, dumpContext, dumpPerformed) != returnvalue::OK) {
return result;
}
} else {
Command_t execCmd;
// Handle TC requests, for example deletion or retrieval requests.
result = store.handleCommandQueue(ipcStore, execCmd);
if (result == returnvalue::OK) {
if (execCmd == TmStoreMessage::DOWNLINK_STORE_CONTENT_TIME) {
cancelDumpCd.resetTimer();
tmSinkBusyCd.resetTimer();
dumpContext.reset();
}
tcRequestReceived = true;
}
}
if (tcRequestReceived or tmToStoreReceived or dumpPerformed) {
return true;
}
return false;
}
bool TmStoreTaskBase::cyclicStoreCheck() {
if (not storesInitialized) {
storesInitialized = initStoresIfPossible();
if (not storesInitialized) {
TaskFactory::delayTask(400);
return false;
}
} else if (sdCardCheckCd.hasTimedOut()) {
if (not sdcMan.isSdCardUsable(std::nullopt)) {
// Might be due to imminent shutdown or SD card switch.
storesInitialized = false;
TaskFactory::delayTask(100);
return false;
}
sdCardCheckCd.resetTimer();
}
return true;
}
void TmStoreTaskBase::cancelDump(DumpContext& ctx, PersistentTmStore& store, bool isTxOn) {
ctx.reset();
if (store.getState() == PersistentTmStore::State::DUMPING) {
triggerEvent(ctx.eventIfCancelled, ctx.numberOfDumpedPackets, ctx.dumpedBytes);
}
store.cancelDump();
if (isTxOn) {
channel.cancelTransfer();
}
}
ReturnValue_t TmStoreTaskBase::handleOneDump(PersistentTmStoreWithTmQueue& store,
DumpContext& dumpContext, bool& dumpPerformed) {
ReturnValue_t result = returnvalue::OK;
// The PTME might have been reset an transmitter state change, so there is no point in continuing
// the dump.
// TODO: Will be solved in a cleaner way, this is kind of a hack.
if (not channel.isTxOn()) {
cancelDump(dumpContext, store, false);
return returnvalue::FAILED;
}
// It is assumed that the PTME will only be locked for a short period (e.g. to change datarate).
if (not channel.isBusy() and not ptmeLocked) {
performDump(store, dumpContext, dumpPerformed);
} else {
// The PTME might be at full load, so it might sense to delay for a bit to let it do
// its work until some more bandwidth is available. Set a flag here so the upper layer can
// do ths.
dumpContext.vcBusyDuringDump = true;
dumpContext.ptmeBusyCounter++;
if (dumpContext.ptmeBusyCounter == 100) {
// If this happens, something is probably wrong.
sif::warning << "PTME busy for longer period. Cancelling dump" << std::endl;
cancelDump(dumpContext, store, channel.isTxOn());
}
}
if (cancelDumpCd.hasTimedOut() or tmSinkBusyCd.hasTimedOut()) {
cancelDump(dumpContext, store, channel.isTxOn());
}
return result;
}
ReturnValue_t TmStoreTaskBase::performDump(PersistentTmStoreWithTmQueue& store,
DumpContext& dumpContext, bool& dumpPerformed) {
size_t dumpedLen = 0;
auto dumpDoneHandler = [&]() {
uint32_t startTime;
uint32_t endTime;
store.getStartAndEndTimeCurrentOrLastDump(startTime, endTime);
triggerEvent(dumpContext.eventIfDone, dumpContext.numberOfDumpedPackets,
dumpContext.dumpedBytes);
dumpContext.reset();
};
// Dump the next packet into the PTME.
dumpContext.ptmeBusyCounter = 0;
tmSinkBusyCd.resetTimer();
ReturnValue_t result = store.getNextDumpPacket(tmReader, fileHasSwapped);
if (result != returnvalue::OK) {
sif::error << "PersistentTmStore: Getting next dump packet failed" << std::endl;
} else if (fileHasSwapped or result == PersistentTmStore::DUMP_DONE) {
// This can happen if a file is corrupted and the next file swap completes the dump.
dumpDoneHandler();
return returnvalue::OK;
}
dumpedLen = tmReader.getFullPacketLen();
// Only write to VC if mode is on, but always confirm the dump.
// If the mode is OFF, it is assumed the PTME is not usable and is not allowed to be written
// (e.g. to confirm a reset or the transmitter is off anyway).
if (mode == MODE_ON) {
result = channel.write(tmReader.getFullData(), dumpedLen);
if (result == DirectTmSinkIF::IS_BUSY) {
sif::warning << "PersistentTmStore: Unexpected VC channel busy" << std::endl;
} else if (result != returnvalue::OK) {
sif::warning << "PersistentTmStore: Unexpected VC channel write failure" << std::endl;
}
}
result = store.confirmDump(tmReader, fileHasSwapped);
if ((result == PersistentTmStore::DUMP_DONE or result == returnvalue::OK)) {
dumpPerformed = true;
if (dumpedLen > 0) {
dumpContext.dumpedBytes += dumpedLen;
dumpContext.numberOfDumpedPackets += 1;
dumpContext.packetWasDumped = true;
}
}
if (result == PersistentTmStore::DUMP_DONE) {
dumpDoneHandler();
}
return returnvalue::OK;
}
ReturnValue_t TmStoreTaskBase::initialize() {
modeHelper.initialize();
return returnvalue::OK;
}
void TmStoreTaskBase::getMode(Mode_t* mode, Submode_t* submode) {
if (mode != nullptr) {
*mode = this->mode;
}
if (submode != nullptr) {
*submode = SUBMODE_NONE;
}
}
ReturnValue_t TmStoreTaskBase::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) {
if (mode == MODE_ON or mode == MODE_OFF) {
return returnvalue::OK;
}
return returnvalue::FAILED;
}
MessageQueueId_t TmStoreTaskBase::getCommandQueue() const { return requestQueue->getId(); }
void TmStoreTaskBase::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, SUBMODE_NONE); }
object_id_t TmStoreTaskBase::getObjectId() const { return SystemObject::getObjectId(); }
const HasHealthIF* TmStoreTaskBase::getOptHealthIF() const { return nullptr; }
const HasModesIF& TmStoreTaskBase::getModeIF() const { return *this; }
ReturnValue_t TmStoreTaskBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
return modetree::connectModeTreeParent(parent, *this, nullptr, modeHelper);
}
ModeTreeChildIF& TmStoreTaskBase::getModeTreeChildIF() { return *this; }
void TmStoreTaskBase::readCommandQueue(void) {
CommandMessage commandMessage;
ReturnValue_t result = returnvalue::FAILED;
result = requestQueue->receiveMessage(&commandMessage);
if (result == returnvalue::OK) {
result = modeHelper.handleModeCommand(&commandMessage);
if (result == returnvalue::OK) {
return;
}
CommandMessage reply;
reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND, commandMessage.getCommand());
requestQueue->reply(&reply);
return;
}
}

106
mission/com/TmStoreTaskBase.h Normal file
View File

@ -0,0 +1,106 @@
#ifndef MISSION_TMTC_TMSTORETASKBASE_H_
#define MISSION_TMTC_TMSTORETASKBASE_H_
#include <fsfw/modes/HasModesIF.h>
#include <fsfw/subsystem/ModeTreeChildIF.h>
#include <fsfw/subsystem/ModeTreeConnectionIF.h>
#include <fsfw/timemanager/CdsShortTimeStamper.h>
#include <fsfw/timemanager/Countdown.h>
#include <mission/com/VirtualChannel.h>
#include <mission/tmtc/PersistentTmStoreWithTmQueue.h>
/**
* Generic class which composes a Virtual Channel and a persistent TM stores. This allows dumping
* the TM store into the virtual channel directly.
*/
class TmStoreTaskBase : public SystemObject,
public HasModesIF,
public ModeTreeChildIF,
public ModeTreeConnectionIF {
public:
struct DumpContext {
DumpContext(Event eventIfDone, Event eventIfCancelled)
: eventIfDone(eventIfDone), eventIfCancelled(eventIfCancelled) {}
void reset() {
numberOfDumpedPackets = 0;
dumpedBytes = 0;
vcBusyDuringDump = false;
packetWasDumped = false;
bytesDumpedAtLastDelay = 0;
ptmeBusyCounter = 0;
}
const Event eventIfDone;
const Event eventIfCancelled;
size_t numberOfDumpedPackets = 0;
size_t bytesDumpedAtLastDelay = 0;
size_t dumpedBytes = 0;
uint32_t ptmeBusyCounter = 0;
bool packetWasDumped = false;
bool vcBusyDuringDump = false;
};
TmStoreTaskBase(object_id_t objectId, StorageManagerIF& ipcStore, VirtualChannel& channel,
SdCardMountedIF& sdcMan, const std::atomic_bool& ptmeLocked);
ReturnValue_t initialize() override;
ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
protected:
ModeHelper modeHelper;
MessageQueueIF* requestQueue;
StorageManagerIF& ipcStore;
PusTmReader tmReader;
CdsShortTimeStamper timeReader;
VirtualChannel& channel;
SdCardMountedIF& sdcMan;
const std::atomic_bool& ptmeLocked;
Mode_t mode = HasModesIF::MODE_OFF;
Countdown sdCardCheckCd = Countdown(800);
// 20 minutes are allowed as maximum dump time.
Countdown cancelDumpCd = Countdown(60 * 20 * 1000);
// If the TM sink is busy for 1 minute for whatever reason, cancel the dump.
Countdown tmSinkBusyCd = Countdown(60 * 1000);
bool storesInitialized = false;
bool fileHasSwapped = false;
void readCommandQueue(void);
virtual bool initStoresIfPossible() = 0;
virtual void startTransition(Mode_t mode, Submode_t submode) = 0;
void cancelDump(DumpContext& ctx, PersistentTmStore& store, bool isTxOn);
/**
*
* Handling for one store. Returns if anything was done.
* @param store
* @return
*/
bool handleOneStore(PersistentTmStoreWithTmQueue& store, DumpContext& dumpContext);
ReturnValue_t handleOneDump(PersistentTmStoreWithTmQueue& store, DumpContext& dumpContext,
bool& dumpPerformed);
ReturnValue_t performDump(PersistentTmStoreWithTmQueue& store, DumpContext& dumpContext,
bool& dumpPerformed);
/**
* Occasionally check whether SD card is okay to be used. If not, poll whether it is ready to
* be used again and re-initialize stores. Returns whether store is okay to be used.
*/
bool cyclicStoreCheck();
MessageQueueId_t getCommandQueue() const override;
void getMode(Mode_t* mode, Submode_t* submode) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
void announceMode(bool recursive) override;
object_id_t getObjectId() const override;
const HasHealthIF* getOptHealthIF() const override;
const HasModesIF& getModeIF() const override;
ModeTreeChildIF& getModeTreeChildIF() override;
};
#endif /* MISSION_TMTC_TMSTORETASKBASE_H_ */

14
mission/tmtc/VirtualChannel.cpp → mission/com/VirtualChannel.cpp
View File

@ -1,12 +1,8 @@
#include "VirtualChannel.h"
VirtualChannel::VirtualChannel(object_id_t objectId, uint8_t vcId, const char* vcName, PtmeIF& ptme,
const std::atomic_bool& linkStateProvider)
: SystemObject(objectId),
ptme(ptme),
vcId(vcId),
vcName(vcName),
linkStateProvider(linkStateProvider) {}
const std::atomic_bool& txOn)
: SystemObject(objectId), ptme(ptme), vcId(vcId), vcName(vcName), txOn(txOn) {}
ReturnValue_t VirtualChannel::initialize() { return returnvalue::OK; }
@ -15,7 +11,7 @@ ReturnValue_t VirtualChannel::sendNextTm(const uint8_t* data, size_t size) {
}
ReturnValue_t VirtualChannel::write(const uint8_t* data, size_t size) {
if (linkStateProvider.load()) {
if (txOn) {
return ptme.writeToVc(vcId, data, size);
}
return returnvalue::OK;
@ -27,10 +23,12 @@ const char* VirtualChannel::getName() const { return vcName.c_str(); }
bool VirtualChannel::isBusy() const {
// Data is discarded, so channel is not busy.
if (linkStateProvider.load()) {
if (not txOn) {
return false;
}
return ptme.isBusy(vcId);
}
void VirtualChannel::cancelTransfer() { ptme.cancelTransfer(vcId); }
bool VirtualChannel::isTxOn() const { return txOn; }

3
mission/tmtc/VirtualChannel.h → mission/com/VirtualChannel.h
View File

@ -30,6 +30,7 @@ class VirtualChannel : public SystemObject, public VirtualChannelIF {
ReturnValue_t write(const uint8_t* data, size_t size) override;
void cancelTransfer() override;
uint8_t getVcid() const;
bool isTxOn() const;
const char* getName() const;
@ -37,5 +38,5 @@ class VirtualChannel : public SystemObject, public VirtualChannelIF {
PtmeIF& ptme;
uint8_t vcId = 0;
std::string vcName;
const std::atomic_bool& linkStateProvider;
const std::atomic_bool& txOn;
};

18
mission/tmtc/VirtualChannelWithQueue.cpp → mission/com/VirtualChannelWithQueue.cpp
View File

@ -1,11 +1,11 @@
#include <mission/tmtc/VirtualChannelWithQueue.h>
#include "VirtualChannelWithQueue.h"
#include "CcsdsIpCoreHandler.h"
#include "OBSWConfig.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "fsfw/tmtcservices/TmTcMessage.h"
#include "mission/com/CcsdsIpCoreHandler.h"
VirtualChannelWithQueue::VirtualChannelWithQueue(object_id_t objectId, uint8_t vcId,
const char* vcName, PtmeIF& ptme,
@ -19,7 +19,7 @@ VirtualChannelWithQueue::VirtualChannelWithQueue(object_id_t objectId, uint8_t v
const char* VirtualChannelWithQueue::getName() const { return VirtualChannel::getName(); }
ReturnValue_t VirtualChannelWithQueue::sendNextTm() {
ReturnValue_t VirtualChannelWithQueue::handleNextTm(bool performWriteOp) {
TmTcMessage message;
ReturnValue_t result = tmQueue->receiveMessage(&message);
if (result == MessageQueueIF::EMPTY) {
@ -36,15 +36,13 @@ ReturnValue_t VirtualChannelWithQueue::sendNextTm() {
return result;
}
result = write(data, size);
if (result != returnvalue::OK) {
return result;
if (performWriteOp) {
result = write(data, size);
}
// Try delete in any case, ignore failures (which should not happen), it is more important to
// propagate write errors.
tmStore.deleteData(storeId);
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
return result;
}
MessageQueueId_t VirtualChannelWithQueue::getReportReceptionQueue(uint8_t virtualChannel) const {

4
mission/tmtc/VirtualChannelWithQueue.h → mission/com/VirtualChannelWithQueue.h
View File

@ -4,7 +4,7 @@
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <linux/ipcore/PtmeIF.h>
#include <mission/tmtc/VirtualChannel.h>
#include <mission/com/VirtualChannel.h>
#include <atomic>
@ -34,7 +34,7 @@ class VirtualChannelWithQueue : public VirtualChannel, public AcceptsTelemetryIF
MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) const override;
[[nodiscard]] const char* getName() const override;
ReturnValue_t sendNextTm();
ReturnValue_t handleNextTm(bool performWriteOp);
private:
MessageQueueIF* tmQueue = nullptr;

2
mission/comDefs.h → mission/com/defs.h
View File

@ -1,6 +1,8 @@
#ifndef MISSION_COMDEFS_H_
#define MISSION_COMDEFS_H_
#include <cstdint>
namespace com {
enum class Datarate : uint8_t {

0
mission/devices/devicedefinitions/SyrlinksDefinitions.h → mission/com/syrlinksDefs.h
View File

2
mission/config/comCfg.cpp
View File

@ -3,6 +3,8 @@
#include <fsfw/ipc/MutexFactory.h>
#include <fsfw/ipc/MutexGuard.h>
#include <atomic>
com::Datarate DATARATE_CFG_RAW = com::Datarate::LOW_RATE_MODULATION_BPSK;
MutexIF* DATARATE_LOCK = nullptr;

2
mission/config/comCfg.h
View File

@ -3,7 +3,7 @@
#include <fsfw/ipc/MutexIF.h>
#include "mission/comDefs.h"
#include "mission/com/defs.h"
namespace com {

25
mission/controller/AcsController.cpp
View File

@ -1,11 +1,12 @@
#include "AcsController.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <mission/acsDefs.h>
#include <mission/acs/defs.h>
#include <mission/config/torquer.h>
AcsController::AcsController(object_id_t objectId)
AcsController::AcsController(object_id_t objectId, bool enableHkSets)
: ExtendedControllerBase(objectId),
enableHkSets(enableHkSets),
guidance(&acsParameters),
safeCtrl(&acsParameters),
ptgCtrl(&acsParameters),
@ -591,7 +592,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_RM3100_UT, &mgm3VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_NT, &imtqMgmVecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_ACT_STATUS, &imtqCalActStatus);
poolManager.subscribeForRegularPeriodicPacket({mgmDataRaw.getSid(), false, 5.0});
poolManager.subscribeForRegularPeriodicPacket({mgmDataRaw.getSid(), false, 10.0});
// MGM Processed
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_VEC, &mgm0VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_VEC, &mgm1VecProc);
@ -601,7 +602,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT, &mgmVecTot);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT_DERIVATIVE, &mgmVecTotDer);
localDataPoolMap.emplace(acsctrl::PoolIds::MAG_IGRF_MODEL, &magIgrf);
poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), false, 5.0});
poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), enableHkSets, 10.0});
// SUS Raw
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_N_LOC_XFYFZM_PT_XF, &sus0ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_N_LOC_XBYFZM_PT_XB, &sus1ValRaw);
@ -615,7 +616,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_9_R_LOC_XBYBZB_PT_YF, &sus9ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_10_N_LOC_XMYBZF_PT_ZF, &sus10ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_11_R_LOC_XBYMZB_PT_ZB, &sus11ValRaw);
poolManager.subscribeForRegularPeriodicPacket({susDataRaw.getSid(), false, 5.0});
poolManager.subscribeForRegularPeriodicPacket({susDataRaw.getSid(), false, 10.0});
// SUS Processed
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_VEC, &sus0VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_VEC, &sus1VecProc);
@ -632,43 +633,43 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT, &susVecTot);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT_DERIVATIVE, &susVecTotDer);
localDataPoolMap.emplace(acsctrl::PoolIds::SUN_IJK_MODEL, &sunIjk);
poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), false, 5.0});
poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), enableHkSets, 10.0});
// GYR Raw
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_ADIS, &gyr0VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_L3, &gyr1VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_ADIS, &gyr2VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_L3, &gyr3VecRaw);
poolManager.subscribeForDiagPeriodicPacket({gyrDataRaw.getSid(), false, 5.0});
poolManager.subscribeForDiagPeriodicPacket({gyrDataRaw.getSid(), false, 10.0});
// GYR Processed
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_VEC, &gyr0VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_VEC, &gyr1VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_VEC, &gyr2VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_VEC, &gyr3VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_VEC_TOT, &gyrVecTot);
poolManager.subscribeForDiagPeriodicPacket({gyrDataProcessed.getSid(), false, 5.0});
poolManager.subscribeForDiagPeriodicPacket({gyrDataProcessed.getSid(), enableHkSets, 10.0});
// GPS Processed
localDataPoolMap.emplace(acsctrl::PoolIds::GC_LATITUDE, &gcLatitude);
localDataPoolMap.emplace(acsctrl::PoolIds::GD_LONGITUDE, &gdLongitude);
localDataPoolMap.emplace(acsctrl::PoolIds::ALTITUDE, &altitude);
localDataPoolMap.emplace(acsctrl::PoolIds::GPS_POSITION, &gpsPosition);
localDataPoolMap.emplace(acsctrl::PoolIds::GPS_VELOCITY, &gpsVelocity);
poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), false, 5.0});
poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), enableHkSets, 30.0});
// MEKF
localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
localDataPoolMap.emplace(acsctrl::PoolIds::SAT_ROT_RATE_MEKF, &satRotRateMekf);
localDataPoolMap.emplace(acsctrl::PoolIds::MEKF_STATUS, &mekfStatus);
poolManager.subscribeForDiagPeriodicPacket({mekfData.getSid(), false, 5.0});
poolManager.subscribeForDiagPeriodicPacket({mekfData.getSid(), enableHkSets, 10.0});
// Ctrl Values
localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat);
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_QUAT, &errQuat);
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_ANG, &errAng);
localDataPoolMap.emplace(acsctrl::PoolIds::TGT_ROT_RATE, &tgtRotRate);
poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), false, 5.0});
poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), enableHkSets, 10.0});
// Actuator CMD
localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_TORQUE, &rwTargetTorque);
localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_SPEED, &rwTargetSpeed);
localDataPoolMap.emplace(acsctrl::PoolIds::MTQ_TARGET_DIPOLE, &mtqTargetDipole);
poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), false, 5.0});
poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), enableHkSets, 10.0});
return returnvalue::OK;
}

12
mission/controller/AcsController.h
View File

@ -9,10 +9,10 @@
#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
#include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>
#include <fsfw_hal/devicehandlers/MgmRM3100Handler.h>
#include <mission/devices/devicedefinitions/imtqHelpers.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
#include <mission/devices/devicedefinitions/susMax1227Helpers.h>
#include <mission/trace.h>
#include <mission/acs/imtqHelpers.h>
#include <mission/acs/rwHelpers.h>
#include <mission/acs/susMax1227Helpers.h>
#include <mission/utility/trace.h>
#include "acs/ActuatorCmd.h"
#include "acs/Guidance.h"
@ -28,7 +28,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
public:
static constexpr dur_millis_t INIT_DELAY = 500;
AcsController(object_id_t objectId);
AcsController(object_id_t objectId, bool enableHkSets);
MessageQueueId_t getCommandQueue() const;
ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
@ -46,6 +46,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
static constexpr double RW_OFF_TORQUE[4] = {0.0, 0.0, 0.0, 0.0};
static constexpr int32_t RW_OFF_SPEED[4] = {0, 0, 0, 0};
bool enableHkSets = false;
AcsParameters acsParameters;
SensorProcessing sensorProcessing;
Navigation navigation;

1148
mission/controller/ThermalController.cpp
View File

File diff suppressed because it is too large Load Diff

179
mission/controller/ThermalController.h
View File

@ -7,24 +7,23 @@
#include <fsfw/timemanager/Countdown.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
#include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
#include <mission/controller/controllerdefinitions/ThermalControllerDefinitions.h>
#include <mission/devices/devicedefinitions/BpxBatteryDefinitions.h>
#include <mission/devices/devicedefinitions/Max31865Definitions.h>
#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
#include <mission/devices/devicedefinitions/Tmp1075Definitions.h>
#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
#include <mission/devices/devicedefinitions/imtqHelpers.h>
#include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
#include <mission/devices/devicedefinitions/susMax1227Helpers.h>
#include <mission/acs/gyroAdisHelpers.h>
#include <mission/acs/imtqHelpers.h>
#include <mission/acs/rwHelpers.h>
#include <mission/acs/str/strHelpers.h>
#include <mission/acs/susMax1227Helpers.h>
#include <mission/com/syrlinksDefs.h>
#include <mission/controller/tcsDefs.h>
#include <mission/payload/payloadPcduDefinitions.h>
#include <mission/power/bpxBattDefs.h>
#include <mission/power/gsDefs.h>
#include <mission/tcs/HeaterHandler.h>
#include <mission/tcs/Max31865Definitions.h>
#include <mission/tcs/Tmp1075Definitions.h>
#include <mission/utility/trace.h>
#include <list>
#include "mission/devices/HeaterHandler.h"
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
#include "mission/trace.h"
/**
* NOP Limit: Hard limit for device, usually from datasheet. Device damage is possible lif NOP limit
* is exceeded.
@ -46,17 +45,73 @@ struct TempLimits {
float nopUpperLimit;
};
struct ThermalState {
uint8_t errorCounter;
bool heating;
uint32_t heaterStartTime;
};
struct HeaterState {
bool switchTransition;
HeaterHandler::SwitchState target;
uint8_t heaterSwitchControlCycles;
};
using HeaterSwitchStates = std::array<HeaterHandler::SwitchState, heater::NUMBER_OF_SWITCHES>;
enum ThermalComponents : uint8_t {
NONE = 0,
ACS_BOARD = 1,
MGT = 2,
RW = 3,
STR = 4,
IF_BOARD = 5,
TCS_BOARD = 6,
OBC = 7,
OBCIF_BOARD = 8,
SBAND_TRANSCEIVER = 9,
PCDUP60_BOARD = 10,
PCDUACU = 11,
PCDUPDU = 12,
PLPCDU_BOARD = 13,
PLOCMISSION_BOARD = 14,
PLOCPROCESSING_BOARD = 15,
DAC = 16,
CAMERA = 17,
DRO = 18,
X8 = 19,
HPA = 20,
TX = 21,
MPA = 22,
SCEX_BOARD = 23,
NUM_ENTRIES
};
class ThermalController : public ExtendedControllerBase {
public:
static const uint16_t INVALID_TEMPERATURE = 999;
static const uint8_t NUMBER_OF_SENSORS = 16;
static constexpr int16_t SANITY_LIMIT_LOWER_TEMP = -80;
static constexpr int16_t SANITY_LIMIT_UPPER_TEMP = 160;
ThermalController(object_id_t objectId, HeaterHandler& heater);
ReturnValue_t initialize() override;
protected:
void performThermalModuleCtrl();
struct HeaterContext {
public:
HeaterContext(heater::Switchers switchNr, heater::Switchers redundantSwitchNr,
const TempLimits& tempLimit)
: switchNr(switchNr), redSwitchNr(redundantSwitchNr), tempLimit(tempLimit) {}
bool doHeaterHandling = true;
heater::Switchers switchNr;
HeaterHandler::SwitchState switchState = HeaterHandler::SwitchState::OFF;
heater::Switchers redSwitchNr;
const TempLimits& tempLimit;
};
void performThermalModuleCtrl(const HeaterSwitchStates& heaterSwitchStates);
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -68,16 +123,7 @@ class ThermalController : public ExtendedControllerBase {
uint32_t* msToReachTheMode) override;
private:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_CONTROLLER;
static constexpr Event NO_VALID_SENSOR_TEMPERATURE = MAKE_EVENT(0, severity::MEDIUM);
static constexpr Event NO_HEALTHY_HEATER_AVAILABLE = MAKE_EVENT(1, severity::MEDIUM);
static constexpr Event SYRLINKS_OVERHEATING = MAKE_EVENT(2, severity::HIGH);
static constexpr Event PLOC_OVERHEATING = MAKE_EVENT(3, severity::HIGH);
static constexpr Event OBC_OVERHEATING = MAKE_EVENT(4, severity::HIGH);
static constexpr Event HPA_OVERHEATING = MAKE_EVENT(5, severity::HIGH);
static constexpr Event PLPCDU_OVERHEATING = MAKE_EVENT(6, severity::HIGH);
static const uint32_t DELAY = 500;
static const uint32_t INIT_DELAY = 1500;
static const uint32_t TEMP_OFFSET = 5;
@ -97,22 +143,22 @@ class ThermalController : public ExtendedControllerBase {
DeviceHandlerThermalSet imtqThermalSet;
// Temperature Sensors
MAX31865::PrimarySet max31865Set0;
MAX31865::PrimarySet max31865Set1;
MAX31865::PrimarySet max31865Set2;
MAX31865::PrimarySet max31865Set3;
MAX31865::PrimarySet max31865Set4;
MAX31865::PrimarySet max31865Set5;
MAX31865::PrimarySet max31865Set6;
MAX31865::PrimarySet max31865Set7;
MAX31865::PrimarySet max31865Set8;
MAX31865::PrimarySet max31865Set9;
MAX31865::PrimarySet max31865Set10;
MAX31865::PrimarySet max31865Set11;
MAX31865::PrimarySet max31865Set12;
MAX31865::PrimarySet max31865Set13;
MAX31865::PrimarySet max31865Set14;
MAX31865::PrimarySet max31865Set15;
MAX31865::PrimarySet maxSet0PlocHspd;
MAX31865::PrimarySet maxSet1PlocMissionBrd;
MAX31865::PrimarySet maxSet2PlCam;
MAX31865::PrimarySet maxSet3DacHspd;
MAX31865::PrimarySet maxSet4Str;
MAX31865::PrimarySet maxSet5Rw1MxMy;
MAX31865::PrimarySet maxSet6Dro;
MAX31865::PrimarySet maxSet7Scex;
MAX31865::PrimarySet maxSet8X8;
MAX31865::PrimarySet maxSet9Hpa;
MAX31865::PrimarySet maxSet10EbandTx;
MAX31865::PrimarySet maxSet11Mpa;
MAX31865::PrimarySet maxSet31865Set12;
MAX31865::PrimarySet maxSet13PlPcduHspd;
MAX31865::PrimarySet maxSet14TcsBrd;
MAX31865::PrimarySet maxSet15Imtq;
TMP1075::Tmp1075Dataset tmp1075SetTcs0;
TMP1075::Tmp1075Dataset tmp1075SetTcs1;
@ -192,18 +238,38 @@ class ThermalController : public ExtendedControllerBase {
TempLimits dacLimits = TempLimits(-65.0, -40.0, 113.0, 118.0, 150.0);
TempLimits cameraLimits = TempLimits(-40.0, -30.0, 60.0, 65.0, 85.0);
TempLimits droLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
TempLimits x8Limits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
TempLimits hpaLimits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
TempLimits txLimits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
TempLimits mpaLimits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
TempLimits x8Limits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
TempLimits hpaLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
TempLimits txLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
TempLimits mpaLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
TempLimits scexBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 150.0);
double sensorTemp = INVALID_TEMPERATURE;
ThermalComponents thermalComponent = NONE;
bool redSwitchNrInUse = false;
MessageQueueId_t camId = MessageQueueIF::NO_QUEUE;
bool componentAboveCutOffLimit = false;
bool componentAboveUpperLimit = false;
Event overHeatEventToTrigger;
bool eBandTooHotFlag = false;
bool camTooHotOneShotFlag = false;
bool scexTooHotFlag = false;
bool plocTooHotFlag = false;
bool pcduSystemTooHotFlag = false;
bool syrlinksTooHotFlag = false;
bool obcTooHotFlag = false;
bool strTooHotFlag = false;
bool rwTooHotFlag = false;
// Initial delay to make sure all pool variables have been initialized their owners
Countdown initialCountdown = Countdown(DELAY);
bool transitionToOff = false;
uint32_t transitionToOffCycles = 0;
uint32_t cycles = 0;
std::array<ThermalState, 30> thermalStates{};
std::array<HeaterState, 7> heaterStates{};
// Initial delay to make sure all pool variables have been initialized their owners.
// Also, wait for system initialization to complete.
Countdown initialCountdown = Countdown(INIT_DELAY);
#if OBSW_THREAD_TRACING == 1
uint32_t opCounter = 0;
@ -222,16 +288,20 @@ class ThermalController : public ExtendedControllerBase {
static constexpr dur_millis_t MUTEX_TIMEOUT = 50;
void startTransition(Mode_t mode, Submode_t submode) override;
void resetSensorsArray();
void copySensors();
void copySus();
void copyDevices();
void ctrlComponentTemperature(heater::Switchers switchNr, heater::Switchers redSwitchNr,
TempLimits& tempLimit);
void ctrlHeater(heater::Switchers switchNr, heater::Switchers redSwitchNr, TempLimits& tempLimit);
void ctrlComponentTemperature(HeaterContext& heaterContext);
void checkLimitsAndCtrlHeater(HeaterContext& heaterContext);
bool heaterCtrlCheckUpperLimits(HeaterContext& heaterContext);
void heaterCtrlTempTooHighHandler(HeaterContext& heaterContext, const char* whatLimit);
bool chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr);
bool selectAndReadSensorTemp();
bool selectAndReadSensorTemp(HeaterContext& htrCtx);
void ctrlAcsBoard();
void ctrlMgt();
@ -256,6 +326,11 @@ class ThermalController : public ExtendedControllerBase {
void ctrlTx();
void ctrlMpa();
void ctrlScexBoard();
void heaterTransitionControl(const HeaterSwitchStates& currentHeaterStates);
void setMode(Mode_t mode);
uint32_t tempFloatToU32() const;
bool tooHotHandler(object_id_t object, bool& oneShotFlag);
void tooHotHandlerWhichClearsOneShotFlag(object_id_t object, bool& oneShotFlag);
};
#endif /* MISSION_CONTROLLER_THERMALCONTROLLER_H_ */

14
mission/controller/acs/SensorValues.h
View File

@ -3,13 +3,13 @@
#include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>
#include <fsfw_hal/devicehandlers/MgmRM3100Handler.h>
#include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
#include <mission/devices/devicedefinitions/GPSDefinitions.h>
#include <mission/devices/devicedefinitions/GyroL3GD20Definitions.h>
#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
#include <mission/devices/devicedefinitions/imtqHelpers.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
#include <mission/devices/devicedefinitions/susMax1227Helpers.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
#include <mission/acs/archive/GPSDefinitions.h>
#include <mission/acs/gyroAdisHelpers.h>
#include <mission/acs/imtqHelpers.h>
#include <mission/acs/rwHelpers.h>
#include <mission/acs/str/strHelpers.h>
#include <mission/acs/susMax1227Helpers.h>
namespace ACS {

60
mission/controller/controllerdefinitions/ThermalControllerDefinitions.h → mission/controller/tcsDefs.h
View File

@ -5,9 +5,19 @@
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include "devices/heaterSwitcherList.h"
#include "eive/eventSubsystemIds.h"
namespace tcsCtrl {
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_CONTROLLER;
static constexpr Event NO_VALID_SENSOR_TEMPERATURE = MAKE_EVENT(0, severity::MEDIUM);
static constexpr Event NO_HEALTHY_HEATER_AVAILABLE = MAKE_EVENT(1, severity::MEDIUM);
static constexpr Event SYRLINKS_OVERHEATING = MAKE_EVENT(2, severity::HIGH);
static constexpr Event OBC_OVERHEATING = MAKE_EVENT(4, severity::HIGH);
static constexpr Event CAMERA_OVERHEATING = MAKE_EVENT(5, severity::HIGH);
static constexpr Event PCDU_SYSTEM_OVERHEATING = MAKE_EVENT(6, severity::HIGH);
static constexpr Event HEATER_NOT_OFF_FOR_OFF_MODE = MAKE_EVENT(7, severity::MEDIUM);
enum SetId : uint32_t {
SENSOR_TEMPERATURES = 0,
DEVICE_TEMPERATURES = 1,
@ -93,34 +103,33 @@ static const uint8_t ENTRIES_SUS_TEMPERATURE_SET = 12;
*/
class SensorTemperatures : public StaticLocalDataSet<ENTRIES_SENSOR_TEMPERATURE_SET> {
public:
SensorTemperatures(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SENSOR_TEMPERATURES) {}
explicit SensorTemperatures(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, SENSOR_TEMPERATURES) {}
SensorTemperatures(object_id_t objectId)
explicit SensorTemperatures(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, SENSOR_TEMPERATURES)) {}
lp_var_t<float> sensor_ploc_heatspreader =
lp_var_t<float> plocHeatspreader =
lp_var_t<float>(sid.objectId, PoolIds::SENSOR_PLOC_HEATSPREADER, this);
lp_var_t<float> sensor_ploc_missionboard =
lp_var_t<float> plocMissionboard =
lp_var_t<float>(sid.objectId, PoolIds::SENSOR_PLOC_MISSIONBOARD, this);
lp_var_t<float> sensor_4k_camera = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_4K_CAMERA, this);
lp_var_t<float> sensor_dac_heatspreader =
lp_var_t<float> payload4kCamera = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_4K_CAMERA, this);
lp_var_t<float> dacHeatspreader =
lp_var_t<float>(sid.objectId, PoolIds::SENSOR_DAC_HEATSPREADER, this);
lp_var_t<float> sensor_startracker =
lp_var_t<float>(sid.objectId, PoolIds::SENSOR_STARTRACKER, this);
lp_var_t<float> sensor_rw1 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_RW1, this);
lp_var_t<float> sensor_scex = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_SCEX, this);
lp_var_t<float> sensor_tx_modul = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TX_MODUL, this);
lp_var_t<float> startracker = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_STARTRACKER, this);
lp_var_t<float> rw1 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_RW1, this);
lp_var_t<float> scex = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_SCEX, this);
lp_var_t<float> eBandTx = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TX_MODUL, this);
// E-Band module
lp_var_t<float> sensor_dro = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_DRO, this);
lp_var_t<float> sensor_mpa = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_MPA, this);
lp_var_t<float> sensor_x8 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_X8, this);
lp_var_t<float> sensor_hpa = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_HPA, this);
lp_var_t<float> sensor_acu = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_ACU, this);
lp_var_t<float> sensor_plpcdu_heatspreader =
lp_var_t<float> dro = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_DRO, this);
lp_var_t<float> mpa = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_MPA, this);
lp_var_t<float> x8 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_X8, this);
lp_var_t<float> hpa = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_HPA, this);
lp_var_t<float> acu = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_ACU, this);
lp_var_t<float> plpcduHeatspreader =
lp_var_t<float>(sid.objectId, PoolIds::SENSOR_PLPCDU_HEATSPREADER, this);
lp_var_t<float> sensor_tcs_board = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TCS_BOARD, this);
lp_var_t<float> sensor_magnettorquer =
lp_var_t<float>(sid.objectId, PoolIds::SENSOR_MAGNETTORQUER, this);
lp_var_t<float> tcsBoard = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TCS_BOARD, this);
lp_var_t<float> mgt = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_MAGNETTORQUER, this);
lp_var_t<float> tmp1075Tcs0 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TMP1075_TCS_0, this);
lp_var_t<float> tmp1075Tcs1 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TMP1075_TCS_1, this);
lp_var_t<float> tmp1075PlPcdu0 =
@ -137,9 +146,10 @@ class SensorTemperatures : public StaticLocalDataSet<ENTRIES_SENSOR_TEMPERATURE_
*/
class DeviceTemperatures : public StaticLocalDataSet<ENTRIES_DEVICE_TEMPERATURE_SET> {
public:
DeviceTemperatures(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, DEVICE_TEMPERATURES) {}
explicit DeviceTemperatures(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, DEVICE_TEMPERATURES) {}
DeviceTemperatures(object_id_t objectId)
explicit DeviceTemperatures(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, DEVICE_TEMPERATURES)) {}
lp_var_t<float> q7s = lp_var_t<float>(sid.objectId, PoolIds::TEMP_Q7S, this);
@ -178,9 +188,11 @@ class DeviceTemperatures : public StaticLocalDataSet<ENTRIES_DEVICE_TEMPERATURE_
*/
class SusTemperatures : public StaticLocalDataSet<ENTRIES_SUS_TEMPERATURE_SET> {
public:
SusTemperatures(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SUS_TEMPERATURES) {}
explicit SusTemperatures(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, SUS_TEMPERATURES) {}
SusTemperatures(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, SUS_TEMPERATURES)) {}
explicit SusTemperatures(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, SUS_TEMPERATURES)) {}
lp_var_t<float> sus_0_n_loc_xfyfzm_pt_xf =
lp_var_t<float>(sid.objectId, PoolIds::SUS_0_N_LOC_XFYFZM_PT_XF, this);

2
mission/core/CMakeLists.txt
View File

@ -1,2 +0,0 @@
target_sources(${LIB_EIVE_MISSION} PRIVATE GenericFactory.cpp scheduling.cpp
pollingSeqTables.cpp)

1
mission/csp/CMakeLists.txt
View File

@ -1 +0,0 @@
target_sources(${LIB_EIVE_MISSION} PRIVATE CspCookie.cpp)

28
mission/devices/CMakeLists.txt
View File

@ -1,28 +0,0 @@
target_sources(
${LIB_EIVE_MISSION}
PRIVATE GomspaceDeviceHandler.cpp
BpxBatteryHandler.cpp
Tmp1075Handler.cpp
PcduHandler.cpp
P60DockHandler.cpp
Pdu1Handler.cpp
Pdu2Handler.cpp
ACUHandler.cpp
SyrlinksHandler.cpp
Max31865PT1000Handler.cpp
Max31865EiveHandler.cpp
ImtqHandler.cpp
HeaterHandler.cpp
RadiationSensorHandler.cpp
GyrAdis1650XHandler.cpp
GyrL3gCustomHandler.cpp
MgmRm3100CustomHandler.cpp
MgmLis3CustomHandler.cpp
RwHandler.cpp
max1227.cpp
SusHandler.cpp
PayloadPcduHandler.cpp
SolarArrayDeploymentHandler.cpp
ScexDeviceHandler.cpp)
add_subdirectory(devicedefinitions)

2
mission/devices/devicedefinitions/CMakeLists.txt
View File

@ -1,2 +0,0 @@
target_sources(${LIB_EIVE_MISSION} PRIVATE ScexDefinitions.cpp rwHelpers.cpp
imtqHelpers.cpp gyroAdisHelpers.cpp)

130
mission/devices/devicedefinitions/GyroL3GD20Definitions.h
View File

@ -1,130 +0,0 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <cstdint>
namespace l3gd20h {
/* Actual size is 15 but we round up a bit */
static constexpr size_t MAX_BUFFER_SIZE = 16;
static constexpr uint8_t READ_MASK = 0b1000'0000;
static constexpr uint8_t AUTO_INCREMENT_MASK = 0b0100'0000;
static constexpr uint8_t WHO_AM_I_REG = 0b0000'1111;
static constexpr uint8_t WHO_AM_I_VAL = 0b1101'0111;
/*------------------------------------------------------------------------*/
/* Control registers */
/*------------------------------------------------------------------------*/
static constexpr uint8_t CTRL_REG_1 = 0b0010'0000;
static constexpr uint8_t CTRL_REG_2 = 0b0010'0001;
static constexpr uint8_t CTRL_REG_3 = 0b0010'0010;
static constexpr uint8_t CTRL_REG_4 = 0b0010'0011;
static constexpr uint8_t CTRL_REG_5 = 0b0010'0100;
/* Register 1 */
static constexpr uint8_t SET_DR_1 = 1 << 7;
static constexpr uint8_t SET_DR_0 = 1 << 6;
static constexpr uint8_t SET_BW_1 = 1 << 5;
static constexpr uint8_t SET_BW_0 = 1 << 4;
static constexpr uint8_t SET_POWER_NORMAL_MODE = 1 << 3;
static constexpr uint8_t SET_Z_ENABLE = 1 << 2;
static constexpr uint8_t SET_X_ENABLE = 1 << 1;
static constexpr uint8_t SET_Y_ENABLE = 1;
static constexpr uint8_t CTRL_REG_1_VAL =
SET_POWER_NORMAL_MODE | SET_Z_ENABLE | SET_Y_ENABLE | SET_X_ENABLE;
/* Register 2 */
static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7;
static constexpr uint8_t LEVEL_SENSITIVE_TRIGGER = 1 << 6;
static constexpr uint8_t SET_HPM_1 = 1 << 5;
static constexpr uint8_t SET_HPM_0 = 1 << 4;
static constexpr uint8_t SET_HPCF_3 = 1 << 3;
static constexpr uint8_t SET_HPCF_2 = 1 << 2;
static constexpr uint8_t SET_HPCF_1 = 1 << 1;
static constexpr uint8_t SET_HPCF_0 = 1;
static constexpr uint8_t CTRL_REG_2_VAL = 0b0000'0000;
/* Register 3 */
static constexpr uint8_t CTRL_REG_3_VAL = 0b0000'0000;
/* Register 4 */
static constexpr uint8_t SET_BNU = 1 << 7;
static constexpr uint8_t SET_BLE = 1 << 6;
static constexpr uint8_t SET_FS_1 = 1 << 5;
static constexpr uint8_t SET_FS_0 = 1 << 4;
static constexpr uint8_t SET_IMP_ENB = 1 << 3;
static constexpr uint8_t SET_SELF_TEST_ENB_1 = 1 << 2;
static constexpr uint8_t SET_SELF_TEST_ENB_0 = 1 << 1;
static constexpr uint8_t SET_SPI_IF_SELECT = 1;
/* Enable big endian data format */
static constexpr uint8_t CTRL_REG_4_VAL = SET_BLE;
/* Register 5 */
static constexpr uint8_t SET_REBOOT_MEM = 1 << 7;
static constexpr uint8_t SET_FIFO_ENB = 1 << 6;
static constexpr uint8_t CTRL_REG_5_VAL = 0b0000'0000;
/* Possible range values in degrees per second (DPS). */
static constexpr uint16_t RANGE_DPS_00 = 245;
static constexpr uint16_t RANGE_DPS_01 = 500;
static constexpr uint16_t RANGE_DPS_11 = 2000;
static constexpr uint8_t READ_START = CTRL_REG_1;
static constexpr size_t READ_LEN = 14;
/* Indexing */
static constexpr uint8_t REFERENCE_IDX = 6;
static constexpr uint8_t TEMPERATURE_IDX = 7;
static constexpr uint8_t STATUS_IDX = 8;
static constexpr uint8_t OUT_X_H = 9;
static constexpr uint8_t OUT_X_L = 10;
static constexpr uint8_t OUT_Y_H = 11;
static constexpr uint8_t OUT_Y_L = 12;
static constexpr uint8_t OUT_Z_H = 13;
static constexpr uint8_t OUT_Z_L = 14;
/*------------------------------------------------------------------------*/
/* Device Handler specific */
/*------------------------------------------------------------------------*/
static constexpr DeviceCommandId_t READ_REGS = 0;
static constexpr DeviceCommandId_t CONFIGURE_CTRL_REGS = 1;
static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;
static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;
enum GyroPoolIds : lp_id_t { ANG_VELOC_X, ANG_VELOC_Y, ANG_VELOC_Z, TEMPERATURE };
} // namespace l3gd20h
class GyroPrimaryDataset : public StaticLocalDataSet<5> {
public:
/** Constructor for data users like controllers */
GyroPrimaryDataset(object_id_t mgmId)
: StaticLocalDataSet(sid_t(mgmId, l3gd20h::GYRO_DATASET_ID)) {
setAllVariablesReadOnly();
}
/* Angular velocities in degrees per second (DPS) */
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, l3gd20h::ANG_VELOC_X, this);
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, l3gd20h::ANG_VELOC_Y, this);
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, l3gd20h::ANG_VELOC_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, l3gd20h::TEMPERATURE, this);
private:
friend class GyroHandlerL3GD20H;
/** Constructor for the data creator */
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
: StaticLocalDataSet(hkOwner, l3gd20h::GYRO_DATASET_ID) {}
};
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */

23
mission/devices/devicedefinitions/powerDefinitions.h
View File

@ -1,23 +0,0 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_POWERDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_POWERDEFINITIONS_H_
#include <fsfw/events/Event.h>
#include "eive/eventSubsystemIds.h"
namespace power {
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_HANDLER;
//! [EXPORT] : [COMMENT] Indicates that a FSFW object requested setting a switch
//! P1: 1 if on was requested, 0 for off | P2: Switch Index
static constexpr Event SWITCH_CMD_SENT = event::makeEvent(SUBSYSTEM_ID, 0, severity::INFO);
//! [EXPORT] : [COMMENT] Indicated that a switch state has changed
//! P1: New switch state, 1 for on, 0 for off | P2: Switch Index
static constexpr Event SWITCH_HAS_CHANGED = event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO);
static constexpr Event SWITCHING_Q7S_DENIED = event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
static constexpr Event FDIR_REACTION_IGNORED = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
} // namespace power
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_POWERDEFINITIONS_H_ */

34
mission/core/GenericFactory.cpp → mission/genericFactory.cpp
View File

@ -1,5 +1,3 @@
#include "GenericFactory.h"
#include <fsfw/cfdp/CfdpDistributor.h>
#include <fsfw/cfdp/handler/CfdpHandler.h>
#include <fsfw/cfdp/handler/RemoteConfigTableIF.h>
@ -26,13 +24,14 @@
#include <fsfw/timemanager/CdsShortTimeStamper.h>
#include <fsfw_hal/host/HostFilesystem.h>
#include <mission/controller/ThermalController.h>
#include <mission/devices/HeaterHandler.h>
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
#include <mission/genericFactory.h>
#include <mission/persistentTmStoreDefs.h>
#include <mission/system/objects/AcsBoardAssembly.h>
#include <mission/system/objects/RwAssembly.h>
#include <mission/system/objects/SusAssembly.h>
#include <mission/power/gsDefs.h>
#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/tcs/HeaterHandler.h>
#include <mission/tmtc/CfdpTmFunnel.h>
#include <mission/tmtc/PersistentTmStore.h>
#include <mission/tmtc/PersistentTmStoreWithTmQueue.h>
@ -46,8 +45,8 @@
#include "eive/definitions.h"
#include "fsfw/pus/Service11TelecommandScheduling.h"
#include "mission/cfdp/Config.h"
#include "mission/system/objects/RwAssembly.h"
#include "mission/system/tree/acsModeTree.h"
#include "mission/system/acs/RwAssembly.h"
#include "mission/system/acs/acsModeTree.h"
#include "mission/system/tree/tcsModeTree.h"
#include "mission/tmtc/tmFilters.h"
#include "objects/systemObjectList.h"
@ -193,8 +192,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
// HK store and PUS funnel to HK store routing
{
PersistentTmStoreArgs storeArgs(objects::HK_TM_STORE, "tm", "hk", RolloverInterval::MINUTELY,
15, *ramToFileStore, sdcMan);
PersistentTmStoreArgs storeArgs(objects::HK_TM_STORE, "tm", "hk", RolloverInterval::MINUTELY, 2,
*ramToFileStore, sdcMan);
stores.hkStore =
new PersistentTmStoreWithTmQueue(storeArgs, "HK STORE", config::HK_STORE_QUEUE_SIZE);
(*pusFunnel)
@ -235,7 +234,7 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS, config::EIVE_PUS_APID,
pus::PUS_SERVICE_2, 3, 10);
new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, config::EIVE_PUS_APID,
pus::PUS_SERVICE_3);
pus::PUS_SERVICE_3, config::HK_SERVICE_QUEUE_DEPTH);
new Service5EventReporting(
PsbParams(objects::PUS_SERVICE_5_EVENT_REPORTING, config::EIVE_PUS_APID, pus::PUS_SERVICE_5),
40, 120);
@ -296,7 +295,7 @@ void ObjectFactory::createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF&
{new HealthDevice(objects::HEATER_7_SYRLINKS, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_7},
}});
heaterHandler = new HeaterHandler(objects::HEATER_HANDLER, &gpioIF, helper, &pwrSwitcher,
pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
power::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
heaterHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
}
@ -348,7 +347,8 @@ void ObjectFactory::createAcsBoardAssy(PowerSwitchIF& pwrSwitcher,
AcsBoardHelper acsBoardHelper = AcsBoardHelper(
objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER,
objects::GPS_0_HEALTH_DEV, objects::GPS_1_HEALTH_DEV);
auto acsAss =
new AcsBoardAssembly(objects::ACS_BOARD_ASS, &pwrSwitcher, acsBoardHelper, gpioComIF);
for (auto& assChild : assemblyDhbs) {
@ -359,13 +359,17 @@ void ObjectFactory::createAcsBoardAssy(PowerSwitchIF& pwrSwitcher,
}
}
gpsCtrl->connectModeTreeParent(*acsAss);
auto* gps0HealthDev = new HealthDevice(objects::GPS_0_HEALTH_DEV, acsAss->getCommandQueue());
auto* gps1HealthDev = new HealthDevice(objects::GPS_1_HEALTH_DEV, acsAss->getCommandQueue());
acsAss->registerChild(objects::GPS_0_HEALTH_DEV, gps0HealthDev->getCommandQueue());
acsAss->registerChild(objects::GPS_1_HEALTH_DEV, gps1HealthDev->getCommandQueue());
acsAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
}
TcsBoardAssembly* ObjectFactory::createTcsBoardAssy(PowerSwitchIF& pwrSwitcher) {
TcsBoardHelper helper(RTD_INFOS);
auto* tcsBoardAss = new TcsBoardAssembly(objects::TCS_BOARD_ASS, &pwrSwitcher,
pcdu::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
power::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
tcsBoardAss->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
return tcsBoardAss;
}

3
mission/core/GenericFactory.h → mission/genericFactory.h
View File

@ -2,14 +2,15 @@
#define MISSION_CORE_GENERICFACTORY_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/devicehandlers/HealthDevice.h>
#include <mission/memory/SdCardMountedIF.h>
#include <mission/persistentTmStoreDefs.h>
#include <mission/tcs/Max31865Definitions.h>
#include <mission/tmtc/PersistentTmStoreWithTmQueue.h>
#include "fsfw/objectmanager/SystemObjectIF.h"
#include "fsfw/power/PowerSwitchIF.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
using persTmStore::PersistentTmStores;

17
mission/mission.mk
View File

@ -1,17 +0,0 @@
# add main and others
CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
CSRC += $(wildcard $(CURRENTPATH)/*.c)
CSRC += $(wildcard $(CURRENTPATH)/core/*.c)
CXXSRC += $(wildcard $(CURRENTPATH)/core/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/devices/*.cpp)
CSRC += $(wildcard $(CURRENTPATH)/devices/*.c)
CXXSRC += $(wildcard $(CURRENTPATH)/utility/*.cpp)
CSRC += $(wildcard $(CURRENTPATH)/utility/*.c)
CXXSRC += $(wildcard $(CURRENTPATH)/test/*.cpp)
CSRC += $(wildcard $(CURRENTPATH)/test/*.c)

3
mission/payload/CMakeLists.txt Normal file
View File

@ -0,0 +1,3 @@
target_sources(
${LIB_EIVE_MISSION} PRIVATE PayloadPcduHandler.cpp RadiationSensorHandler.cpp
ScexDeviceHandler.cpp scexHelpers.cpp defs.cpp)

3
mission/devices/PayloadPcduHandler.cpp → mission/payload/PayloadPcduHandler.cpp
View File

@ -1,6 +1,5 @@
#include "PayloadPcduHandler.h"
#include <fsfw/src/fsfw/datapool/PoolReadGuard.h>
#include <mission/payload/PayloadPcduHandler.h>
#include "OBSWConfig.h"

6
mission/devices/PayloadPcduHandler.h → mission/payload/PayloadPcduHandler.h
View File

@ -4,15 +4,15 @@
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include <fsfw/timemanager/Countdown.h>
#include <mission/payload/payloadPcduDefinitions.h>
#include <mission/system/objects/Stack5VHandler.h>
#include "events/subsystemIdRanges.h"
#include "fsfw/FSFW.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
#include "mission/memory/SdCardMountedIF.h"
#include "mission/system/objects/DualLanePowerStateMachine.h"
#include "mission/system/objects/definitions.h"
#include "mission/power/defs.h"
#include "mission/system/DualLanePowerStateMachine.h"
#ifdef FSFW_OSAL_LINUX
class SpiComIF;

6
mission/devices/RadiationSensorHandler.cpp → mission/payload/RadiationSensorHandler.cpp
View File

@ -1,9 +1,9 @@
#include <OBSWConfig.h>
#include <devices/gpioIds.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <mission/devices/RadiationSensorHandler.h>
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
#include <mission/devices/max1227.h>
#include <mission/payload/RadiationSensorHandler.h>
#include <mission/power/gsDefs.h>
#include <mission/tcs/max1227.h>
RadiationSensorHandler::RadiationSensorHandler(object_id_t objectId, object_id_t comIF,
CookieIF *comCookie, GpioIF *gpioIF,

8
mission/devices/RadiationSensorHandler.h → mission/payload/RadiationSensorHandler.h
View File

@ -1,9 +1,9 @@
#ifndef MISSION_DEVICES_RADIATIONSENSORHANDLER_H_
#define MISSION_DEVICES_RADIATIONSENSORHANDLER_H_
#ifndef MISSION_PAYLOAD_RADIATIONSENSORHANDLER_H_
#define MISSION_PAYLOAD_RADIATIONSENSORHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <mission/devices/devicedefinitions/RadSensorDefinitions.h>
#include <mission/payload/radSensorDefinitions.h>
#include <mission/system/objects/Stack5VHandler.h>
/**
@ -54,4 +54,4 @@ class RadiationSensorHandler : public DeviceHandlerBase {
CommunicationStep communicationStep = CommunicationStep::START_CONVERSION;
};
#endif /* MISSION_DEVICES_RADIATIONSENSORHANDLER_H_ */
#endif /* MISSION_PAYLOAD_RADIATIONSENSORHANDLER_H_ */

126
mission/devices/ScexDeviceHandler.cpp → mission/payload/ScexDeviceHandler.cpp
View File

@ -1,8 +1,8 @@
#include "ScexDeviceHandler.h"
#include <fsfw/filesystem/HasFileSystemIF.h>
#include <linux/devices/ScexHelper.h>
#include <linux/payload/ScexHelper.h>
#include <mission/memory/SdCardMountedIF.h>
#include <mission/payload/ScexDeviceHandler.h>
#include <mission/payload/scexHelpers.h>
#include <algorithm>
#include <ctime>
@ -11,8 +11,8 @@
#include <iostream>
#include <random>
#include "eive/definitions.h"
#include "fsfw/globalfunctions/CRC.h"
#include "mission/devices/devicedefinitions/ScexDefinitions.h"
using std::ofstream;
using namespace returnvalue;
@ -28,6 +28,7 @@ void ScexDeviceHandler::doStartUp() { setMode(MODE_ON); }
void ScexDeviceHandler::doShutDown() {
reader.reset();
commandActive = false;
fileNameSet = false;
multiFileFinishOutstanding = false;
setMode(_MODE_POWER_DOWN);
}
@ -206,50 +207,13 @@ ReturnValue_t ScexDeviceHandler::interpretDeviceReply(DeviceCommandId_t id, cons
using namespace scex;
ReturnValue_t status = OK;
auto oneFileHandler = [&](std::string cmdName) {
auto activeSd = sdcMan.getActiveSdCard();
if (not activeSd) {
return HasFileSystemIF::FILESYSTEM_INACTIVE;
}
fileId = date_time_string();
std::ostringstream oss;
auto prefix = sdcMan.getCurrentMountPrefix();
if (prefix == nullptr) {
return returnvalue::FAILED;
}
oss << prefix << "/scex/scex-" << cmdName << fileId << ".bin";
fileName = oss.str();
ofstream out(fileName, ofstream::binary);
if (out.bad()) {
sif::error << "ScexDeviceHandler::interpretDeviceReply: Could not open file " << fileName
<< std::endl;
return FAILED;
}
out << helper;
return OK;
};
auto multiFileHandler = [&](std::string cmdName) {
auto multiFileHandler = [&](const char* cmdName) {
if ((helper.getPacketCounter() == 1) or (not fileNameSet)) {
auto activeSd = sdcMan.getActiveSdCard();
if (not activeSd) {
return HasFileSystemIF::FILESYSTEM_INACTIVE;
status = generateNewScexFile(cmdName);
if (status != returnvalue::OK) {
return status;
}
fileId = date_time_string();
std::ostringstream oss;
auto prefix = sdcMan.getCurrentMountPrefix();
if (prefix == nullptr) {
return returnvalue::FAILED;
}
oss << prefix << "/scex/scex-" << cmdName << fileId << ".bin";
fileName = oss.str();
fileNameSet = true;
ofstream out(fileName, ofstream::binary);
if (out.bad()) {
sif::error << "ScexDeviceHandler::handleValidReply: Could not open file " << fileName
<< std::endl;
return FAILED;
}
out << helper;
} else {
ofstream out(fileName,
ofstream::binary | ofstream::app); // append
@ -265,31 +229,31 @@ ReturnValue_t ScexDeviceHandler::interpretDeviceReply(DeviceCommandId_t id, cons
id = helper.getCmd();
switch (id) {
case (PING): {
status = oneFileHandler("ping_");
status = generateNewScexFile(PING_IDLE_BASE_NAME);
break;
}
case (ION_CMD): {
status = oneFileHandler("ion_");
status = generateNewScexFile(ION_BASE_NAME);
break;
}
case (TEMP_CMD): {
status = oneFileHandler("temp_");
status = generateNewScexFile(TEMPERATURE_BASE_NAME);
break;
}
case (EXP_STATUS_CMD): {
status = oneFileHandler("exp_status_");
status = generateNewScexFile(EXP_STATUS_BASE_NAME);
break;
}
case (FRAM): {
status = multiFileHandler("fram_");
status = multiFileHandler(FRAM_BASE_NAME);
break;
}
case (ONE_CELL): {
status = multiFileHandler("one_cell_");
status = multiFileHandler(ONE_CELL_BASE_NAME);
break;
}
case (ALL_CELLS_CMD): {
status = multiFileHandler("multi_cell_");
status = multiFileHandler(ALL_CELLS_BASE_NAME);
break;
}
default:
@ -355,37 +319,41 @@ ReturnValue_t ScexDeviceHandler::initializeLocalDataPool(localpool::DataPool& lo
return OK;
}
std::string ScexDeviceHandler::date_time_string() {
using namespace std;
string date_time;
Clock::TimeOfDay_t tod;
Clock::getDateAndTime(&tod);
ostringstream oss(std::ostringstream::ate);
if (tod.hour < 10) {
oss << tod.year << tod.month << tod.day << "_0" << tod.hour;
} else {
oss << tod.year << tod.month << tod.day << "_" << tod.hour;
}
if (tod.minute < 10) {
oss << 0 << tod.minute;
} else {
oss << tod.minute;
}
if (tod.second < 10) {
oss << 0 << tod.second;
} else {
oss << tod.second;
ReturnValue_t ScexDeviceHandler::generateNewScexFile(const char* cmdName) {
char timeString[64]{};
auto activeSd = sdcMan.getActiveSdCard();
if (not activeSd) {
return HasFileSystemIF::FILESYSTEM_INACTIVE;
}
date_time = oss.str();
return date_time;
std::ostringstream oss;
auto prefix = sdcMan.getCurrentMountPrefix();
if (prefix == nullptr) {
return returnvalue::FAILED;
}
timeval tv;
Clock::getClock_timeval(&tv);
time_t epoch = tv.tv_sec;
struct tm* time = gmtime(&epoch);
size_t writtenBytes = strftime(reinterpret_cast<char*>(timeString), sizeof(timeString),
config::FILE_DATE_FORMAT, time);
if (writtenBytes == 0) {
sif::error << "PersistentTmStore::createMostRecentFile: Could not create file timestamp"
<< std::endl;
return returnvalue::FAILED;
}
oss << prefix << "/scex/scex-" << cmdName << "-" << timeString << ".bin";
fileName = oss.str();
ofstream out(fileName, ofstream::binary);
if (out.bad()) {
sif::error << "ScexDeviceHandler::interpretDeviceReply: Could not open file " << fileName
<< std::endl;
return FAILED;
}
out << helper;
return OK;
}
void ScexDeviceHandler::modeChanged() {}
void ScexDeviceHandler::setPowerSwitcher(PowerSwitchIF& powerSwitcher, power::Switch_t switchId) {
DeviceHandlerBase::setPowerSwitcher(&powerSwitcher);
this->switchId = switchId;

23
mission/devices/ScexDeviceHandler.h → mission/payload/ScexDeviceHandler.h
View File

@ -1,9 +1,9 @@
#ifndef MISSION_DEVICES_SCEXDEVICEHANDLER_H_
#define MISSION_DEVICES_SCEXDEVICEHANDLER_H_
#ifndef MISSION_PAYLOAD_SCEXDEVICEHANDLER_H_
#define MISSION_PAYLOAD_SCEXDEVICEHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <linux/devices/ScexHelper.h>
#include <linux/devices/ScexUartReader.h>
#include <linux/payload/ScexHelper.h>
#include <linux/payload/ScexUartReader.h>
#include <optional>
@ -13,6 +13,14 @@ class SdCardMountedIF;
class ScexDeviceHandler : public DeviceHandlerBase {
public:
static constexpr char FRAM_BASE_NAME[] = "framContent";
static constexpr char ION_BASE_NAME[] = "ion";
static constexpr char TEMPERATURE_BASE_NAME[] = "temperature";
static constexpr char EXP_STATUS_BASE_NAME[] = "expStatus";
static constexpr char ONE_CELL_BASE_NAME[] = "oneCell";
static constexpr char ALL_CELLS_BASE_NAME[] = "allCells";
static constexpr char PING_IDLE_BASE_NAME[] = "pingIdle";
ScexDeviceHandler(object_id_t objectId, ScexUartReader &reader, CookieIF *cookie,
SdCardMountedIF &sdcMan);
void setPowerSwitcher(PowerSwitchIF &powerSwitcher, power::Switch_t switchId);
@ -35,8 +43,6 @@ class ScexDeviceHandler : public DeviceHandlerBase {
SdCardMountedIF &sdcMan;
Countdown finishCountdown = Countdown(LONG_CD);
std::string date_time_string();
// DeviceHandlerBase private function implementation
void doStartUp() override;
void doShutDown() override;
@ -59,7 +65,8 @@ class ScexDeviceHandler : public DeviceHandlerBase {
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
ReturnValue_t initializeAfterTaskCreation() override;
void modeChanged() override;
ReturnValue_t generateNewScexFile(const char *cmdName);
};
#endif /* MISSION_DEVICES_SCEXDEVICEHANDLER_H_ */
#endif /* MISSION_PAYLOAD_SCEXDEVICEHANDLER_H_ */

2
mission/payloadDefs.cpp → mission/payload/defs.cpp
View File

@ -1,4 +1,4 @@
#include "payloadDefs.h"
#include <mission/payload/defs.h>
const char* payload::getModeStr(Mode mode) {
static const char* modeStr = "UNKNOWN";

0
mission/payloadDefs.h → mission/payload/defs.h
View File

2
mission/devices/devicedefinitions/payloadPcduDefinitions.h → mission/payload/payloadPcduDefinitions.h
View File

@ -4,13 +4,13 @@
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <mission/memory/NvmParameterBase.h>
#include <mission/tcs/max1227.h>
#include <cstddef>
#include <filesystem>
#include <nlohmann/json.hpp>
#include "OBSWConfig.h"
#include "mission/devices/max1227.h"
namespace plpcdu {

7
mission/devices/devicedefinitions/SpBase.h → mission/payload/plocSpBase.h
View File

@ -1,6 +1,7 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_SPBASE_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_SPBASE_H_
#ifndef MISSION_PAYLOAD_PLOCSPBASE_H_
#define MISSION_PAYLOAD_PLOCSPBASE_H_
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/tmtcpacket/ccsds/SpacePacketCreator.h>
#include <fsfw/tmtcpacket/ccsds/SpacePacketReader.h>
@ -117,4 +118,4 @@ class SpTmReader : public SpacePacketReader {
} // namespace ploc
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_SPBASE_H_ */
#endif /* MISSION_PAYLOAD_PLOCSPBASE_H_ */

0
mission/devices/devicedefinitions/RadSensorDefinitions.h → mission/payload/radSensorDefinitions.h
View File

3
mission/devices/devicedefinitions/ScexDefinitions.cpp → mission/payload/scexHelpers.cpp
View File

@ -1,6 +1,5 @@
#include "ScexDefinitions.h"
#include <fsfw/globalfunctions/CRC.h>
#include <mission/payload/scexHelpers.h>
#include <cstring>

6
mission/devices/devicedefinitions/ScexDefinitions.h → mission/payload/scexHelpers.h
View File

@ -1,5 +1,5 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_SCEXDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_SCEXDEFINITIONS_H_
#ifndef MISSION_PAYLOAD_SCEXHELPERS_H_
#define MISSION_PAYLOAD_SCEXHELPERS_H_
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/events/Event.h>
@ -49,4 +49,4 @@ ReturnValue_t prepareScexCmd(Cmds cmd, std::pair<uint8_t*, size_t> cmdBufPair, s
} // namespace scex
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_SCEXDEFINITIONS_H_ */
#endif /* MISSION_PAYLOAD_SCEXHELPERS_H_ */

13
mission/persistentTmStoreDefs.h
View File

@ -25,8 +25,6 @@ static constexpr Event POSSIBLE_FILE_CORRUPTION = event::makeEvent(SUBSYSTEM_ID,
//! P2: Allowed file size
static constexpr Event FILE_TOO_LARGE = event::makeEvent(SUBSYSTEM_ID, 1, severity::LOW);
static constexpr Event BUSY_DUMPING_EVENT = event::makeEvent(SUBSYSTEM_ID, 2, severity::INFO);
//! [EXPORT] : [COMMENT] Dump was cancelled. P1: Object ID of store.
static constexpr Event DUMP_WAS_CANCELLED = event::makeEvent(SUBSYSTEM_ID, 3, severity::LOW);
//! [EXPORT] : [COMMENT] P1: Number of dumped packets. P2: Total dumped bytes.
static constexpr Event DUMP_OK_STORE_DONE = event::makeEvent(SUBSYSTEM_ID, 5, severity::INFO);
@ -38,6 +36,17 @@ static constexpr Event DUMP_MISC_STORE_DONE = event::makeEvent(SUBSYSTEM_ID, 7,
static constexpr Event DUMP_HK_STORE_DONE = event::makeEvent(SUBSYSTEM_ID, 8, severity::INFO);
//! [EXPORT] : [COMMENT] P1: Number of dumped packets. P2: Total dumped bytes.
static constexpr Event DUMP_CFDP_STORE_DONE = event::makeEvent(SUBSYSTEM_ID, 9, severity::INFO);
//! [EXPORT] : [COMMENT] P1: Number of dumped packets. P2: Total dumped bytes.
static constexpr Event DUMP_OK_CANCELLED = event::makeEvent(SUBSYSTEM_ID, 10, severity::LOW);
//! [EXPORT] : [COMMENT] P1: Number of dumped packets. P2: Total dumped bytes.
static constexpr Event DUMP_NOK_CANCELLED = event::makeEvent(SUBSYSTEM_ID, 11, severity::LOW);
//! [EXPORT] : [COMMENT] P1: Number of dumped packets. P2: Total dumped bytes.
static constexpr Event DUMP_MISC_CANCELLED = event::makeEvent(SUBSYSTEM_ID, 12, severity::LOW);
//! [EXPORT] : [COMMENT] P1: Number of dumped packets. P2: Total dumped bytes.
static constexpr Event DUMP_HK_CANCELLED = event::makeEvent(SUBSYSTEM_ID, 13, severity::LOW);
//! [EXPORT] : [COMMENT] P1: Number of dumped packets. P2: Total dumped bytes.
static constexpr Event DUMP_CFDP_CANCELLED = event::makeEvent(SUBSYSTEM_ID, 14, severity::LOW);
}; // namespace persTmStore
#endif /* MISSION_PERSISTENTTMSTOREDEFS_H_ */

41
mission/core/pollingSeqTables.cpp → mission/pollingSeqTables.cpp
View File

@ -4,11 +4,11 @@
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <mission/devices/devicedefinitions/imtqHelpers.h>
#include <mission/acs/imtqHelpers.h>
#include <mission/tcs/Max31865Definitions.h>
#include "OBSWConfig.h"
#include "eive/definitions.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#ifndef RPI_TEST_ADIS16507
#define RPI_TEST_ADIS16507 0
@ -26,10 +26,11 @@ ReturnValue_t pst::pstSyrlinks(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.25, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.7, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.75, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.75, DeviceHandlerIF::GET_READ);
static_cast<void>(length);
@ -102,25 +103,25 @@ ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::ACU_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::ACU_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::ACU_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.5, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.5, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.5, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::ACU_HANDLER, length * 0.5, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::ACU_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::ACU_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() != returnvalue::OK) {
sif::error << "GomSpace PST initialization failed" << std::endl;
return returnvalue::FAILED;

0
mission/core/pollingSeqTables.h → mission/pollingSeqTables.h
View File

10
mission/devices/ACUHandler.cpp → mission/power/AcuHandler.cpp
View File

@ -1,10 +1,10 @@
#include "ACUHandler.h"
#include <mission/power/AcuHandler.h>
#include "OBSWConfig.h"
ACUHandler::ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
FailureIsolationBase *customFdir)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir),
FailureIsolationBase *customFdir, bool enableHkSets)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir, enableHkSets),
coreHk(this),
auxHk(this) {
cfg.maxConfigTableAddress = ACU::MAX_CONFIGTABLE_ADDRESS;
@ -149,9 +149,9 @@ ReturnValue_t ACUHandler::initializeLocalDataPool(localpool::DataPool &localData
localDataPoolMap.emplace(pool::ACU_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), false, 10.0));
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 30.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(auxHk.getSid(), false, 30.0));
subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 6000.0));
return returnvalue::OK;
}

12
mission/devices/ACUHandler.h → mission/power/AcuHandler.h
View File

@ -1,9 +1,9 @@
#ifndef MISSION_DEVICES_ACUHANDLER_H_
#define MISSION_DEVICES_ACUHANDLER_H_
#ifndef MISSION_POWER_ACUHANDLER_H_
#define MISSION_POWER_ACUHANDLER_H_
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
#include <mission/power/GomspaceDeviceHandler.h>
#include <mission/power/gsDefs.h>
#include "GomspaceDeviceHandler.h"
#include "fsfw/datapool/PoolReadGuard.h"
/**
@ -13,7 +13,7 @@
class ACUHandler : public GomspaceDeviceHandler {
public:
ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
FailureIsolationBase* customFdir);
FailureIsolationBase* customFdir, bool enableHkSets);
virtual ~ACUHandler();
void setDebugMode(bool enable);
@ -53,4 +53,4 @@ class ACUHandler : public GomspaceDeviceHandler {
void printChannelStats();
};
#endif /* MISSION_DEVICES_ACUHANDLER_H_ */
#endif /* MISSION_POWER_ACUHANDLER_H_ */

Some files were not shown because too many files have changed in this diff Show More