eive/eive-obsw
eive/eive-obsw
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better PDEC FDIR

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This commit is contained in:
Robin Müller 2023-04-14 13:11:11 +02:00
parent a7c227f8ea
commit 4e686b4ad0
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GPG Key ID: 11D4952C8CCEF814
7 changed files with 146 additions and 83 deletions
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4
bsp_q7s/core/CoreController.cpp
View File

@ -369,7 +369,7 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
return actionReboot(data, size);
}
case (EXECUTE_SHELL_CMD_BLOCKING): {
std::string cmdToExecute = std::string(reinterpret_cast<const char*>(data), size);
std::string cmdToExecute = std::string(reinterpret_cast<const char *>(data), size);
int result = std::system(cmdToExecute.c_str());
if (result != 0) {
// TODO: Data reply with returnalue maybe?
@ -378,7 +378,7 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
return EXECUTION_FINISHED;
}
case (EXECUTE_SHELL_CMD_NON_BLOCKING): {
std::string cmdToExecute = std::string(reinterpret_cast<const char*>(data), size);
std::string cmdToExecute = std::string(reinterpret_cast<const char *>(data), size);
if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING or
shellCmdIsExecuting) {
return HasActionsIF::IS_BUSY;

92
linux/ipcore/PdecHandler.cpp
View File

@ -15,6 +15,7 @@
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tmtcservices/TmTcMessage.h"
#include "fsfw_hal/linux/uio/UioMapper.h"
#include "linux/ipcore/PdecConfig.h"
#include "pdec.h"
using namespace pdec;
@ -103,7 +104,7 @@ ReturnValue_t PdecHandler::firstLoop() {
result = releasePdec();
if (result != returnvalue::OK) {
return returnvalue::FAILED;
return result;
}
// This configuration must be done while the PDEC is not held in reset.
@ -141,7 +142,7 @@ ReturnValue_t PdecHandler::polledOperation() {
if (newTcReceived()) {
handleNewTc();
}
checkLocks();
doPeriodicWork();
break;
}
case State::PDEC_RESET: {
@ -182,8 +183,13 @@ ReturnValue_t PdecHandler::irqOperation() {
switch (state) {
case State::INIT: {
result = handleInitState();
if (result == returnvalue::OK) {
openIrqFile(&fd);
if (result != returnvalue::OK) {
break;
}
openIrqFile(&fd);
if (ptmeResetWithReinitializationPending) {
actionHelper.finish(true, commandedBy, pdec::RESET_PDEC_WITH_REINIITALIZATION);
ptmeResetWithReinitializationPending = false;
}
break;
}
@ -192,11 +198,12 @@ ReturnValue_t PdecHandler::irqOperation() {
if (result != returnvalue::OK) {
triggerEvent(PDEC_RESET_FAILED);
}
usleep(10);
state = State::INIT;
break;
}
case State::RUNNING: {
checkLocks();
doPeriodicWork();
checkAndHandleIrqs(fd, info);
break;
}
@ -219,18 +226,19 @@ ReturnValue_t PdecHandler::handleInitState() {
ReturnValue_t result = firstLoop();
if (result != returnvalue::OK) {
if (result == LocalParameterHandler::SD_NOT_READY) {
TaskFactory::delayTask(400);
if (initTries == MAX_INIT_TRIES) {
sif::error << "PdecHandler::handleInitState: SD card never "
"becomes ready"
<< std::endl;
state = State::WAIT_FOR_RECOVERY;
} else {
state = State::INIT;
sif::error << "PdecHandler::handleInitState: SD card never becomes ready" << std::endl;
initFailedHandler(result);
return result;
}
state = State::INIT;
initTries++;
TaskFactory::delayTask(400);
return result;
}
state = State::WAIT_FOR_RECOVERY;
sif::error << "PDEC: Init failed with reason 0x" << std::hex << std::setw(4) << result
<< std::endl;
initFailedHandler(result);
return result;
}
state = State::RUNNING;
@ -335,6 +343,7 @@ MessageQueueId_t PdecHandler::getCommandQueue() const { return commandQueue->get
ReturnValue_t PdecHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) {
using namespace pdec;
switch (actionId) {
case PRINT_CLCW:
printClcw();
@ -342,6 +351,18 @@ ReturnValue_t PdecHandler::executeAction(ActionId_t actionId, MessageQueueId_t c
case PRINT_PDEC_MON:
printPdecMon();
return EXECUTION_FINISHED;
case RESET_PDEC_NO_REINIITALIZATION: {
pdecToReset();
usleep(20);
releasePdec();
return EXECUTION_FINISHED;
}
case RESET_PDEC_WITH_REINIITALIZATION: {
state = State::PDEC_RESET;
ptmeResetWithReinitializationPending = true;
this->commandedBy = commandedBy;
return returnvalue::OK;
}
default:
return COMMAND_NOT_IMPLEMENTED;
}
@ -449,23 +470,7 @@ bool PdecHandler::newTcReceived() {
return true;
}
void PdecHandler::checkLocks() {
uint32_t clcw = getClcw();
if (not(clcw & NO_RF_MASK) && not carrierLock) {
triggerEvent(CARRIER_LOCK);
carrierLock = true;
} else if ((clcw & NO_RF_MASK) && carrierLock) {
carrierLock = false;
triggerEvent(LOST_CARRIER_LOCK_PDEC);
}
if (not(clcw & NO_BITLOCK_MASK) && not bitLock) {
triggerEvent(BIT_LOCK_PDEC);
bitLock = true;
} else if ((clcw & NO_BITLOCK_MASK) && bitLock) {
bitLock = false;
triggerEvent(LOST_BIT_LOCK_PDEC);
}
}
void PdecHandler::doPeriodicWork() { checkLocks(); }
bool PdecHandler::checkFrameAna(uint32_t pdecFar) {
bool frameValid = false;
@ -748,6 +753,33 @@ void PdecHandler::resetIrqLimiters() {
interruptCounter = 0;
}
void PdecHandler::checkLocks() {
uint32_t clcw = getClcw();
if (not(clcw & NO_RF_MASK) && not carrierLock) {
triggerEvent(CARRIER_LOCK);
carrierLock = true;
} else if ((clcw & NO_RF_MASK) && carrierLock) {
carrierLock = false;
triggerEvent(LOST_CARRIER_LOCK_PDEC);
}
if (not(clcw & NO_BITLOCK_MASK) && not bitLock) {
triggerEvent(BIT_LOCK_PDEC);
bitLock = true;
} else if ((clcw & NO_BITLOCK_MASK) && bitLock) {
bitLock = false;
triggerEvent(LOST_BIT_LOCK_PDEC);
}
}
void PdecHandler::initFailedHandler(ReturnValue_t reason) {
triggerEvent(pdec::PDEC_INIT_FAILED, reason, 0);
if (ptmeResetWithReinitializationPending) {
actionHelper.finish(false, commandedBy, pdec::RESET_PDEC_WITH_REINIITALIZATION, reason);
ptmeResetWithReinitializationPending = false;
}
state = State::WAIT_FOR_RECOVERY;
}
std::string PdecHandler::getMonStatusString(uint32_t status) {
switch (status) {
case TC_CHANNEL_INACTIVE:

53
linux/ipcore/PdecHandler.h
View File

@ -3,6 +3,8 @@
#include <fsfw/timemanager/Countdown.h>
#include <atomic>
#include "OBSWConfig.h"
#include "PdecConfig.h"
#include "eive/definitions.h"
@ -79,34 +81,6 @@ class PdecHandler : public SystemObject,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) override;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PDEC_HANDLER;
//! [EXPORT] : [COMMENT] Frame acceptance report signals an invalid frame
//! P1: The frame analysis information (FrameAna field of PDEC_FAR register)
//! P2: When frame declared illegal this parameter this parameter gives information about the
//! reason (IReason field of the PDEC_FAR register)
static const Event INVALID_TC_FRAME = MAKE_EVENT(1, severity::HIGH);
//! [EXPORT] : [COMMENT] Read invalid FAR from PDEC after startup
static const Event INVALID_FAR = MAKE_EVENT(2, severity::HIGH);
//! [EXPORT] : [COMMENT] Carrier lock detected
static const Event CARRIER_LOCK = MAKE_EVENT(3, severity::INFO);
//! [EXPORT] : [COMMENT] Bit lock detected (data valid)
static const Event BIT_LOCK_PDEC = MAKE_EVENT(4, severity::INFO);
//! [EXPORT] : [COMMENT] Lost carrier lock
static const Event LOST_CARRIER_LOCK_PDEC = MAKE_EVENT(5, severity::INFO);
//! [EXPORT] : [COMMENT] Lost bit lock
static const Event LOST_BIT_LOCK_PDEC = MAKE_EVENT(6, severity::INFO);
//! [EXPORT] : [COMMENT] Too many IRQs over the time window of one second. P1: Allowed TCs
static constexpr Event TOO_MANY_IRQS = MAKE_EVENT(7, severity::MEDIUM);
static constexpr Event POLL_SYSCALL_ERROR_PDEC =
event::makeEvent(SUBSYSTEM_ID, 8, severity::MEDIUM);
static constexpr Event WRITE_SYSCALL_ERROR_PDEC =
event::makeEvent(SUBSYSTEM_ID, 9, severity::HIGH);
//! [EXPORT] : [COMMENT] Failed to pull PDEC reset to low
static constexpr Event PDEC_RESET_FAILED = event::makeEvent(SUBSYSTEM_ID, 10, severity::HIGH);
//! [EXPORT] : [COMMENT] Failed to open the IRQ uio file
static constexpr Event OPEN_IRQ_FILE_FAILED = event::makeEvent(SUBSYSTEM_ID, 11, severity::HIGH);
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PDEC_HANDLER;
@ -141,11 +115,6 @@ class PdecHandler : public SystemObject,
static const uint32_t QUEUE_SIZE = config::CCSDS_HANDLER_QUEUE_SIZE;
// Action IDs
static const ActionId_t PRINT_CLCW = 0;
// Print PDEC monitor register
static const ActionId_t PRINT_PDEC_MON = 1;
#ifdef TE0720_1CFA
static const int CONFIG_MEMORY_MAP_SIZE = 0x400;
static const int RAM_MAP_SIZE = 0x4000;
@ -185,17 +154,6 @@ class PdecHandler : public SystemObject,
static constexpr uint32_t MAX_ALLOWED_IRQS_PER_WINDOW = 800;
enum class FrameAna_t : uint8_t {
ABANDONED_CLTU,
FRAME_DIRTY,
FRAME_ILLEGAL,
FRAME_ILLEGAL_MULTI_REASON,
AD_DISCARDED_LOCKOUT,
AD_DISCARDED_WAIT,
AD_DISCARDED_NS_VR,
FRAME_ACCEPTED
};
enum class IReason_t : uint8_t {
NO_REPORT,
ERROR_VERSION_NUMBER,
@ -258,6 +216,9 @@ class PdecHandler : public SystemObject,
bool carrierLock = false;
bool bitLock = false;
MessageQueueId_t commandedBy = MessageQueueIF::NO_QUEUE;
bool ptmeResetWithReinitializationPending = false;
UioNames uioNames;
ParameterHelper paramHelper;
@ -325,6 +286,8 @@ class PdecHandler : public SystemObject,
* @brief Checks if carrier lock or bit lock has been detected and triggers appropriate
* event.
*/
void doPeriodicWork();
void checkLocks();
void resetIrqLimiters();
@ -400,6 +363,8 @@ class PdecHandler : public SystemObject,
*/
void printPdecMon();
void initFailedHandler(ReturnValue_t reason);
std::string getMonStatusString(uint32_t status);
};

50
linux/ipcore/pdec.h
View File

@ -1,10 +1,60 @@
#ifndef LINUX_OBC_PDEC_H_
#define LINUX_OBC_PDEC_H_
#include <fsfw/action/ActionMessage.h>
#include <cstdint>
namespace pdec {
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PDEC_HANDLER;
//! [EXPORT] : [COMMENT] Frame acceptance report signals an invalid frame
//! P1: The frame analysis information (FrameAna field of PDEC_FAR register)
//! P2: When frame declared illegal this parameter this parameter gives information about the
//! reason (IReason field of the PDEC_FAR register)
static const Event INVALID_TC_FRAME = MAKE_EVENT(1, severity::HIGH);
//! [EXPORT] : [COMMENT] Read invalid FAR from PDEC after startup
static const Event INVALID_FAR = MAKE_EVENT(2, severity::HIGH);
//! [EXPORT] : [COMMENT] Carrier lock detected
static const Event CARRIER_LOCK = MAKE_EVENT(3, severity::INFO);
//! [EXPORT] : [COMMENT] Bit lock detected (data valid)
static const Event BIT_LOCK_PDEC = MAKE_EVENT(4, severity::INFO);
//! [EXPORT] : [COMMENT] Lost carrier lock
static const Event LOST_CARRIER_LOCK_PDEC = MAKE_EVENT(5, severity::INFO);
//! [EXPORT] : [COMMENT] Lost bit lock
static const Event LOST_BIT_LOCK_PDEC = MAKE_EVENT(6, severity::INFO);
//! [EXPORT] : [COMMENT] Too many IRQs over the time window of one second. P1: Allowed TCs
static constexpr Event TOO_MANY_IRQS = MAKE_EVENT(7, severity::MEDIUM);
static constexpr Event POLL_SYSCALL_ERROR_PDEC =
event::makeEvent(SUBSYSTEM_ID, 8, severity::MEDIUM);
static constexpr Event WRITE_SYSCALL_ERROR_PDEC = event::makeEvent(SUBSYSTEM_ID, 9, severity::HIGH);
//! [EXPORT] : [COMMENT] Failed to pull PDEC reset to low
static constexpr Event PDEC_RESET_FAILED = event::makeEvent(SUBSYSTEM_ID, 10, severity::HIGH);
//! [EXPORT] : [COMMENT] Failed to open the IRQ uio file
static constexpr Event OPEN_IRQ_FILE_FAILED = event::makeEvent(SUBSYSTEM_ID, 11, severity::HIGH);
//! [EXPORT] : [COMMENT] PDEC initialization failed. This might also be due to the persistent
//! confiuration never becoming available, for example due to SD card issues.
static constexpr Event PDEC_INIT_FAILED = event::makeEvent(SUBSYSTEM_ID, 12, severity::HIGH);
// Action IDs
static constexpr ActionId_t PRINT_CLCW = 0;
// Print PDEC monitor register
static constexpr ActionId_t PRINT_PDEC_MON = 1;
static constexpr ActionId_t RESET_PDEC_NO_REINIITALIZATION = 2;
static constexpr ActionId_t RESET_PDEC_WITH_REINIITALIZATION = 3;
enum class FrameAna_t : uint8_t {
ABANDONED_CLTU,
FRAME_DIRTY,
FRAME_ILLEGAL,
FRAME_ILLEGAL_MULTI_REASON,
AD_DISCARDED_LOCKOUT,
AD_DISCARDED_WAIT,
AD_DISCARDED_NS_VR,
FRAME_ACCEPTED
};
static const uint8_t STAT_POSITION = 31;
static const uint8_t FRAME_ANA_POSITION = 28;
static const uint8_t IREASON_POSITION = 25;

15
mission/system/EiveSystem.cpp
View File

@ -8,6 +8,7 @@
#include <mission/com/defs.h>
#include <mission/controller/tcsDefs.h>
#include "linux/ipcore/pdec.h"
#include "mission/power/bpxBattDefs.h"
#include "mission/power/defs.h"
#include "mission/sysDefs.h"
@ -62,6 +63,11 @@ void EiveSystem::performChildOperation() {
performSafeRecovery = false;
return;
}
if (frameDirtyCheckCd.hasTimedOut()) {
if (frameDirtyErrorCounter >= 4) {
}
frameDirtyErrorCounter = 0;
}
i2cRecoveryLogic();
}
@ -105,8 +111,7 @@ ReturnValue_t EiveSystem::initialize() {
manager->subscribeToEvent(eventQueue->getId(),
event::getEventId(tcsCtrl::PCDU_SYSTEM_OVERHEATING));
manager->subscribeToEvent(eventQueue->getId(), event::getEventId(tcsCtrl::OBC_OVERHEATING));
// manager->subscribeToEvent(eventQueue->getId(), event::getEventId(CoreController::))
manager->subscribeToEvent(eventQueue->getId(), event::getEventId(pdec::INVALID_TC_FRAME));
return Subsystem::initialize();
}
@ -117,6 +122,12 @@ void EiveSystem::handleEventMessages() {
switch (event.getMessageId()) {
case EventMessage::EVENT_MESSAGE:
switch (event.getEvent()) {
case pdec::INVALID_TC_FRAME: {
if (event.getParameter1() == static_cast<uint32_t>(pdec::FrameAna_t::FRAME_DIRTY)) {
frameDirtyErrorCounter++;
}
break;
}
case tcsCtrl::OBC_OVERHEATING:
case tcsCtrl::PCDU_SYSTEM_OVERHEATING: {
if (isInTransition) {

5
mission/system/EiveSystem.h
View File

@ -9,6 +9,8 @@
class EiveSystem : public Subsystem, public HasActionsIF {
public:
static constexpr uint8_t FRAME_DIRTY_COM_REBOOT_LIMIT = 4;
static constexpr ActionId_t EXECUTE_I2C_REBOOT = 10;
EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables,
@ -33,6 +35,9 @@ class EiveSystem : public Subsystem, public HasActionsIF {
bool performI2cReboot = false;
bool alreadyTriedI2cRecovery = false;
uint8_t frameDirtyErrorCounter = 0;
Countdown frameDirtyCheckCd = Countdown(10000);
ActionHelper actionHelper;
PowerSwitchIF* powerSwitcher = nullptr;
std::atomic_uint16_t& i2cErrors;

10
mission/system/com/ComSubsystem.cpp
View File

@ -105,9 +105,9 @@ ReturnValue_t ComSubsystem::initialize() {
if (result != returnvalue::OK) {
return ObjectManager::CHILD_INIT_FAILED;
}
result = manager->subscribeToEventRange(eventQueue->getId(),
event::getEventId(PdecHandler::CARRIER_LOCK),
event::getEventId(PdecHandler::BIT_LOCK_PDEC));
result =
manager->subscribeToEventRange(eventQueue->getId(), event::getEventId(pdec::CARRIER_LOCK),
event::getEventId(pdec::BIT_LOCK_PDEC));
if (result != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ComSubsystem::initialize: Failed to subscribe to events from PDEC "
@ -167,11 +167,11 @@ void ComSubsystem::handleEventMessage(EventMessage *eventMessage) {
startRxOnlyRecovery(true);
break;
}
case PdecHandler::BIT_LOCK_PDEC: {
case pdec::BIT_LOCK_PDEC: {
handleBitLockEvent();
break;
}
case PdecHandler::CARRIER_LOCK: {
case pdec::CARRIER_LOCK: {
handleCarrierLockEvent();
break;
}