Merge remote-tracking branch 'origin/develop' into ptme_bat_priority_enable
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Robin Müller 2023-03-20 18:01:13 +01:00
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9 changed files with 288 additions and 220 deletions

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@ -16,14 +16,23 @@ will consitute of a breaking change warranting a new major release:
# [unreleased]
## Fixed
- Fixed transition for dual power lane assemblies: When going from dual side submode to single side
submode, perform logical commanding first, similarly to when going to OFF mode.
## Changed
- Bugfixes for STR mode transitions: Booting to mode ON with submode FIRMWARE now works properly.
Furthermore, the submode in the NORMAL mode now should be 0 instead of some ON mode submode.
- Updated GYR bias values to newest measurements. This also corrects the ADIS values to always
consit of just one digit.
- The CCSDS IP core handler now exposes a parameter to enable the priority select mode
for the PTME core. This mode prioritizes virtual channels with a lower index, so for example
the virtual channel (VC0) will have the highest priority, while VC3 will have the lowestg
priority. This mode will be enabled by default for now, but can be set via the parameter IF with the unique
parameter ID 0. The update of this mode requires a PTME reset. Therefore, it will only be performed
when the transmitter is off to avoid weird bugs.
priority. This mode will be enabled by default for now, but can be set via the parameter IF with
the unique parameter ID 0. The update of this mode requires a PTME reset. Therefore, it will only
be performed when the transmitter is off to avoid weird bugs.
# [v1.38.0] 2023-03-17

2
fsfw

@ -1 +1 @@
Subproject commit 43fd0b2f59c3aeb2d3f4db10cfad56ee3709d68d
Subproject commit 227524a21da755d125bcb1a5ff67bcbc452f8cf9

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@ -451,95 +451,99 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
cdHasTimedOut = gyro.countdown.hasTimedOut();
mustPerformStartup = gyro.performStartup;
}
if (mode == acs::SimpleSensorMode::NORMAL and cdHasTimedOut) {
if (mustPerformStartup) {
uint8_t regList[6];
// Read configuration
regList[0] = adis1650x::DIAG_STAT_REG;
regList[1] = adis1650x::FILTER_CTRL_REG;
regList[2] = adis1650x::RANG_MDL_REG;
regList[3] = adis1650x::MSC_CTRL_REG;
regList[4] = adis1650x::DEC_RATE_REG;
regList[5] = adis1650x::PROD_ID_REG;
size_t transferLen =
adis1650x::prepareReadCommand(regList, sizeof(regList), cmdBuf.data(), cmdBuf.size());
result = readAdisCfg(*gyro.cookie, transferLen);
if (result != returnvalue::OK) {
gyro.replyResult = result;
return;
}
result = spiComIF.readReceivedMessage(gyro.cookie, &rawReply, &dummy);
if (result != returnvalue::OK or rawReply == nullptr) {
gyro.replyResult = result;
return;
}
uint16_t prodId = (rawReply[12] << 8) | rawReply[13];
if (((gyro.type == adis1650x::Type::ADIS16505) and (prodId != adis1650x::PROD_ID_16505)) or
((gyro.type == adis1650x::Type::ADIS16507) and (prodId != adis1650x::PROD_ID_16507))) {
sif::warning << "AcsPollingTask: Invalid ADIS product ID " << prodId << std::endl;
gyro.replyResult = returnvalue::FAILED;
return;
}
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
gyro.ownReply.cfgWasSet = true;
gyro.ownReply.cfg.diagStat = (rawReply[2] << 8) | rawReply[3];
gyro.ownReply.cfg.filterSetting = (rawReply[4] << 8) | rawReply[5];
gyro.ownReply.cfg.rangMdl = (rawReply[6] << 8) | rawReply[7];
gyro.ownReply.cfg.mscCtrlReg = (rawReply[8] << 8) | rawReply[9];
gyro.ownReply.cfg.decRateReg = (rawReply[10] << 8) | rawReply[11];
gyro.ownReply.cfg.prodId = prodId;
gyro.ownReply.data.sensitivity = adis1650x::rangMdlToSensitivity(gyro.ownReply.cfg.rangMdl);
gyro.performStartup = false;
}
// Read regular registers
std::memcpy(cmdBuf.data(), adis1650x::BURST_READ_ENABLE.data(),
adis1650x::BURST_READ_ENABLE.size());
std::memset(cmdBuf.data() + 2, 0, 10 * 2);
result = spiComIF.sendMessage(gyro.cookie, cmdBuf.data(), adis1650x::SENSOR_READOUT_SIZE);
if (mode == acs::SimpleSensorMode::OFF) {
return;
}
if (not cdHasTimedOut) {
return;
}
if (mustPerformStartup) {
uint8_t regList[6];
// Read configuration
regList[0] = adis1650x::DIAG_STAT_REG;
regList[1] = adis1650x::FILTER_CTRL_REG;
regList[2] = adis1650x::RANG_MDL_REG;
regList[3] = adis1650x::MSC_CTRL_REG;
regList[4] = adis1650x::DEC_RATE_REG;
regList[5] = adis1650x::PROD_ID_REG;
size_t transferLen =
adis1650x::prepareReadCommand(regList, sizeof(regList), cmdBuf.data(), cmdBuf.size());
result = readAdisCfg(*gyro.cookie, transferLen);
if (result != returnvalue::OK) {
gyro.replyResult = returnvalue::FAILED;
gyro.replyResult = result;
return;
}
result = spiComIF.readReceivedMessage(gyro.cookie, &rawReply, &dummy);
if (result != returnvalue::OK or rawReply == nullptr) {
gyro.replyResult = result;
return;
}
uint16_t prodId = (rawReply[12] << 8) | rawReply[13];
if (((gyro.type == adis1650x::Type::ADIS16505) and (prodId != adis1650x::PROD_ID_16505)) or
((gyro.type == adis1650x::Type::ADIS16507) and (prodId != adis1650x::PROD_ID_16507))) {
sif::warning << "AcsPollingTask: Invalid ADIS product ID " << prodId << std::endl;
gyro.replyResult = returnvalue::FAILED;
return;
}
uint16_t checksum = (rawReply[20] << 8) | rawReply[21];
// Now verify the read checksum with the expected checksum according to datasheet p. 20
uint16_t calcChecksum = 0;
for (size_t idx = 2; idx < 20; idx++) {
calcChecksum += rawReply[idx];
}
if (checksum != calcChecksum) {
sif::warning << "AcsPollingTask: Invalid ADIS reply checksum" << std::endl;
gyro.replyResult = returnvalue::FAILED;
return;
}
auto burstMode = adis1650x::burstModeFromMscCtrl(gyro.ownReply.cfg.mscCtrlReg);
if (burstMode != adis1650x::BurstModes::BURST_16_BURST_SEL_0) {
sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Analysis for select burst mode"
" not implemented!"
<< std::endl;
gyro.replyResult = returnvalue::FAILED;
return;
}
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
gyro.ownReply.dataWasSet = true;
gyro.ownReply.cfg.diagStat = rawReply[2] << 8 | rawReply[3];
gyro.ownReply.data.angVelocities[0] = (rawReply[4] << 8) | rawReply[5];
gyro.ownReply.data.angVelocities[1] = (rawReply[6] << 8) | rawReply[7];
gyro.ownReply.data.angVelocities[2] = (rawReply[8] << 8) | rawReply[9];
gyro.ownReply.data.accelerations[0] = (rawReply[10] << 8) | rawReply[11];
gyro.ownReply.data.accelerations[1] = (rawReply[12] << 8) | rawReply[13];
gyro.ownReply.data.accelerations[2] = (rawReply[14] << 8) | rawReply[15];
gyro.ownReply.data.temperatureRaw = (rawReply[16] << 8) | rawReply[17];
gyro.ownReply.cfgWasSet = true;
gyro.ownReply.cfg.diagStat = (rawReply[2] << 8) | rawReply[3];
gyro.ownReply.cfg.filterSetting = (rawReply[4] << 8) | rawReply[5];
gyro.ownReply.cfg.rangMdl = (rawReply[6] << 8) | rawReply[7];
gyro.ownReply.cfg.mscCtrlReg = (rawReply[8] << 8) | rawReply[9];
gyro.ownReply.cfg.decRateReg = (rawReply[10] << 8) | rawReply[11];
gyro.ownReply.cfg.prodId = prodId;
gyro.ownReply.data.sensitivity = adis1650x::rangMdlToSensitivity(gyro.ownReply.cfg.rangMdl);
gyro.performStartup = false;
}
// Read regular registers
std::memcpy(cmdBuf.data(), adis1650x::BURST_READ_ENABLE.data(),
adis1650x::BURST_READ_ENABLE.size());
std::memset(cmdBuf.data() + 2, 0, 10 * 2);
result = spiComIF.sendMessage(gyro.cookie, cmdBuf.data(), adis1650x::SENSOR_READOUT_SIZE);
if (result != returnvalue::OK) {
gyro.replyResult = returnvalue::FAILED;
return;
}
result = spiComIF.readReceivedMessage(gyro.cookie, &rawReply, &dummy);
if (result != returnvalue::OK or rawReply == nullptr) {
gyro.replyResult = returnvalue::FAILED;
return;
}
uint16_t checksum = (rawReply[20] << 8) | rawReply[21];
// Now verify the read checksum with the expected checksum according to datasheet p. 20
uint16_t calcChecksum = 0;
for (size_t idx = 2; idx < 20; idx++) {
calcChecksum += rawReply[idx];
}
if (checksum != calcChecksum) {
sif::warning << "AcsPollingTask: Invalid ADIS reply checksum" << std::endl;
gyro.replyResult = returnvalue::FAILED;
return;
}
auto burstMode = adis1650x::burstModeFromMscCtrl(gyro.ownReply.cfg.mscCtrlReg);
if (burstMode != adis1650x::BurstModes::BURST_16_BURST_SEL_0) {
sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Analysis for select burst mode"
" not implemented!"
<< std::endl;
gyro.replyResult = returnvalue::FAILED;
return;
}
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
gyro.ownReply.dataWasSet = true;
gyro.ownReply.cfg.diagStat = rawReply[2] << 8 | rawReply[3];
gyro.ownReply.data.angVelocities[0] = (rawReply[4] << 8) | rawReply[5];
gyro.ownReply.data.angVelocities[1] = (rawReply[6] << 8) | rawReply[7];
gyro.ownReply.data.angVelocities[2] = (rawReply[8] << 8) | rawReply[9];
gyro.ownReply.data.accelerations[0] = (rawReply[10] << 8) | rawReply[11];
gyro.ownReply.data.accelerations[1] = (rawReply[12] << 8) | rawReply[13];
gyro.ownReply.data.accelerations[2] = (rawReply[14] << 8) | rawReply[15];
gyro.ownReply.data.temperatureRaw = (rawReply[16] << 8) | rawReply[17];
}
void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {

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@ -268,18 +268,18 @@ void StarTrackerHandler::doStartUp() {
default:
return;
}
setMode(_MODE_TO_ON, SUBMODE_BOOTLOADER);
startupState = StartupState::DONE;
internalState = InternalState::IDLE;
setMode(_MODE_TO_ON);
}
void StarTrackerHandler::doShutDown() {
// If the star tracker is shutdown also stop all running processes in the image loader task
strHelper->stopProcess();
setMode(_MODE_POWER_DOWN);
}
void StarTrackerHandler::doOffActivity() {
startupState = StartupState::IDLE;
internalState = InternalState::IDLE;
startupState = StartupState::IDLE;
bootState = FwBootState::NONE;
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
@ -302,81 +302,103 @@ ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id
ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
switch (internalState) {
case InternalState::BOOT:
*id = startracker::BOOT;
bootCountdown.setTimeout(BOOT_TIMEOUT);
internalState = InternalState::BOOT_DELAY;
return buildCommandFromCommand(*id, nullptr, 0);
case InternalState::REQ_VERSION:
internalState = InternalState::VERIFY_BOOT;
// Again read program to check if firmware boot was successful
*id = startracker::REQ_VERSION;
return buildCommandFromCommand(*id, nullptr, 0);
case InternalState::LOGLEVEL:
internalState = InternalState::WAIT_FOR_EXECUTION;
*id = startracker::LOGLEVEL;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::LIMITS:
internalState = InternalState::WAIT_FOR_EXECUTION;
*id = startracker::LIMITS;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::TRACKING:
internalState = InternalState::WAIT_FOR_EXECUTION;
*id = startracker::TRACKING;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::MOUNTING:
internalState = InternalState::WAIT_FOR_EXECUTION;
*id = startracker::MOUNTING;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::IMAGE_PROCESSOR:
internalState = InternalState::WAIT_FOR_EXECUTION;
*id = startracker::IMAGE_PROCESSOR;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::CAMERA:
internalState = InternalState::WAIT_FOR_EXECUTION;
*id = startracker::CAMERA;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::CENTROIDING:
internalState = InternalState::WAIT_FOR_EXECUTION;
*id = startracker::CENTROIDING;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::LISA:
internalState = InternalState::WAIT_FOR_EXECUTION;
*id = startracker::LISA;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::MATCHING:
internalState = InternalState::WAIT_FOR_EXECUTION;
*id = startracker::MATCHING;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::VALIDATION:
internalState = InternalState::WAIT_FOR_EXECUTION;
*id = startracker::VALIDATION;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::ALGO:
internalState = InternalState::WAIT_FOR_EXECUTION;
*id = startracker::ALGO;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::LOG_SUBSCRIPTION:
internalState = InternalState::WAIT_FOR_EXECUTION;
*id = startracker::LOGSUBSCRIPTION;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::DEBUG_CAMERA:
internalState = InternalState::WAIT_FOR_EXECUTION;
*id = startracker::DEBUG_CAMERA;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::BOOT_FIRMWARE: {
if (bootState == FwBootState::WAIT_FOR_EXECUTION or bootState == FwBootState::VERIFY_BOOT) {
return NOTHING_TO_SEND;
}
if (bootState == FwBootState::NONE) {
*id = startracker::BOOT;
bootCountdown.setTimeout(BOOT_TIMEOUT);
bootState = FwBootState::BOOT_DELAY;
return buildCommandFromCommand(*id, nullptr, 0);
}
if (bootState == FwBootState::BOOT_DELAY) {
if (bootCountdown.isBusy()) {
return NOTHING_TO_SEND;
}
bootState = FwBootState::REQ_VERSION;
}
switch (bootState) {
case (FwBootState::REQ_VERSION): {
bootState = FwBootState::VERIFY_BOOT;
// Again read program to check if firmware boot was successful
*id = startracker::REQ_VERSION;
return buildCommandFromCommand(*id, nullptr, 0);
}
case (FwBootState::LOGLEVEL): {
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::LOGLEVEL;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
}
case (FwBootState::LIMITS): {
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::LIMITS;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
}
case (FwBootState::TRACKING): {
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::TRACKING;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
}
case FwBootState::MOUNTING:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::MOUNTING;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::IMAGE_PROCESSOR:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::IMAGE_PROCESSOR;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::CAMERA:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::CAMERA;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::CENTROIDING:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::CENTROIDING;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::LISA:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::LISA;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::MATCHING:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::MATCHING;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::VALIDATION:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::VALIDATION;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::ALGO:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::ALGO;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::LOG_SUBSCRIPTION:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::LOGSUBSCRIPTION;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::DEBUG_CAMERA:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::DEBUG_CAMERA;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
default: {
sif::error << "STR: Unexpected boot state" << (int)bootState << std::endl;
return NOTHING_TO_SEND;
}
}
}
case InternalState::BOOT_BOOTLOADER:
internalState = InternalState::BOOTLOADER_CHECK;
*id = startracker::SWITCH_TO_BOOTLOADER_PROGRAM;
@ -707,6 +729,15 @@ void StarTrackerHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
void StarTrackerHandler::doOnTransition(Submode_t subModeFrom) {
uint8_t dhbSubmode = getSubmode();
// We hide that the transition to submode firmware actually goes through the submode bootloader.
// This is because the startracker always starts in bootloader mode but we want to allow direct
// transitions to firmware mode.
if (startupState == StartupState::DONE) {
subModeFrom = SUBMODE_BOOTLOADER;
}
if (dhbSubmode == SUBMODE_NONE) {
bootFirmware(MODE_ON);
}
if (dhbSubmode == SUBMODE_BOOTLOADER && subModeFrom == SUBMODE_FIRMWARE) {
bootBootloader();
} else if (dhbSubmode == SUBMODE_FIRMWARE && subModeFrom == SUBMODE_FIRMWARE) {
@ -736,19 +767,23 @@ void StarTrackerHandler::doNormalTransition(Mode_t modeFrom, Submode_t subModeFr
void StarTrackerHandler::bootFirmware(Mode_t toMode) {
switch (internalState) {
case InternalState::IDLE:
internalState = InternalState::BOOT;
sif::info << "STR: Booting to firmware mode" << std::endl;
internalState = InternalState::BOOT_FIRMWARE;
break;
case InternalState::BOOT_DELAY:
if (bootCountdown.hasTimedOut()) {
internalState = InternalState::REQ_VERSION;
}
case InternalState::BOOT_FIRMWARE:
break;
case InternalState::FAILED_FIRMWARE_BOOT:
internalState = InternalState::IDLE;
break;
case InternalState::DONE:
setMode(toMode);
if (toMode == MODE_NORMAL) {
setMode(toMode, 0);
} else {
setMode(toMode, SUBMODE_FIRMWARE);
}
sif::info << "STR: Firmware boot success" << std::endl;
internalState = InternalState::IDLE;
startupState = StartupState::IDLE;
break;
default:
return;
@ -776,10 +811,11 @@ void StarTrackerHandler::setUpJsonCfgs(JsonConfigs& cfgs, const char* paramJsonF
void StarTrackerHandler::bootBootloader() {
if (internalState == InternalState::IDLE) {
internalState = InternalState::BOOT_BOOTLOADER;
} else if (internalState == InternalState::BOOTING_BOOTLOADER_FAILED) {
} else if (internalState == InternalState::FAILED_BOOTLOADER_BOOT) {
internalState = InternalState::IDLE;
} else if (internalState == InternalState::DONE) {
internalState = InternalState::IDLE;
startupState = StartupState::IDLE;
setMode(MODE_ON);
}
}
@ -1934,7 +1970,7 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
if (startupState == StartupState::WAIT_CHECK_PROGRAM) {
startupState = StartupState::DONE;
}
if (internalState == InternalState::VERIFY_BOOT) {
if (bootState == FwBootState::VERIFY_BOOT) {
sif::warning << "StarTrackerHandler::checkProgram: Failed to boot firmware" << std::endl;
// Device handler will run into timeout and fall back to transition source mode
triggerEvent(BOOTING_FIRMWARE_FAILED_EVENT);
@ -1947,11 +1983,11 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
if (startupState == StartupState::WAIT_CHECK_PROGRAM) {
startupState = StartupState::BOOT_BOOTLOADER;
}
if (internalState == InternalState::VERIFY_BOOT) {
internalState = InternalState::LOGLEVEL;
if (bootState == FwBootState::VERIFY_BOOT) {
bootState = FwBootState::LOGLEVEL;
} else if (internalState == InternalState::BOOTLOADER_CHECK) {
triggerEvent(BOOTING_BOOTLOADER_FAILED_EVENT);
internalState = InternalState::BOOTING_BOOTLOADER_FAILED;
internalState = InternalState::FAILED_BOOTLOADER_BOOT;
}
break;
default:
@ -2025,54 +2061,55 @@ ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dat
void StarTrackerHandler::handleStartup(const uint8_t* parameterId) {
switch (*parameterId) {
case (startracker::ID::LOG_LEVEL): {
internalState = InternalState::LIMITS;
bootState = FwBootState::LIMITS;
break;
}
case (startracker::ID::LIMITS): {
internalState = InternalState::TRACKING;
bootState = FwBootState::TRACKING;
break;
}
case (startracker::ID::TRACKING): {
internalState = InternalState::MOUNTING;
bootState = FwBootState::MOUNTING;
break;
}
case (startracker::ID::MOUNTING): {
internalState = InternalState::IMAGE_PROCESSOR;
bootState = FwBootState::IMAGE_PROCESSOR;
break;
}
case (startracker::ID::IMAGE_PROCESSOR): {
internalState = InternalState::CAMERA;
bootState = FwBootState::CAMERA;
break;
}
case (startracker::ID::CAMERA): {
internalState = InternalState::CENTROIDING;
bootState = FwBootState::CENTROIDING;
break;
}
case (startracker::ID::CENTROIDING): {
internalState = InternalState::LISA;
bootState = FwBootState::LISA;
break;
}
case (startracker::ID::LISA): {
internalState = InternalState::MATCHING;
bootState = FwBootState::MATCHING;
break;
}
case (startracker::ID::MATCHING): {
internalState = InternalState::VALIDATION;
bootState = FwBootState::VALIDATION;
break;
}
case (startracker::ID::VALIDATION): {
internalState = InternalState::ALGO;
bootState = FwBootState::ALGO;
break;
}
case (startracker::ID::ALGO): {
internalState = InternalState::LOG_SUBSCRIPTION;
bootState = FwBootState::LOG_SUBSCRIPTION;
break;
}
case (startracker::ID::LOG_SUBSCRIPTION): {
internalState = InternalState::DEBUG_CAMERA;
bootState = FwBootState::DEBUG_CAMERA;
break;
}
case (startracker::ID::DEBUG_CAMERA): {
bootState = FwBootState::NONE;
internalState = InternalState::DONE;
break;
}

View File

@ -60,7 +60,6 @@ class StarTrackerHandler : public DeviceHandlerBase {
protected:
void doStartUp() override;
void doShutDown() override;
void doOffActivity() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
void fillCommandAndReplyMap() override;
@ -247,14 +246,31 @@ class StarTrackerHandler : public DeviceHandlerBase {
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,
BOOT_FIRMWARE,
DONE,
FAILED_FIRMWARE_BOOT,
BOOT_BOOTLOADER,
BOOTLOADER_CHECK,
FAILED_BOOTLOADER_BOOT
};
enum class FwBootState {
NONE,
BOOT_DELAY,
REQ_VERSION,
VERIFY_BOOT,
STARTUP_CHECK,
BOOT_DELAY,
FIRMWARE_CHECK,
LOGLEVEL,
LIMITS,
TRACKING,
@ -270,26 +286,11 @@ class StarTrackerHandler : public DeviceHandlerBase {
LOG_SUBSCRIPTION,
DEBUG_CAMERA,
WAIT_FOR_EXECUTION,
DONE,
FAILED_FIRMWARE_BOOT,
BOOT_BOOTLOADER,
BOOTLOADER_CHECK,
BOOTING_BOOTLOADER_FAILED
};
FwBootState bootState = FwBootState::NONE;
InternalState internalState = InternalState::IDLE;
enum class StartupState {
IDLE,
CHECK_PROGRAM,
WAIT_CHECK_PROGRAM,
BOOT_BOOTLOADER,
WAIT_JCFG,
DONE
};
StartupState startupState = StartupState::IDLE;
bool strHelperExecuting = false;
const power::Switch_t powerSwitch = power::NO_SWITCH;

View File

@ -768,10 +768,10 @@ class AcsParameters : public HasParametersIF {
double gyr2orientationMatrix[3][3] = {{0, 0, -1}, {0, -1, 0}, {-1, 0, 0}};
double gyr3orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
double gyr0bias[3] = {0.06318149743589743, 0.4283235025641024, -0.16383500000000004};
double gyr1bias[3] = {-0.12855128205128205, 1.6737307692307695, 1.031724358974359};
double gyr2bias[3] = {0.15039212820512823, 0.7094475589743591, -0.22298363589743594};
double gyr3bias[3] = {0.0021730769230769217, -0.6655897435897435, 0.034096153846153845};
double gyr0bias[3] = {0.0, 0.4, -0.1};
double gyr1bias[3] = {0.0956745283018868, 2.0854575471698116, 1.2505990566037737};
double gyr2bias[3] = {0.1, 0.7, -0.2};
double gyr3bias[3] = {-0.10721698113207549, -0.6111650943396226, 0.1716462264150944};
/* var = sigma^2, sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
* assumed to be equal for the same class of sensors */

View File

@ -65,10 +65,7 @@ ReturnValue_t GyrAdis1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_
}
case (InternalState::SHUTDOWN): {
*id = adis1650x::REQUEST;
acs::Adis1650XRequest *request = reinterpret_cast<acs::Adis1650XRequest *>(cmdBuf.data());
request->mode = acs::SimpleSensorMode::OFF;
request->type = adisType;
return returnvalue::OK;
return preparePeriodicRequest(acs::SimpleSensorMode::OFF);
}
default: {
return NOTHING_TO_SEND;

View File

@ -34,10 +34,17 @@ void DualLaneAssemblyBase::performChildOperation() {
}
void DualLaneAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
// doStartTransition(mode, submode);
using namespace duallane;
pwrStateMachine.reset();
if (mode != MODE_OFF) {
// Special exception: A transition from dual side to single mode must be handled like
// going OFF.
if ((this->mode == MODE_ON or this->mode == DeviceHandlerIF::MODE_NORMAL) and
this->submode == DUAL_MODE and submode != DUAL_MODE) {
dualToSingleSideTransition = true;
AssemblyBase::startTransition(mode, submode);
return;
}
// If anything other than MODE_OFF is commanded, perform power state machine first
// Cache the target modes, required by power state machine
pwrStateMachine.start(mode, submode);
@ -75,9 +82,13 @@ ReturnValue_t DualLaneAssemblyBase::pwrStateMachineWrapper() {
// Will be called for transitions to MODE_OFF, where everything is done after power switching
finishModeOp();
} else if (opCode == OpCodes::TO_NOT_OFF_DONE) {
// Will be called for transitions from MODE_OFF to anything else, where the mode still has
// to be commanded after power switching
AssemblyBase::startTransition(targetMode, targetSubmode);
if (dualToSingleSideTransition) {
finishModeOp();
} else {
// Will be called for transitions from MODE_OFF to anything else, where the mode still has
// to be commanded after power switching
AssemblyBase::startTransition(targetMode, targetSubmode);
}
} else if (opCode == OpCodes::TIMEOUT_OCCURED) {
if (powerRetryCounter == 0) {
powerRetryCounter++;
@ -118,6 +129,13 @@ void DualLaneAssemblyBase::handleModeReached() {
// Ignore failures for now.
pwrStateMachineWrapper();
} else {
// For dual to single side transition, devices should be logically off, but the switch
// handling still needs to be done.
if (dualToSingleSideTransition) {
pwrStateMachine.start(targetMode, targetSubmode);
pwrStateMachineWrapper();
return;
}
finishModeOp();
}
}
@ -229,6 +247,7 @@ void DualLaneAssemblyBase::finishModeOp() {
pwrStateMachine.reset();
powerRetryCounter = 0;
tryingOtherSide = false;
dualToSingleSideTransition = false;
dualModeErrorSwitch = true;
}

View File

@ -31,6 +31,7 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
uint8_t powerRetryCounter = 0;
bool tryingOtherSide = false;
bool dualModeErrorSwitch = true;
bool dualToSingleSideTransition = false;
duallane::Submodes defaultSubmode = duallane::Submodes::A_SIDE;
enum RecoveryCustomStates {