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This commit is contained in:
Robin Müller 2023-04-06 17:49:34 +02:00
parent 9020014245
commit 58aef99bbc
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GPG Key ID: 71B58F8A3CDFA9AC
10 changed files with 149 additions and 109 deletions
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28
bsp_q7s/core/CoreController.cpp
View File

@ -9,6 +9,7 @@
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/timemanager/Stopwatch.h"
#include "fsfw/version.h"
#include "mission/sysDefs.h"
#include "watchdog/definitions.h"
#if OBSW_ADD_TMTC_UDP_SERVER == 1
#include "fsfw/osal/common/UdpTmTcBridge.h"
@ -31,8 +32,7 @@
xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;
CoreController::CoreController(object_id_t objectId, const std::atomic_uint16_t &i2cErrors,
bool enableHkSet)
CoreController::CoreController(object_id_t objectId, bool enableHkSet)
: ExtendedControllerBase(objectId, 5),
enableHkSet(enableHkSet),
cmdExecutor(4096),
@ -40,8 +40,7 @@ CoreController::CoreController(object_id_t objectId, const std::atomic_uint16_t
cmdRepliesSizes(128),
opDivider5(5),
opDivider10(10),
hkSet(this),
i2cErrors(i2cErrors) {
hkSet(this) {
cmdExecutor.setRingBuffer(&cmdReplyBuf, &cmdRepliesSizes);
try {
sdcMan = SdCardManager::instance();
@ -110,17 +109,12 @@ void CoreController::performControlOperation() {
sdStateMachine();
performMountedSdCardOperations();
readHkData();
if (i2cErrors >= 5) {
bool protOpPerformed = false;
triggerEvent(I2C_UNAVAILABLE_REBOOT);
gracefulShutdownTasks(CURRENT_CHIP, CURRENT_COPY, protOpPerformed);
std::system("xsc_boot_copy -r");
}
if (shellCmdIsExecuting) {
bool replyReceived = false;
// TODO: We could read the data in the ring buffer and send it as an action data reply.
if (cmdExecutor.check(replyReceived) == CommandExecutor::EXECUTION_FINISHED) {
actionHelper.finish(true, successRecipient, EXECUTE_SHELL_CMD);
actionHelper.finish(true, successRecipient, core::EXECUTE_SHELL_CMD);
shellCmdIsExecuting = false;
cmdReplyBuf.clear();
while (not cmdRepliesSizes.empty()) {
@ -163,7 +157,7 @@ ReturnValue_t CoreController::initialize() {
sdStateMachine();
triggerEvent(REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
triggerEvent(core::REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
EventManagerIF *eventManager =
ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
if (eventManager == nullptr or eventQueue == nullptr) {
@ -202,6 +196,7 @@ ReturnValue_t CoreController::initializeAfterTaskCreation() {
ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t *data, size_t size) {
using namespace core;
switch (actionId) {
case (ANNOUNCE_VERSION): {
uint32_t p1 = (common::OBSW_VERSION_MAJOR << 24) | (common::OBSW_VERSION_MINOR << 16) |
@ -1324,7 +1319,7 @@ ReturnValue_t CoreController::performSdCardCheck() {
someSdCardActive = true;
}
if (not someSdCardActive and remountAttemptFlag) {
triggerEvent(NO_SD_CARD_ACTIVE);
triggerEvent(core::NO_SD_CARD_ACTIVE);
initSdCardBlocking();
remountAttemptFlag = false;
}
@ -1378,7 +1373,7 @@ void CoreController::performRebootFileHandling(bool recreateFile) {
if (rebootFile.bootFlag) {
// Trigger event to inform ground that a reboot was triggered
uint32_t p1 = rebootFile.lastChip << 16 | rebootFile.lastCopy;
triggerEvent(REBOOT_MECHANISM_TRIGGERED, p1, 0);
triggerEvent(core::REBOOT_MECHANISM_TRIGGERED, p1, 0);
// Clear the boot flag
rebootFile.bootFlag = false;
}
@ -2047,8 +2042,9 @@ void CoreController::announceBootCounts() {
rebootFile.img00Cnt + rebootFile.img01Cnt + rebootFile.img10Cnt + rebootFile.img11Cnt;
uint32_t individualBootCountsP1 = (rebootFile.img00Cnt << 16) | rebootFile.img01Cnt;
uint32_t individualBootCountsP2 = (rebootFile.img10Cnt << 16) | rebootFile.img11Cnt;
triggerEvent(INDIVIDUAL_BOOT_COUNTS, individualBootCountsP1, individualBootCountsP2);
triggerEvent(REBOOT_COUNTER, (totalBootCount >> 32) & 0xffffffff, totalBootCount & 0xffffffff);
triggerEvent(core::INDIVIDUAL_BOOT_COUNTS, individualBootCountsP1, individualBootCountsP2);
triggerEvent(core::REBOOT_COUNTER, (totalBootCount >> 32) & 0xffffffff,
totalBootCount & 0xffffffff);
}
bool CoreController::isNumber(const std::string &s) {

60
bsp_q7s/core/CoreController.h
View File

@ -78,64 +78,7 @@ class CoreController : public ExtendedControllerBase {
static constexpr dur_millis_t INIT_SD_CARD_CHECK_TIMEOUT = 5000;
static constexpr dur_millis_t DEFAULT_SD_CARD_CHECK_TIMEOUT = 60000;
static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
static constexpr ActionId_t ANNOUNCE_VERSION = 1;
static constexpr ActionId_t ANNOUNCE_CURRENT_IMAGE = 2;
static constexpr ActionId_t ANNOUNCE_BOOT_COUNTS = 3;
static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
static constexpr ActionId_t OBSW_UPDATE_FROM_SD_0 = 10;
static constexpr ActionId_t OBSW_UPDATE_FROM_SD_1 = 11;
static constexpr ActionId_t OBSW_UPDATE_FROM_TMP = 12;
static constexpr ActionId_t SWITCH_TO_SD_0 = 16;
static constexpr ActionId_t SWITCH_TO_SD_1 = 17;
static constexpr ActionId_t SWITCH_TO_BOTH_SD_CARDS = 18;
//! Reboot using the xsc_boot_copy command
static constexpr ActionId_t XSC_REBOOT_OBC = 32;
static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
//! Reboot using the reboot command
static constexpr ActionId_t REBOOT_OBC = 34;
static constexpr ActionId_t EXECUTE_SHELL_CMD = 40;
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
//! [EXPORT] : [COMMENT] Software reboot occurred. Can also be a systemd reboot.
//! P1: Current Chip, P2: Current Copy
static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::LOW);
//! [EXPORT] : [COMMENT] The reboot mechanism was triggered.
//! P1: First 16 bits: Last Chip, Last 16 bits: Last Copy,
//! P2: Each byte is the respective reboot count for the slots
static constexpr Event REBOOT_MECHANISM_TRIGGERED =
event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
//! Trying to find a way how to determine that the reboot came from ProASIC3 or PCDU..
static constexpr Event REBOOT_HW = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
//! [EXPORT] : [COMMENT] No SD card was active. Core controller will attempt to re-initialize
//! a SD card.
static constexpr Event NO_SD_CARD_ACTIVE = event::makeEvent(SUBSYSTEM_ID, 4, severity::HIGH);
//! [EXPORT] : [COMMENT]
//! P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash
//! P2: First four letters of Git SHA is the last byte of P1 is set.
static constexpr Event VERSION_INFO = event::makeEvent(SUBSYSTEM_ID, 5, severity::INFO);
//! [EXPORT] : [COMMENT] P1: Current Chip, P2: Current Copy
static constexpr Event CURRENT_IMAGE_INFO = event::makeEvent(SUBSYSTEM_ID, 6, severity::INFO);
//! [EXPORT] : [COMMENT] Total reboot counter, which is the sum of the boot count of all
//! individual images.
static constexpr Event REBOOT_COUNTER = event::makeEvent(SUBSYSTEM_ID, 7, severity::INFO);
//! [EXPORT] : [COMMENT] Get the boot count of the individual images.
//! P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1.
//! P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.
static constexpr Event INDIVIDUAL_BOOT_COUNTS = event::makeEvent(SUBSYSTEM_ID, 8, severity::INFO);
static constexpr Event I2C_UNAVAILABLE_REBOOT =
event::makeEvent(SUBSYSTEM_ID, 10, severity::MEDIUM);
CoreController(object_id_t objectId, const std::atomic_uint16_t& i2cErrors, bool enableHkSet);
CoreController(object_id_t objectId, bool enableHkSet);
virtual ~CoreController();
ReturnValue_t initialize() override;
@ -266,7 +209,6 @@ class CoreController : public ExtendedControllerBase {
PoolEntry<float> plVoltageEntry = PoolEntry<float>(0.0);
core::HkSet hkSet;
const std::atomic_uint16_t& i2cErrors;
#if OBSW_SD_CARD_MUST_BE_ON == 1
bool remountAttemptFlag = true;

1
bsp_q7s/core/ObjectFactory.h
View File

@ -23,7 +23,6 @@ class HealthTableIF;
class AcsBoardAssembly;
class GpioIF;
extern std::atomic_uint16_t I2C_FATAL_ERRORS;
extern std::atomic_bool PTME_LOCKED;
namespace ObjectFactory {

2
bsp_q7s/em/emObjectFactory.cpp
View File

@ -71,7 +71,7 @@ void ObjectFactory::produce(void* args) {
dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF);
new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS, enableHkSets);
new CoreController(objects::CORE_CONTROLLER, enableHkSets);
// Regular FM code, does not work for EM if the hardware is not connected
// createPcduComponents(gpioComIF, &pwrSwitcher);

2
bsp_q7s/fmObjectFactory.cpp
View File

@ -46,7 +46,7 @@ void ObjectFactory::produce(void* args) {
new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS, enableHkSets);
createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
satsystem::EIVE_SYSTEM.setPowerSwitcher(pwrSwitcher);
satsystem::EIVE_SYSTEM.setI2cRecoveryParams(I2C_FATAL_ERRORS, pwrSwitcher);
auto* stackHandler = new Stack5VHandler(*pwrSwitcher);

64
mission/sysDefs.h
View File

@ -1,12 +1,76 @@
#ifndef MISSION_SYSDEFS_H_
#define MISSION_SYSDEFS_H_
#include <atomic>
#include "acs/defs.h"
extern std::atomic_uint16_t I2C_FATAL_ERRORS;
namespace satsystem {
enum Mode : Mode_t { BOOT = 5, SAFE = acs::AcsMode::SAFE, PTG_IDLE = acs::AcsMode::PTG_IDLE };
}
namespace core {
static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
static constexpr ActionId_t ANNOUNCE_VERSION = 1;
static constexpr ActionId_t ANNOUNCE_CURRENT_IMAGE = 2;
static constexpr ActionId_t ANNOUNCE_BOOT_COUNTS = 3;
static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
static constexpr ActionId_t OBSW_UPDATE_FROM_SD_0 = 10;
static constexpr ActionId_t OBSW_UPDATE_FROM_SD_1 = 11;
static constexpr ActionId_t OBSW_UPDATE_FROM_TMP = 12;
static constexpr ActionId_t SWITCH_TO_SD_0 = 16;
static constexpr ActionId_t SWITCH_TO_SD_1 = 17;
static constexpr ActionId_t SWITCH_TO_BOTH_SD_CARDS = 18;
//! Reboot using the xsc_boot_copy command
static constexpr ActionId_t XSC_REBOOT_OBC = 32;
static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
//! Reboot using the reboot command
static constexpr ActionId_t REBOOT_OBC = 34;
static constexpr ActionId_t EXECUTE_SHELL_CMD = 40;
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
//! [EXPORT] : [COMMENT] Software reboot occurred. Can also be a systemd reboot.
//! P1: Current Chip, P2: Current Copy
static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::LOW);
//! [EXPORT] : [COMMENT] The reboot mechanism was triggered.
//! P1: First 16 bits: Last Chip, Last 16 bits: Last Copy,
//! P2: Each byte is the respective reboot count for the slots
static constexpr Event REBOOT_MECHANISM_TRIGGERED =
event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
//! Trying to find a way how to determine that the reboot came from ProASIC3 or PCDU..
static constexpr Event REBOOT_HW = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
//! [EXPORT] : [COMMENT] No SD card was active. Core controller will attempt to re-initialize
//! a SD card.
static constexpr Event NO_SD_CARD_ACTIVE = event::makeEvent(SUBSYSTEM_ID, 4, severity::HIGH);
//! [EXPORT] : [COMMENT]
//! P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash
//! P2: First four letters of Git SHA is the last byte of P1 is set.
static constexpr Event VERSION_INFO = event::makeEvent(SUBSYSTEM_ID, 5, severity::INFO);
//! [EXPORT] : [COMMENT] P1: Current Chip, P2: Current Copy
static constexpr Event CURRENT_IMAGE_INFO = event::makeEvent(SUBSYSTEM_ID, 6, severity::INFO);
//! [EXPORT] : [COMMENT] Total reboot counter, which is the sum of the boot count of all
//! individual images.
static constexpr Event REBOOT_COUNTER = event::makeEvent(SUBSYSTEM_ID, 7, severity::INFO);
//! [EXPORT] : [COMMENT] Get the boot count of the individual images.
//! P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1.
//! P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.
static constexpr Event INDIVIDUAL_BOOT_COUNTS = event::makeEvent(SUBSYSTEM_ID, 8, severity::INFO);
//! [EXPORT] : [COMMENT] I2C is unavailable. Triggered to system object can take further steps
//! like I2C reboot or reboot.
static constexpr Event I2C_UNAVAILABLE = event::makeEvent(SUBSYSTEM_ID, 10, severity::MEDIUM);
} // namespace core
#endif /* MISSION_SYSDEFS_H_ */

74
mission/system/EiveSystem.cpp
View File

@ -13,9 +13,10 @@
#include "mission/sysDefs.h"
EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables)
uint32_t maxNumberOfTables, std::atomic_uint16_t& i2cErrors)
: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables),
actionHelper(this, commandQueue) {
actionHelper(this, commandQueue),
i2cErrors(i2cErrors) {
auto mqArgs = MqArgs(SubsystemBase::getObjectId(), static_cast<void*>(this));
eventQueue =
QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
@ -97,6 +98,7 @@ ReturnValue_t EiveSystem::initialize() {
event::getEventId(tcsCtrl::PCDU_SYSTEM_OVERHEATING));
manager->subscribeToEvent(eventQueue->getId(), event::getEventId(tcsCtrl::OBC_OVERHEATING));
// manager->subscribeToEvent(eventQueue->getId(), event::getEventId(CoreController::))
return Subsystem::initialize();
}
@ -133,6 +135,9 @@ ReturnValue_t EiveSystem::executeAction(ActionId_t actionId, MessageQueueId_t co
switch (actionId) {
case (EXECUTE_I2C_REBOOT): {
performI2cReboot = true;
// This flag is more related to autonomous recovery handling, so we reset it here if this
// reboot sequence is commanded manually.
alreadyTriedI2cRecovery = false;
i2cRebootState = I2cRebootState::SYSTEM_MODE_BOOT;
this->actionCommandedBy = commandedBy;
return returnvalue::OK;
@ -144,36 +149,58 @@ ReturnValue_t EiveSystem::executeAction(ActionId_t actionId, MessageQueueId_t co
return returnvalue::OK;
}
void EiveSystem::setPowerSwitcher(PowerSwitchIF* pwrSwitcher) { this->powerSwitcher = pwrSwitcher; }
void EiveSystem::setI2cRecoveryParams(PowerSwitchIF* pwrSwitcher) {
this->powerSwitcher = pwrSwitcher;
}
void EiveSystem::i2cRecoveryLogic() {
ReturnValue_t result;
if (alreadyTriedI2cRecovery and i2cRecoveryClearCountdown.hasTimedOut()) {
alreadyTriedI2cRecovery = false;
if (not performI2cReboot) {
// If a recovery worked, need to reset these flags and the error count after some time.
if (i2cRecoveryClearCountdown.hasTimedOut()) {
i2cErrors = 0;
alreadyTriedI2cRecovery = false;
}
// If an I2C recovery is not ongoing and the I2C error counter is above a threshold, try
// recovery or reboot if recovery was already attempted.
if (i2cErrors >= 5) {
if (not alreadyTriedI2cRecovery) {
// Try recovery.
executeAction(EXECUTE_I2C_REBOOT, MessageQueueIF::NO_QUEUE, nullptr, 0);
} else {
// We already tried an I2C recovery but the bus is still broken.
// Send full reboot request to core controller.
CommandMessage msg;
ActionMessage::setCommand(&msg, core::REBOOT_OBC, store_address_t());
result = commandQueue->sendMessage(coreCtrlQueueId, &msg);
}
}
}
if (not isInTransition and performI2cReboot) {
if (i2cRebootState == I2cRebootState::SYSTEM_MODE_BOOT) {
startTransition(satsystem::Mode::BOOT, 0);
i2cRebootState = I2cRebootState::SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT;
i2cRebootCountdown.resetTimer();
i2cRebootHandlingCountdown.resetTimer();
} else if (i2cRebootState == I2cRebootState::SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT) {
if (mode == satsystem::Mode::BOOT) {
result = powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
PowerSwitchIF::SWITCH_OFF);
if (result != returnvalue::OK) {
actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
performI2cReboot = false;
commonI2cRecoverySequenceFinish();
return;
}
CommandMessage msg;
ActionMessage::setCommand(&msg, BpxBattery::REBOOT, store_address_t());
result = commandQueue->sendMessage(bpxBattQueueId, &msg);
if (result != returnvalue::OK) {
actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
performI2cReboot = false;
commonI2cRecoverySequenceFinish();
return;
}
i2cRebootState = I2cRebootState::SWITCH_3V3_STACK_ON;
}
if (i2cRebootCountdown.hasTimedOut()) {
if (i2cRebootHandlingCountdown.hasTimedOut()) {
actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, returnvalue::FAILED);
performI2cReboot = false;
}
@ -182,33 +209,40 @@ void EiveSystem::i2cRecoveryLogic() {
PowerSwitchIF::SWITCH_ON);
if (result != returnvalue::OK) {
actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
performI2cReboot = false;
commonI2cRecoverySequenceFinish();
return;
}
i2cRebootState = I2cRebootState::SYSTEM_MODE_SAFE;
} else if (i2cRebootState == I2cRebootState::SYSTEM_MODE_SAFE) {
if (powerSwitcher->getSwitchState(power::Switches::P60_DOCK_3V3_STACK) ==
PowerSwitchIF::SWITCH_ON) {
// This should always be accepted
commandSelfToSafe();
i2cRebootState = I2cRebootState::NONE;
alreadyTriedI2cRecovery = true;
i2cRecoveryClearCountdown.resetTimer();
performI2cReboot = false;
commonI2cRecoverySequenceFinish();
actionHelper.finish(true, actionCommandedBy, EXECUTE_I2C_REBOOT);
}
}
// Timeout handling for the internal procedure.
if (i2cRebootState != I2cRebootState::NONE and i2cRebootCountdown.hasTimedOut()) {
if (i2cRebootState != I2cRebootState::NONE and i2cRebootHandlingCountdown.hasTimedOut()) {
actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, returnvalue::FAILED);
// Command stack back on in any case.
powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
PowerSwitchIF::SWITCH_ON);
alreadyTriedI2cRecovery = true;
i2cRecoveryClearCountdown.resetTimer();
// This should always be accepted
commandSelfToSafe();
commonI2cRecoverySequenceFinish();
}
}
}
void EiveSystem::commandSelfToSafe() { startTransition(satsystem::Mode::SAFE, 0); }
void EiveSystem::commonI2cRecoverySequenceFinish() {
alreadyTriedI2cRecovery = true;
performI2cReboot = false;
i2cRecoveryClearCountdown.resetTimer();
i2cRebootState = I2cRebootState::NONE;
// Reset this counter. If I2C devices are still problematic, we will get a full reboot
// next time this count goes above 5.
i2cErrors = 0;
// This should always be accepted
commandSelfToSafe();
}

16
mission/system/EiveSystem.h
View File

@ -5,13 +5,16 @@
#include <fsfw/power/PowerSwitchIF.h>
#include <fsfw/subsystem/Subsystem.h>
#include <atomic>
class EiveSystem : public Subsystem, public HasActionsIF {
public:
static constexpr ActionId_t EXECUTE_I2C_REBOOT = 10;
EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables,
std::atomic_uint16_t& i2cErrors);
void setPowerSwitcher(PowerSwitchIF* pwrSwitcher);
void setI2cRecoveryParams(PowerSwitchIF* pwrSwitcher);
[[nodiscard]] MessageQueueId_t getCommandQueue() const override;
@ -31,10 +34,14 @@ class EiveSystem : public Subsystem, public HasActionsIF {
ActionHelper actionHelper;
PowerSwitchIF* powerSwitcher = nullptr;
std::atomic_uint16_t& i2cErrors;
MessageQueueId_t bpxBattQueueId = MessageQueueIF::NO_QUEUE;
MessageQueueId_t coreCtrlQueueId = MessageQueueIF::NO_QUEUE;
MessageQueueId_t actionCommandedBy = MessageQueueIF::NO_QUEUE;
Countdown i2cRebootCountdown = Countdown(10000);
// After 1 minute, clear the flag to avoid full reboots on I2C issues.
Countdown i2cRebootHandlingCountdown = Countdown(10000);
// Countdown i2cUnavailableCountdown = Countdown(30000);
// After 1 minute, clear the flag to avoid full reboots on I2C issues.
Countdown i2cRecoveryClearCountdown = Countdown(60000);
ReturnValue_t initialize() override;
void performChildOperation() override;
@ -45,6 +52,7 @@ class EiveSystem : public Subsystem, public HasActionsIF {
void i2cRecoveryLogic();
void handleEventMessages();
void commandSelfToSafe();
void commonI2cRecoverySequenceFinish();
};
#endif /* MISSION_SYSTEM_EIVESYSTEM_H_ */

4
mission/system/systemTree.cpp
View File

@ -6,6 +6,8 @@
#include <mission/sysDefs.h>
#include <mission/system/com/comModeTree.h>
#include <atomic>
#include "eive/objects.h"
#include "mission/com/defs.h"
#include "mission/system/acs/acsModeTree.h"
@ -41,7 +43,7 @@ void satsystem::init() {
EIVE_SYSTEM.setInitialMode(satsystem::Mode::BOOT, 0);
}
EiveSystem satsystem::EIVE_SYSTEM = EiveSystem(objects::EIVE_SYSTEM, 12, 24);
EiveSystem satsystem::EIVE_SYSTEM = EiveSystem(objects::EIVE_SYSTEM, 12, 24, I2C_FATAL_ERRORS);
auto EIVE_SEQUENCE_BOOT = std::make_pair(satsystem::Mode::BOOT, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_BOOT_TGT =

7
unittest/rebootLogic/src/CoreController.h
View File

@ -47,11 +47,6 @@ class CoreController {
static xsc::Chip CURRENT_CHIP;
static xsc::Copy CURRENT_COPY;
static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
CoreController();
static void setCurrentBootCopy(xsc::Chip chip, xsc::Copy copy);
@ -76,4 +71,4 @@ class CoreController {
SdCardManager* sdcMan = nullptr;
RebootFile rebootFile = {};
bool doPerformRebootFileHandling = true;
};
};