Merge remote-tracking branch 'origin/develop' into mueller/acs-ss-init

bsp_q7s/core/CoreController.cpp

@@ -3,6 +3,7 @@
 #include <fsfw/events/EventManager.h>
 #include <fsfw/filesystem/HasFileSystemIF.h>
 #include <fsfw/ipc/QueueFactory.h>
+#include <fsfw/tasks/TaskFactory.h>
 
 #include "OBSWVersion.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
@@ -78,6 +79,12 @@ void CoreController::performControlOperation() {
   sdStateMachine();
   performMountedSdCardOperations();
   if (sdCardCheckCd.hasTimedOut()) {
+    if (shortSdCardCdCounter < 2) {
+      shortSdCardCdCounter++;
+    }
+    if (shortSdCardCdCounter == 2) {
+      sdCardCheckCd.setTimeout(DEFAULT_SD_CARD_CHECK_TIMEOUT);
+    }
     performSdCardCheck();
     sdCardCheckCd.resetTimer();
   }
@@ -929,6 +936,9 @@ ReturnValue_t CoreController::actionReboot(const uint8_t *data, size_t size) {
 ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy,
                                                     bool &protOpPerformed) {
   sdcMan->setBlocking(true);
+  sdcMan->markUnusable();
+  // Wait two seconds to ensure no one uses the SD cards
+  TaskFactory::delayTask(2000);
   // Attempt graceful shutdown by unmounting and switching off SD cards
   sdcMan->switchOffSdCard(sd::SdCard::SLOT_0);
   sdcMan->switchOffSdCard(sd::SdCard::SLOT_1);

bsp_q7s/core/CoreController.h

@@ -70,6 +70,9 @@ class CoreController : public ExtendedControllerBase {
   static constexpr char CHIP_1_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi1-nom-rootfs";
   static constexpr char CHIP_1_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi1-gold-rootfs";
 
+  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 SWITCH_REBOOT_FILE_HANDLING = 5;
   static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
@@ -210,6 +213,8 @@ class CoreController : public ExtendedControllerBase {
   RebootFile rebootFile = {};
   std::string currMntPrefix;
   bool performOneShotSdCardOpsSwitch = false;
+  uint8_t shortSdCardCdCounter = 0;
+  Countdown sdCardCheckCd = Countdown(INIT_SD_CARD_CHECK_TIMEOUT);
 
   /**
    * Index 0: Chip 0 Copy 0
@@ -229,7 +234,7 @@ class CoreController : public ExtendedControllerBase {
 
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
-  Countdown sdCardCheckCd = Countdown(120000);
+
   LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);
   void performMountedSdCardOperations();

bsp_q7s/core/InitMission.cpp

@@ -73,6 +73,7 @@ void initmission::initTasks() {
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
   }
+#if OBSW_ADD_SA_DEPL == 1
   // Could add this to the core controller but the core controller does so many thing that I would
   // prefer to have the solar array deployment in a seprate task.
   PeriodicTaskIF* solarArrayDeplTask = factory->createPeriodicTask(
@@ -81,6 +82,7 @@ void initmission::initTasks() {
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
   }
+#endif
 
   /* TMTC Distribution */
   PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
@@ -117,7 +119,7 @@ void initmission::initTasks() {
   }
 #endif
 
-#if OBSW_USE_CCSDS_IP_CORE == 1
+#if OBSW_ADD_CCSDS_IP_CORES == 1
   PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
       "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
   result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
@@ -134,7 +136,7 @@ void initmission::initTasks() {
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
   }
-#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
+#endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
 
 #if OBSW_ADD_CFDP_COMPONENTS == 1
   PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
@@ -239,10 +241,12 @@ void initmission::initTasks() {
     initmission::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
   }
 #endif
+#if OBSW_ADD_HEATERS == 1
   result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
   }
+#endif
 
 #if OBSW_ADD_STAR_TRACKER == 1
   PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
@@ -312,13 +316,15 @@ void initmission::initTasks() {
   tmtcPollingTask->startTask();
 #endif
 
-#if OBSW_USE_CCSDS_IP_CORE == 1
+#if OBSW_ADD_CCSDS_IP_CORES == 1
   ccsdsHandlerTask->startTask();
   pdecHandlerTask->startTask();
-#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
+#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
 
-  sysCtrlTask->startTask();
+  // sysCtrlTask->startTask();
+#if OBSW_ADD_SA_DEPL == 1
   solarArrayDeplTask->startTask();
+#endif
 
   taskStarter(pstTasks, "PST task vector");
   taskStarter(pusTasks, "PUS task vector");
@@ -345,7 +351,9 @@ void initmission::initTasks() {
   tcsPollingTask->startTask();
   tcsTask->startTask();
 #endif /* OBSW_ADD_RTD_DEVICES == 1 */
-  tcsSystemTask->startTask();
+  if (not tcsSystemTask->isEmpty()) {
+    tcsSystemTask->startTask();
+  }
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   supvHelperTask->startTask();
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */

bsp_q7s/core/ObjectFactory.cpp

@@ -147,10 +147,8 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua
   new CspComIF(objects::CSP_COM_IF);
   *i2cComIF = new I2cComIF(objects::I2C_COM_IF);
   *uartComIF = new UartComIF(objects::UART_COM_IF);
-  *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, *gpioComIF);
-  *spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, *gpioComIF);
-  /* Adding gpios for chip select decoding to the gpioComIf */
-  q7s::gpioCallbacks::initSpiCsDecoder(*gpioComIF);
+  *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
+  *spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
 }
 
 void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
@@ -195,8 +193,11 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
 #endif
 }
 
-void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
+ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
   using namespace gpio;
+  if(gpioComIF == nullptr) {
+	  return returnvalue::FAILED;
+  }
   GpioCookie* gpioCookieRadSensor = new GpioCookie;
   std::stringstream consumer;
   consumer << "0x" << std::hex << objects::RAD_SENSOR;
@@ -222,6 +223,7 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
 #if OBSW_DEBUG_RAD_SENSOR == 1
   radSensor->enablePeriodicDataPrint(true);
 #endif
+  return returnvalue::OK;
 }
 
 void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,

bsp_q7s/core/ObjectFactory.h

@@ -26,7 +26,7 @@ void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher
 void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
                             PowerSwitchIF* pwrSwitcher);
 void createTmpComponents();
-void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
+ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
                               PowerSwitchIF* pwrSwitcher);
 void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable);