eive/eive-obsw
eive/eive-obsw
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Merge branch 'develop' into feature_watchdog_extension
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This commit is contained in:
Robin Müller 2023-03-04 10:45:37 +01:00
commit 5b5489c8da
59 changed files with 666 additions and 404 deletions
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46
CHANGELOG.md
View File

@ -16,6 +16,14 @@ will consitute of a breaking change warranting a new major release:
# [unreleased]
# [v1.34.0] 2023-03-03
eive-tmtc: v2.16.3
This might include the fix for the race condition where CPU usage jumped to 200 %. The race
condition was traced to the `Countdown` class, more specifically to the `getUptime` function where
the `/proc/uptime` file is read.
## Changed
- Improved the OBSW watchdog by adding a watch functionality. The watch functionality is optional
@ -28,8 +36,30 @@ will consitute of a breaking change warranting a new major release:
- The SD card prefix is now set earlier inside the `CoreController` constructor
- The watchdog handling was moved outside the `CoreController` into the main loop.
- Moved polling of all SPI parts to the same PST.
- Allow quicker transition for the EIVE system component by allowing consecutive TCS and ACS
component commanding again.
- Changed a lot of lock guards to use timeouts
- Queue sizes of TCP/UDP servers increased from 20 to 50
- Significantly simplified and improved lock guard handling in TCS and ACS board polling
tasks.
# [v1.33.0]
## Fixed
- IMTQ: Sets were filled with wrong data, e.g. Raw MTM was filled with calibrated MTM measurements.
- Set RM3100 dataset to valid.
- Fixed units in calculation of ACS control laws safe and detumble.
- Bump FSFW for change in Countdown: Use system clock instead of reading uptime from file
to prevent possible race condition.
- GPS: No fix considered a fault now after 30 minutes instead of 5 hours.
- SUS Assembly FDIR: Prevent permanent SAFE mode fallbacks by introducing special health
handling.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/418/files
## Added
- Added Syrlinks Assembly object to allow recovery handling and to fix faulty FDIR behaviour.
# [v1.33.0] 2023-03-01
eive-tmtc: v2.16.2
@ -43,7 +73,7 @@ eive-tmtc: v2.16.2
- Linux GPS handler now checks the individual `*_SET` flags when analysing the `gpsd` struct.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/400
# [v1.32.0]
# [v1.32.0] 2023-02-24
eive-tmtc: v2.16.1
@ -84,7 +114,7 @@ eive-tmtc: v2.16.1
- `RwDummy` now initializes with a non faulty state
# [v1.31.1]
# [v1.31.1] 2023-02-23
## Fixed
@ -94,7 +124,7 @@ eive-tmtc: v2.16.1
for actuator control which lead to a crash.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/403
# [v1.31.0]
# [v1.31.0] 2023-02-23
eive-tmtc: v2.16.0
@ -135,7 +165,7 @@ COM PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/364
- `MekfData` now includes `mekfStatus`
- `CtrlValData` now includes `tgtRotRate`
# [v1.30.0]
# [v1.30.0] 2023-02-22
eive-tmtc: v2.14.0
@ -152,7 +182,7 @@ Event IDs for PDEC handler have changed in a breaking manner.
an event is triggered and the task is delayed for 400 ms.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/393
# [v1.29.1]
# [v1.29.1] 2023-02-21
## Fixed
@ -164,7 +194,7 @@ Event IDs for PDEC handler have changed in a breaking manner.
Issue: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/388
- Disable stopwatch in MAX31865 polling task
# [v1.29.0]
# [v1.29.0] 2023-02-21
eive-tmtc: v2.13.0
@ -185,7 +215,7 @@ eive-tmtc: v2.13.0
will be part of the TCS tree.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/351
# [v1.28.1]
# [v1.28.1] 2023-02-21
## Fixed

2
CMakeLists.txt
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@ -10,7 +10,7 @@
cmake_minimum_required(VERSION 3.13)
set(OBSW_VERSION_MAJOR 1)
set(OBSW_VERSION_MINOR 33)
set(OBSW_VERSION_MINOR 34)
set(OBSW_VERSION_REVISION 0)
# set(CMAKE_VERBOSE TRUE)

2
bsp_hosted/fsfwconfig/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 267 translations.
* @details
* Generated on: 2023-03-01 18:34:32
* Generated on: 2023-03-02 17:08:11
*/
#include "translateEvents.h"

11
bsp_hosted/fsfwconfig/objects/translateObjects.cpp
View File

@ -1,8 +1,8 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 157 translations.
* Generated on: 2023-03-01 18:34:32
* Contains 158 translations.
* Generated on: 2023-03-02 17:08:11
*/
#include "translateObjects.h"
@ -142,8 +142,9 @@ const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
const char *RW_ASS_STRING = "RW_ASS";
const char *RW_ASSY_STRING = "RW_ASSY";
const char *CAM_SWITCHER_STRING = "CAM_SWITCHER";
const char *SYRLINKS_ASSY_STRING = "SYRLINKS_ASSY";
const char *TM_FUNNEL_STRING = "TM_FUNNEL";
const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
@ -439,9 +440,11 @@ const char *translateObject(object_id_t object) {
case 0x73000003:
return TCS_BOARD_ASS_STRING;
case 0x73000004:
return RW_ASS_STRING;
return RW_ASSY_STRING;
case 0x73000006:
return CAM_SWITCHER_STRING;
case 0x73000007:
return SYRLINKS_ASSY_STRING;
case 0x73000100:
return TM_FUNNEL_STRING;
case 0x73000101:

2
bsp_q7s/core/CoreController.cpp
View File

@ -1181,7 +1181,7 @@ ReturnValue_t CoreController::handleProtInfoUpdateLine(std::string nextLine) {
}
}
wordIdx++;
if(wordIdx >= 10) {
if (wordIdx >= 10) {
break;
}
}

5
bsp_q7s/core/ObjectFactory.cpp
View File

@ -8,6 +8,7 @@
#include <mission/devices/MgmLis3CustomHandler.h>
#include <mission/devices/MgmRm3100CustomHandler.h>
#include <mission/system/objects/CamSwitcher.h>
#include <mission/system/objects/SyrlinksAssembly.h>
#include "OBSWConfig.h"
#include "bsp_q7s/boardtest/Q7STestTask.h"
@ -579,12 +580,14 @@ void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
syrlinksUartCookie->setParityEven();
auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY);
syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
auto syrlinksHandler =
new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
syrlinksHandler->setPowerSwitcher(pwrSwitcher);
syrlinksHandler->connectModeTreeParent(satsystem::com::SUBSYSTEM);
syrlinksHandler->connectModeTreeParent(*syrlinksAssy);
#if OBSW_DEBUG_SYRLINKS == 1
syrlinksHandler->setDebugMode(true);
#endif

8
bsp_q7s/core/scheduling.cpp
View File

@ -150,6 +150,10 @@ void scheduling::initTasks() {
if (result != returnvalue::OK) {
scheduling::printAddObjectError("COM_SUBSYSTEM", objects::COM_SUBSYSTEM);
}
result = genericSysTask->addComponent(objects::SYRLINKS_ASSY);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("SYRLINKS_ASSY", objects::SYRLINKS_ASSY);
}
result = genericSysTask->addComponent(objects::PL_SUBSYSTEM);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
@ -243,9 +247,9 @@ void scheduling::initTasks() {
}
#endif /* OBSW_ADD_ACS_HANDLERS */
#if OBSW_ADD_RW == 1
result = acsSysTask->addComponent(objects::RW_ASS);
result = acsSysTask->addComponent(objects::RW_ASSY);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("RW_ASS", objects::RW_ASS);
scheduling::printAddObjectError("RW_ASS", objects::RW_ASSY);
}
#endif
#if OBSW_ADD_SUS_BOARD_ASS == 1

24
bsp_q7s/fs/SdCardManager.cpp
View File

@ -20,14 +20,14 @@
SdCardManager* SdCardManager::INSTANCE = nullptr;
SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor(256) {
mutex = MutexFactory::instance()->createMutex();
ReturnValue_t result = mutex->lockMutex();
sdLock = MutexFactory::instance()->createMutex();
ReturnValue_t result = sdLock->lockMutex();
if (result != returnvalue::OK) {
sif::error << "SdCardManager::SdCardManager: Mutex lock failed" << std::endl;
}
uint8_t prefSdRaw = 0;
result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw);
if (mutex->unlockMutex() != returnvalue::OK) {
if (sdLock->unlockMutex() != returnvalue::OK) {
sif::error << "SdCardManager::SdCardManager: Mutex unlock failed" << std::endl;
}
@ -195,7 +195,7 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& active) {
using namespace std;
MutexGuard mg(mutex);
MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (not filesystem::exists(SD_STATE_FILE)) {
return STATUS_FILE_NEXISTS;
}
@ -378,7 +378,7 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& act
}
std::optional<sd::SdCard> SdCardManager::getPreferredSdCard() const {
MutexGuard mg(mutex);
MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
auto res = mg.getLockResult();
if (res != returnvalue::OK) {
sif::error << "SdCardManager::getPreferredSdCard: Lock error" << std::endl;
@ -387,7 +387,7 @@ std::optional<sd::SdCard> SdCardManager::getPreferredSdCard() const {
}
ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
MutexGuard mg(mutex);
MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (sdCard == sd::SdCard::BOTH) {
return returnvalue::FAILED;
}
@ -399,7 +399,7 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING;
}
MutexGuard mg(mutex);
MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
// Use q7hw utility and pipe the command output into the state file
std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE);
cmdExecutor.load(updateCmd, blocking, printCmdOutput);
@ -411,7 +411,7 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
}
const char* SdCardManager::getCurrentMountPrefix() const {
MutexGuard mg(mutex);
MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (currentPrefix.has_value()) {
return currentPrefix.value().c_str();
}
@ -464,7 +464,7 @@ void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = p
bool SdCardManager::isSdCardUsable(std::optional<sd::SdCard> sdCard) {
{
MutexGuard mg(mutex);
MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (markedUnusable) {
return false;
}
@ -560,7 +560,7 @@ ReturnValue_t SdCardManager::performFsck(sd::SdCard sdcard, bool printOutput, in
}
void SdCardManager::setActiveSdCard(sd::SdCard sdCard) {
MutexGuard mg(mutex);
MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
sdInfo.active = sdCard;
if (sdInfo.active == sd::SdCard::SLOT_0) {
currentPrefix = config::SD_0_MOUNT_POINT;
@ -570,7 +570,7 @@ void SdCardManager::setActiveSdCard(sd::SdCard sdCard) {
}
std::optional<sd::SdCard> SdCardManager::getActiveSdCard() const {
MutexGuard mg(mutex);
MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (markedUnusable) {
return std::nullopt;
}
@ -578,6 +578,6 @@ std::optional<sd::SdCard> SdCardManager::getActiveSdCard() const {
}
void SdCardManager::markUnusable() {
MutexGuard mg(mutex);
MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
markedUnusable = true;
}

5
bsp_q7s/fs/SdCardManager.h
View File

@ -223,7 +223,10 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
bool sdCardActive = true;
bool printCmdOutput = true;
bool markedUnusable = false;
MutexIF* mutex = nullptr;
MutexIF* sdLock = nullptr;
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
static constexpr uint32_t LOCK_TIMEOUT = 40;
static constexpr char LOCK_CTX[] = "SdCardManager";
SdCardManager();

2
common/config/eive/definitions.h
View File

@ -83,7 +83,7 @@ static constexpr float SCHED_BLOCK_7_PERIOD = static_cast<float>(SCHED_BLOCK_7_R
static constexpr float SCHED_BLOCK_8_PERIOD = static_cast<float>(SCHED_BLOCK_8_PLPCDU_MS) / 400.0;
static constexpr float SCHED_BLOCK_9_PERIOD = static_cast<float>(SCHED_BLOCK_9_RAD_SENS_MS) / 400.0;
} // namespace acs
} // namespace spiSched
} // namespace config

3
common/config/eive/objects.h
View File

@ -142,8 +142,9 @@ enum commonObjects : uint32_t {
ACS_BOARD_ASS = 0x73000001,
SUS_BOARD_ASS = 0x73000002,
TCS_BOARD_ASS = 0x73000003,
RW_ASS = 0x73000004,
RW_ASSY = 0x73000004,
CAM_SWITCHER = 0x73000006,
SYRLINKS_ASSY = 0x73000007,
EIVE_SYSTEM = 0x73010000,
ACS_SUBSYSTEM = 0x73010001,
PL_SUBSYSTEM = 0x73010002,

2
fsfw

@ -1 +1 @@
Subproject commit 511d07c0c78de7b1850e341dfcf8be7589f3c523
Subproject commit 33de15205b4560c54a108e35609536374b026c22

3
generators/bsp_hosted_objects.csv
View File

@ -134,8 +134,9 @@
0x73000001;ACS_BOARD_ASS
0x73000002;SUS_BOARD_ASS
0x73000003;TCS_BOARD_ASS
0x73000004;RW_ASS
0x73000004;RW_ASSY
0x73000006;CAM_SWITCHER
0x73000007;SYRLINKS_ASSY
0x73000100;TM_FUNNEL
0x73000101;PUS_TM_FUNNEL
0x73000102;CFDP_TM_FUNNEL

1 0x42694269 TEST_TASK
134 0x73000001 ACS_BOARD_ASS
135 0x73000002 SUS_BOARD_ASS
136 0x73000003 TCS_BOARD_ASS
137 0x73000004 RW_ASS RW_ASSY
138 0x73000006 CAM_SWITCHER
139 0x73000007 SYRLINKS_ASSY
140 0x73000100 TM_FUNNEL
141 0x73000101 PUS_TM_FUNNEL
142 0x73000102 CFDP_TM_FUNNEL

3
generators/bsp_q7s_objects.csv
View File

@ -139,8 +139,9 @@
0x73000001;ACS_BOARD_ASS
0x73000002;SUS_BOARD_ASS
0x73000003;TCS_BOARD_ASS
0x73000004;RW_ASS
0x73000004;RW_ASSY
0x73000006;CAM_SWITCHER
0x73000007;SYRLINKS_ASSY
0x73000100;TM_FUNNEL
0x73000101;PUS_TM_FUNNEL
0x73000102;CFDP_TM_FUNNEL

1 0x00005060 P60DOCK_TEST_TASK
139 0x73000001 ACS_BOARD_ASS
140 0x73000002 SUS_BOARD_ASS
141 0x73000003 TCS_BOARD_ASS
142 0x73000004 RW_ASS RW_ASSY
143 0x73000006 CAM_SWITCHER
144 0x73000007 SYRLINKS_ASSY
145 0x73000100 TM_FUNNEL
146 0x73000101 PUS_TM_FUNNEL
147 0x73000102 CFDP_TM_FUNNEL

2
generators/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 267 translations.
* @details
* Generated on: 2023-03-01 18:34:32
* Generated on: 2023-03-02 17:08:11
*/
#include "translateEvents.h"

11
generators/objects/translateObjects.cpp
View File

@ -1,8 +1,8 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 161 translations.
* Generated on: 2023-03-01 18:34:32
* Contains 162 translations.
* Generated on: 2023-03-02 17:08:11
*/
#include "translateObjects.h"
@ -147,8 +147,9 @@ const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
const char *RW_ASS_STRING = "RW_ASS";
const char *RW_ASSY_STRING = "RW_ASSY";
const char *CAM_SWITCHER_STRING = "CAM_SWITCHER";
const char *SYRLINKS_ASSY_STRING = "SYRLINKS_ASSY";
const char *TM_FUNNEL_STRING = "TM_FUNNEL";
const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
@ -453,9 +454,11 @@ const char *translateObject(object_id_t object) {
case 0x73000003:
return TCS_BOARD_ASS_STRING;
case 0x73000004:
return RW_ASS_STRING;
return RW_ASSY_STRING;
case 0x73000006:
return CAM_SWITCHER_STRING;
case 0x73000007:
return SYRLINKS_ASSY_STRING;
case 0x73000100:
return TM_FUNNEL_STRING;
case 0x73000101:

136
linux/devices/AcsBoardPolling.cpp
View File

@ -4,6 +4,7 @@
#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/tasks/SemaphoreFactory.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
#include <fsfw_hal/linux/UnixFileGuard.h>
@ -25,20 +26,24 @@ AcsBoardPolling::AcsBoardPolling(object_id_t objectId, SpiComIF& lowLevelComIF,
ReturnValue_t AcsBoardPolling::performOperation(uint8_t operationCode) {
while (true) {
ipcLock->lockMutex();
ipcLock->lockMutex(LOCK_TYPE, LOCK_TIMEOUT);
state = InternalState::IDLE;
ipcLock->unlockMutex();
semaphore->acquire();
// Give all tasks or the PST some time to submit all consecutive requests.
TaskFactory::delayTask(2);
gyroAdisHandler(gyro0Adis);
gyroAdisHandler(gyro2Adis);
gyroL3gHandler(gyro1L3g);
gyroL3gHandler(gyro3L3g);
mgmRm3100Handler(mgm1Rm3100);
mgmRm3100Handler(mgm3Rm3100);
mgmLis3Handler(mgm0Lis3);
mgmLis3Handler(mgm2Lis3);
{
// Measured to take 0-1 ms in debug build.
// Stopwatch watch;
gyroAdisHandler(gyro0Adis);
gyroAdisHandler(gyro2Adis);
gyroL3gHandler(gyro1L3g);
gyroL3gHandler(gyro3L3g);
mgmRm3100Handler(mgm1Rm3100);
mgmRm3100Handler(mgm3Rm3100);
mgmLis3Handler(mgm0Lis3);
mgmLis3Handler(mgm2Lis3);
}
// To prevent task being not reactivated by tardy tasks
TaskFactory::delayTask(20);
}
@ -105,12 +110,10 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
return returnvalue::FAILED;
}
auto* req = reinterpret_cast<const acs::Adis1650XRequest*>(sendData);
MutexGuard mg(ipcLock);
if (req->mode != adis.mode) {
if (req->mode == acs::SimpleSensorMode::NORMAL) {
adis.type = req->type;
adis.countdown.setTimeout(adis1650x::START_UP_TIME);
adis.countdown.resetTimer();
if (adis.type == adis1650x::Type::ADIS16507) {
adis.ownReply.data.accelScaling = adis1650x::ACCELEROMETER_RANGE_16507;
} else if (adis.type == adis1650x::Type::ADIS16505) {
@ -135,7 +138,6 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
return returnvalue::FAILED;
}
auto* req = reinterpret_cast<const acs::GyroL3gRequest*>(sendData);
MutexGuard mg(ipcLock);
if (req->mode != gyro.mode) {
if (req->mode == acs::SimpleSensorMode::NORMAL) {
std::memcpy(gyro.sensorCfg, req->ctrlRegs, 5);
@ -154,7 +156,6 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
return returnvalue::FAILED;
}
auto* req = reinterpret_cast<const acs::MgmLis3Request*>(sendData);
MutexGuard mg(ipcLock);
if (req->mode != mgm.mode) {
if (req->mode == acs::SimpleSensorMode::NORMAL) {
mgm.performStartup = true;
@ -173,7 +174,6 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
return returnvalue::FAILED;
}
auto* req = reinterpret_cast<const acs::MgmRm3100Request*>(sendData);
MutexGuard mg(ipcLock);
if (req->mode != mgm.mode) {
if (req->mode == acs::SimpleSensorMode::NORMAL) {
mgm.performStartup = true;
@ -184,45 +184,47 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
}
return returnvalue::OK;
};
switch (spiCookie->getChipSelectPin()) {
case (gpioIds::MGM_0_LIS3_CS): {
handleLis3Request(mgm0Lis3);
break;
{
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
switch (spiCookie->getChipSelectPin()) {
case (gpioIds::MGM_0_LIS3_CS): {
handleLis3Request(mgm0Lis3);
break;
}
case (gpioIds::MGM_1_RM3100_CS): {
handleRm3100Request(mgm1Rm3100);
break;
}
case (gpioIds::MGM_2_LIS3_CS): {
handleLis3Request(mgm2Lis3);
break;
}
case (gpioIds::MGM_3_RM3100_CS): {
handleRm3100Request(mgm3Rm3100);
break;
}
case (gpioIds::GYRO_0_ADIS_CS): {
handleAdisRequest(gyro0Adis);
break;
}
case (gpioIds::GYRO_2_ADIS_CS): {
handleAdisRequest(gyro2Adis);
break;
}
case (gpioIds::GYRO_1_L3G_CS): {
handleL3gRequest(gyro1L3g);
break;
}
case (gpioIds::GYRO_3_L3G_CS): {
handleL3gRequest(gyro3L3g);
break;
}
}
case (gpioIds::MGM_1_RM3100_CS): {
handleRm3100Request(mgm1Rm3100);
break;
}
case (gpioIds::MGM_2_LIS3_CS): {
handleLis3Request(mgm2Lis3);
break;
}
case (gpioIds::MGM_3_RM3100_CS): {
handleRm3100Request(mgm3Rm3100);
break;
}
case (gpioIds::GYRO_0_ADIS_CS): {
handleAdisRequest(gyro0Adis);
break;
}
case (gpioIds::GYRO_2_ADIS_CS): {
handleAdisRequest(gyro2Adis);
break;
}
case (gpioIds::GYRO_1_L3G_CS): {
handleL3gRequest(gyro1L3g);
break;
}
case (gpioIds::GYRO_3_L3G_CS): {
handleL3gRequest(gyro3L3g);
break;
if (state == InternalState::IDLE) {
state = InternalState::BUSY;
}
}
MutexGuard mg(ipcLock);
if (state == InternalState::IDLE) {
state = InternalState::BUSY;
semaphore->release();
}
semaphore->release();
return returnvalue::OK;
}
@ -238,7 +240,7 @@ ReturnValue_t AcsBoardPolling::readReceivedMessage(CookieIF* cookie, uint8_t** b
if (spiCookie == nullptr) {
return returnvalue::FAILED;
}
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
auto handleAdisReply = [&](GyroAdis& gyro) {
std::memcpy(&gyro.readerReply, &gyro.ownReply, sizeof(acs::Adis1650XReply));
*buffer = reinterpret_cast<uint8_t*>(&gyro.readerReply);
@ -294,10 +296,10 @@ ReturnValue_t AcsBoardPolling::readReceivedMessage(CookieIF* cookie, uint8_t** b
void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
ReturnValue_t result;
acs::SimpleSensorMode mode;
bool gyroPerformStartup;
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
bool gyroPerformStartup = false;
{
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
mode = l3g.mode;
gyroPerformStartup = l3g.performStartup;
}
@ -320,7 +322,7 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
if (result != returnvalue::OK) {
l3g.replyResult = returnvalue::OK;
}
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
// Cross check configuration as verification that communication is working
for (uint8_t idx = 0; idx < 5; idx++) {
if (rawReply[idx + 1] != l3g.sensorCfg[idx]) {
@ -345,7 +347,7 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
l3g.replyResult = returnvalue::FAILED;
return;
}
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
// The regular read function always returns the full sensor config as well. Use that
// to verify communications.
for (uint8_t idx = 0; idx < 5; idx++) {
@ -440,11 +442,11 @@ ReturnValue_t AcsBoardPolling::readAdisCfg(SpiCookie& cookie, size_t transferLen
void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
ReturnValue_t result;
acs::SimpleSensorMode mode;
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
bool cdHasTimedOut = false;
bool mustPerformStartup = false;
{
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
mode = gyro.mode;
cdHasTimedOut = gyro.countdown.hasTimedOut();
mustPerformStartup = gyro.performStartup;
@ -478,7 +480,7 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
gyro.replyResult = returnvalue::FAILED;
return;
}
MutexGuard mg(ipcLock);
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];
@ -525,7 +527,7 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
return;
}
MutexGuard mg(ipcLock);
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];
@ -542,10 +544,10 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
ReturnValue_t result;
acs::SimpleSensorMode mode;
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
bool mustPerformStartup = false;
{
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
mode = mgm.mode;
mustPerformStartup = mgm.performStartup;
}
@ -605,7 +607,7 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
return;
}
{
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
mgm.ownReply.dataWasSet = true;
mgm.ownReply.sensitivity = mgmLis3::getSensitivityFactor(mgmLis3::getSensitivity(mgm.cfg[1]));
mgm.ownReply.mgmValuesRaw[0] =
@ -627,7 +629,7 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
mgm.replyResult = result;
return;
}
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
mgm.ownReply.temperatureWasSet = true;
mgm.ownReply.temperatureRaw = (rawReply[2] << 8) | rawReply[1];
}
@ -635,10 +637,10 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
ReturnValue_t result;
acs::SimpleSensorMode mode;
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
bool mustPerformStartup = false;
{
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
mode = mgm.mode;
mustPerformStartup = mgm.performStartup;
}
@ -712,7 +714,7 @@ void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
mgm.replyResult = result;
return;
}
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
for (uint8_t idx = 0; idx < 3; idx++) {
// Hardcoded, but note that the gain depends on the cycle count
// value which is configurable!

3
linux/devices/AcsBoardPolling.h
View File

@ -22,6 +22,9 @@ class AcsBoardPolling : public SystemObject,
private:
enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
MutexIF* ipcLock;
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
static constexpr uint32_t LOCK_TIMEOUT = 20;
static constexpr char LOCK_CTX[] = "AcsBoardPolling";
SemaphoreIF* semaphore;
std::array<uint8_t, 32> cmdBuf;

8
linux/devices/GpsHyperionLinuxController.cpp
View File

@ -19,9 +19,7 @@
GpsHyperionLinuxController::GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
bool debugHyperionGps)
: ExtendedControllerBase(objectId), gpsSet(this), debugHyperionGps(debugHyperionGps) {
timeUpdateCd.resetTimer();
}
: ExtendedControllerBase(objectId), gpsSet(this), debugHyperionGps(debugHyperionGps) {}
GpsHyperionLinuxController::~GpsHyperionLinuxController() {
gps_stream(&gps, WATCH_DISABLE, nullptr);
@ -196,8 +194,8 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
if (mode != MODE_OFF) {
if (maxTimeToReachFix.hasTimedOut() and oneShotSwitches.cantGetFixSwitch) {
sif::warning << "GpsHyperionLinuxController: No mode could be set in allowed "
<< maxTimeToReachFix.timeout / 1000 << " seconds" << std::endl;
triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.timeout);
<< maxTimeToReachFix.getTimeoutMs() / 1000 << " seconds" << std::endl;
triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.getTimeoutMs());
oneShotSwitches.cantGetFixSwitch = false;
}
modeIsSet = false;

4
linux/devices/GpsHyperionLinuxController.h
View File

@ -23,7 +23,8 @@
*/
class GpsHyperionLinuxController : public ExtendedControllerBase {
public:
static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 60 * 5;
// 30 minutes
static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 30;
enum ReadModes { SHM = 0, SOCKET = 1 };
@ -79,7 +80,6 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
bool debugHyperionGps = false;
int32_t noModeSetCntr = 0;
Countdown timeUpdateCd = Countdown(60);
// Returns true if the function should be called again or false if other
// controller handling can be done.

106
linux/devices/Max31865RtdPolling.cpp
View File

@ -19,25 +19,19 @@ static constexpr uint8_t BASE_CFG =
Max31865RtdPolling::Max31865RtdPolling(object_id_t objectId, SpiComIF* lowLevelComIF,
GpioIF* gpioIF)
: SystemObject(objectId), rtds(EiveMax31855::NUM_RTDS), comIF(lowLevelComIF), gpioIF(gpioIF) {
readerMutex = MutexFactory::instance()->createMutex();
readerLock = MutexFactory::instance()->createMutex();
}
ReturnValue_t Max31865RtdPolling::performOperation(uint8_t operationCode) {
using namespace MAX31865;
ReturnValue_t result = returnvalue::OK;
static_cast<void>(result);
// Measured to take 0-1 ms in debug build
// Stopwatch watch;
if (periodicInitHandling()) {
#if OBSW_RTD_AUTO_MODE == 0
// 10 ms delay for VBIAS startup
TaskFactory::delayTask(10);
#endif
} else {
// No devices usable (e.g. TCS board off)
return returnvalue::OK;
}
periodicInitHandling();
#if OBSW_RTD_AUTO_MODE == 0
// 10 ms delay for VBIAS startup
TaskFactory::delayTask(10);
result = periodicReadReqHandling();
if (result != returnvalue::OK) {
return result;
@ -56,19 +50,28 @@ bool Max31865RtdPolling::rtdIsActive(uint8_t idx) {
return false;
}
bool Max31865RtdPolling::periodicInitHandling() {
ReturnValue_t Max31865RtdPolling::periodicInitHandling() {
using namespace MAX31865;
ReturnValue_t result = returnvalue::OK;
for (auto& rtd : rtds) {
if (rtd == nullptr) {
continue;
}
MutexGuard mg(readerMutex);
if (mg.getLockResult() != returnvalue::OK) {
sif::warning << "Max31865RtdReader::periodicInitHandling: Mutex lock failed" << std::endl;
return false;
bool mustPerformInitHandling = false;
bool doWriteLowThreshold = false;
bool doWriteHighThreshold = false;
{
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
sif::warning << "Max31865RtdReader::periodicInitHandling: Mutex lock failed" << std::endl;
continue;
}
mustPerformInitHandling =
(rtd->on or rtd->db.active) and not rtd->db.configured and rtd->cd.hasTimedOut();
doWriteHighThreshold = rtd->writeHighThreshold;
doWriteLowThreshold = rtd->writeLowThreshold;
}
if ((rtd->on or rtd->db.active) and not rtd->db.configured and rtd->cd.hasTimedOut()) {
if (mustPerformInitHandling) {
// Please note that using the manual CS lock wrapper here is problematic. Might be a SPI
// or hardware specific issue where the CS needs to be pulled high and then low again
// between transfers
@ -77,13 +80,13 @@ bool Max31865RtdPolling::periodicInitHandling() {
handleSpiError(rtd, result, "writeCfgReg");
continue;
}
if (rtd->writeLowThreshold) {
if (doWriteLowThreshold) {
result = writeLowThreshold(rtd->spiCookie, rtd->lowThreshold);
if (result != returnvalue::OK) {
handleSpiError(rtd, result, "writeLowThreshold");
}
}
if (rtd->writeHighThreshold) {
if (doWriteHighThreshold) {
result = writeHighThreshold(rtd->spiCookie, rtd->highThreshold);
if (result != returnvalue::OK) {
handleSpiError(rtd, result, "writeHighThreshold");
@ -93,38 +96,23 @@ bool Max31865RtdPolling::periodicInitHandling() {
if (result != returnvalue::OK) {
handleSpiError(rtd, result, "clearFaultStatus");
}
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
rtd->db.configured = true;
rtd->db.active = true;
}
}
bool someRtdUsable = false;
for (auto& rtd : rtds) {
if (rtd == nullptr) {
continue;
}
if (rtdIsActive(rtd->idx)) {
#if OBSW_RTD_AUTO_MODE == 0
result = writeBiasSel(Bias::ON, rtd->spiCookie, BASE_CFG);
#endif
someRtdUsable = true;
}
}
return someRtdUsable;
return returnvalue::OK;
}
ReturnValue_t Max31865RtdPolling::periodicReadReqHandling() {
using namespace MAX31865;
updateActiveRtdsArray();
// Now request one shot config for all active RTDs
for (auto& rtd : rtds) {
if (rtd == nullptr) {
continue;
}
MutexGuard mg(readerMutex);
if (mg.getLockResult() != returnvalue::OK) {
sif::warning << "Max31865RtdReader::periodicReadReqHandling: Mutex lock failed" << std::endl;
return returnvalue::FAILED;
}
if (rtdIsActive(rtd->idx)) {
if (activeRtdsArray[rtd->idx]) {
ReturnValue_t result = writeCfgReg(rtd->spiCookie, BASE_CFG | (1 << CfgBitPos::ONE_SHOT));
if (result != returnvalue::OK) {
handleSpiError(rtd, result, "writeCfgReg");
@ -139,17 +127,13 @@ ReturnValue_t Max31865RtdPolling::periodicReadReqHandling() {
ReturnValue_t Max31865RtdPolling::periodicReadHandling() {
using namespace MAX31865;
auto result = returnvalue::OK;
updateActiveRtdsArray();
// Now read the RTD values
for (auto& rtd : rtds) {
if (rtd == nullptr) {
continue;
}
MutexGuard mg(readerMutex);
if (mg.getLockResult() != returnvalue::OK) {
sif::warning << "Max31865RtdReader::periodicReadHandling: Mutex lock failed" << std::endl;
return returnvalue::FAILED;
}
if (rtdIsActive(rtd->idx)) {
if (activeRtdsArray[rtd->idx]) {
// Please note that using the manual CS lock wrapper here is problematic. Might be a SPI
// or hardware specific issue where the CS needs to be pulled high and then low again
// between transfers
@ -166,6 +150,7 @@ ReturnValue_t Max31865RtdPolling::periodicReadHandling() {
handleSpiError(rtd, result, "readRtdVal");
continue;
}
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (faultBitSet) {
rtd->db.faultBitSet = faultBitSet;
}
@ -200,7 +185,7 @@ ReturnValue_t Max31865RtdPolling::initializeInterface(CookieIF* cookie) {
throw std::invalid_argument("Invalid RTD index");
}
rtds[rtdCookie->idx] = rtdCookie;
MutexGuard mg(readerMutex);
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (dbLen == 0) {
dbLen = rtdCookie->db.getSerializedSize();
}
@ -212,16 +197,19 @@ ReturnValue_t Max31865RtdPolling::sendMessage(CookieIF* cookie, const uint8_t* s
if (cookie == nullptr) {
return returnvalue::FAILED;
}
auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
if (rtdCookie == nullptr) {
return returnvalue::FAILED;
}
// Empty command.. don't fail for now
if (sendLen < 1) {
return returnvalue::OK;
}
MutexGuard mg(readerMutex);
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
sif::warning << "Max31865RtdReader::sendMessage: Mutex lock failed" << std::endl;
return returnvalue::FAILED;
}
auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
uint8_t cmdRaw = sendData[0];
if (cmdRaw > EiveMax31855::RtdCommands::NUM_CMDS) {
sif::warning << "Max31865RtdReader::sendMessage: Invalid command" << std::endl;
@ -240,7 +228,6 @@ ReturnValue_t Max31865RtdPolling::sendMessage(CookieIF* cookie, const uint8_t* s
case (EiveMax31855::RtdCommands::ON): {
if (not rtdCookie->on) {
rtdCookie->cd.setTimeout(MAX31865::WARMUP_MS);
rtdCookie->cd.resetTimer();
rtdCookie->on = true;
rtdCookie->db.active = false;
rtdCookie->db.configured = false;
@ -253,7 +240,6 @@ ReturnValue_t Max31865RtdPolling::sendMessage(CookieIF* cookie, const uint8_t* s
case (EiveMax31855::RtdCommands::ACTIVE): {
if (not rtdCookie->on) {
rtdCookie->cd.setTimeout(MAX31865::WARMUP_MS);
rtdCookie->cd.resetTimer();
rtdCookie->on = true;
rtdCookie->db.active = true;
rtdCookie->db.configured = false;
@ -312,15 +298,15 @@ ReturnValue_t Max31865RtdPolling::requestReceiveMessage(CookieIF* cookie, size_t
ReturnValue_t Max31865RtdPolling::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
size_t* size) {
MutexGuard mg(readerMutex);
if (mg.getLockResult() != returnvalue::OK) {
// TODO: Emit warning
return returnvalue::FAILED;
}
auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
if (rtdCookie == nullptr) {
return returnvalue::FAILED;
}
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
// TODO: Emit warning
return returnvalue::FAILED;
}
uint8_t* exchangePtr = rtdCookie->exchangeBuf.data();
size_t serLen = 0;
auto result = rtdCookie->db.serialize(&exchangePtr, &serLen, rtdCookie->exchangeBuf.size(),
@ -461,6 +447,18 @@ ReturnValue_t Max31865RtdPolling::readNFromReg(SpiCookie* cookie, uint8_t reg, s
return returnvalue::OK;
}
ReturnValue_t Max31865RtdPolling::updateActiveRtdsArray() {
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
sif::warning << "Max31865RtdReader::periodicReadHandling: Mutex lock failed" << std::endl;
return returnvalue::FAILED;
}
for (const auto& rtd : rtds) {
activeRtdsArray[rtd->idx] = rtdIsActive(rtd->idx);
}
return returnvalue::OK;
}
ReturnValue_t Max31865RtdPolling::handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result,
const char* ctx) {
cookie->db.spiErrorCount.value += 1;

10
linux/devices/Max31865RtdPolling.h
View File

@ -47,8 +47,12 @@ class Max31865RtdPolling : public SystemObject,
private:
std::vector<Max31865ReaderCookie*> rtds;
std::array<uint8_t, 4> cmdBuf = {};
std::array<bool, 12> activeRtdsArray{};
size_t dbLen = 0;
MutexIF* readerMutex;
MutexIF* readerLock;
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
static constexpr uint32_t LOCK_TIMEOUT = 20;
static constexpr char LOCK_CTX[] = "Max31865RtdPolling";
SpiComIF* comIF;
GpioIF* gpioIF;
@ -56,7 +60,7 @@ class Max31865RtdPolling : public SystemObject,
uint32_t csTimeoutMs = spi::RTD_CS_TIMEOUT;
MutexIF* csLock = nullptr;
bool periodicInitHandling();
ReturnValue_t periodicInitHandling();
ReturnValue_t periodicReadReqHandling();
ReturnValue_t periodicReadHandling();
@ -81,6 +85,8 @@ class Max31865RtdPolling : public SystemObject,
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
ReturnValue_t updateActiveRtdsArray();
ReturnValue_t handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result, const char* ctx);
};

2
linux/devices/RwPollingTask.cpp
View File

@ -220,7 +220,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
}
pullCsLow(gpioId, gpioIF);
bool lastByteWasFrameMarker = false;
Countdown cd(3000);
Countdown cd(2000);
size_t readIdx = 0;
while (true) {

2
linux/fsfwconfig/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 267 translations.
* @details
* Generated on: 2023-03-01 18:34:32
* Generated on: 2023-03-02 17:08:11
*/
#include "translateEvents.h"

11
linux/fsfwconfig/objects/translateObjects.cpp
View File

@ -1,8 +1,8 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 161 translations.
* Generated on: 2023-03-01 18:34:32
* Contains 162 translations.
* Generated on: 2023-03-02 17:08:11
*/
#include "translateObjects.h"
@ -147,8 +147,9 @@ const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
const char *RW_ASS_STRING = "RW_ASS";
const char *RW_ASSY_STRING = "RW_ASSY";
const char *CAM_SWITCHER_STRING = "CAM_SWITCHER";
const char *SYRLINKS_ASSY_STRING = "SYRLINKS_ASSY";
const char *TM_FUNNEL_STRING = "TM_FUNNEL";
const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
@ -453,9 +454,11 @@ const char *translateObject(object_id_t object) {
case 0x73000003:
return TCS_BOARD_ASS_STRING;
case 0x73000004:
return RW_ASS_STRING;
return RW_ASSY_STRING;
case 0x73000006:
return CAM_SWITCHER_STRING;
case 0x73000007:
return SYRLINKS_ASSY_STRING;
case 0x73000100:
return TM_FUNNEL_STRING;
case 0x73000101:

4
mission/config/comCfg.cpp
View File

@ -9,12 +9,12 @@ MutexIF* DATARATE_LOCK = nullptr;
MutexIF* lazyLock();
com::Datarate com::getCurrentDatarate() {
MutexGuard mg(lazyLock());
MutexGuard mg(lazyLock(), MutexIF::TimeoutType::WAITING, 20, "com");
return DATARATE_CFG_RAW;
}
void com::setCurrentDatarate(com::Datarate newRate) {
MutexGuard mg(lazyLock());
MutexGuard mg(lazyLock(), MutexIF::TimeoutType::WAITING, 20, "com");
DATARATE_CFG_RAW = newRate;
}

3
mission/config/torquer.h
View File

@ -9,6 +9,9 @@ namespace torquer {
// Additional buffer time to accont for time until I2C command arrives and ramp up / ramp down
// time of the MGT
static constexpr dur_millis_t TORQUE_BUFFER_TIME_MS = 20;
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
static constexpr uint32_t LOCK_TIMEOUT = 20;
static constexpr char LOCK_CTX[] = "torquer";
MutexIF* lazyLock();
extern bool TORQUEING;

24
mission/controller/AcsController.cpp
View File

@ -157,20 +157,23 @@ void AcsController::performSafe() {
guidance.getTargetParamsSafe(sunTargetDir, satRateSafe);
// if MEKF is working
double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
bool magMomMtqValid = false;
if (result == MultiplicativeKalmanFilter::MEKF_RUNNING) {
safeCtrl.safeMekf(now, mekfData.quatMekf.value, mekfData.quatMekf.isValid(),
mgmDataProcessed.magIgrfModel.value, mgmDataProcessed.magIgrfModel.isValid(),
susDataProcessed.sunIjkModel.value, susDataProcessed.isValid(),
mekfData.satRotRateMekf.value, mekfData.satRotRateMekf.isValid(),
sunTargetDir, satRateSafe, &errAng, magMomMtq, &magMomMtqValid);
result = safeCtrl.safeMekf(now, mekfData.quatMekf.value, mekfData.quatMekf.isValid(),
mgmDataProcessed.magIgrfModel.value,
mgmDataProcessed.magIgrfModel.isValid(),
susDataProcessed.sunIjkModel.value, susDataProcessed.isValid(),
mekfData.satRotRateMekf.value, mekfData.satRotRateMekf.isValid(),
sunTargetDir, satRateSafe, &errAng, magMomMtq);
} else {
safeCtrl.safeNoMekf(
result = safeCtrl.safeNoMekf(
now, susDataProcessed.susVecTot.value, susDataProcessed.susVecTot.isValid(),
susDataProcessed.susVecTotDerivative.value, susDataProcessed.susVecTotDerivative.isValid(),
mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(),
mgmDataProcessed.mgmVecTotDerivative.value, mgmDataProcessed.mgmVecTotDerivative.isValid(),
sunTargetDir, satRateSafe, &errAng, magMomMtq, &magMomMtqValid);
sunTargetDir, satRateSafe, &errAng, magMomMtq);
}
if (result == returnvalue::FAILED) {
// ToDo: this should never ever happen or we are dead. prob add an event at least
}
actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs);
@ -429,7 +432,8 @@ ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole,
uint16_t rampTime) {
{
PoolReadGuard pg(&dipoleSet);
MutexGuard mg(torquer::lazyLock());
MutexGuard mg(torquer::lazyLock(), torquer::LOCK_TYPE, torquer::LOCK_TIMEOUT,
torquer::LOCK_CTX);
torquer::NEW_ACTUATION_FLAG = true;
dipoleSet.setDipoles(xDipole, yDipole, zDipole, dipoleTorqueDuration);
}
@ -661,7 +665,6 @@ void AcsController::announceMode(bool recursive) {
}
void AcsController::copyMgmData() {
ACS::SensorValues sensorValues;
{
PoolReadGuard pg(&sensorValues.mgm0Lis3Set);
if (pg.getReadResult() == returnvalue::OK) {
@ -806,7 +809,6 @@ void AcsController::copySusData() {
}
void AcsController::copyGyrData() {
ACS::SensorValues sensorValues;
{
PoolReadGuard pg(&sensorValues.gyr0AdisSet);
if (pg.getReadResult() == returnvalue::OK) {

14
mission/controller/acs/control/Detumble.cpp
View File

@ -1,11 +1,3 @@
/*
* Detumble.cpp
*
* Created on: 17 Aug 2022
* Author: Robin Marquardt
*/
#include "Detumble.h"
#include <fsfw/globalfunctions/constants.h>
@ -31,6 +23,12 @@ ReturnValue_t Detumble::bDotLaw(const double *magRate, const bool magRateValid,
if (!magRateValid || !magFieldValid) {
return DETUMBLE_NO_SENSORDATA;
}
// change unit from uT to T
double magFieldT[3] = {0, 0, 0}, magRateT[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(magField, 1e-6, magFieldT, 3);
VectorOperations<double>::mulScalar(magRate, 1e-6, magRateT, 3);
double gain = detumbleParameter->gainD;
double factor = -gain / pow(VectorOperations<double>::norm(magField, 3), 2);
VectorOperations<double>::mulScalar(magRate, factor, magMom, 3);

66
mission/controller/acs/control/SafeCtrl.cpp
View File

@ -32,15 +32,13 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
double *magFieldModel, bool magFieldModelValid,
double *sunDirModel, bool sunDirModelValid, double *satRateMekf,
bool rateMekfValid, double *sunDirRef, double *satRatRef,
double *outputAngle, double *outputMagMomB, bool *outputValid) {
double *outputAngle, double *outputMagMomB) {
if (!quatBJValid || !magFieldModelValid || !sunDirModelValid || !rateMekfValid) {
*outputValid = false;
return SAFECTRL_MEKF_INPUT_INVALID;
}
double kRate = 0, kAlign = 0;
kRate = safeModeControllerParameters->k_rate_mekf;
kAlign = safeModeControllerParameters->k_align_mekf;
double kRate = safeModeControllerParameters->k_rate_mekf;
double kAlign = safeModeControllerParameters->k_align_mekf;
// Calc sunDirB ,magFieldB with mekf output and model
double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
@ -49,22 +47,22 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
MatrixOperations<double>::multiply(*dcmBJ, sunDirModel, sunDirB, 3, 3, 1);
MatrixOperations<double>::multiply(*dcmBJ, magFieldModel, magFieldB, 3, 3, 1);
double crossSun[3] = {0, 0, 0};
// change unit from uT to T
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldB, 3);
double crossSun[3] = {0, 0, 0};
VectorOperations<double>::cross(sunDirRef, sunDirB, crossSun);
double normCrossSun = VectorOperations<double>::norm(crossSun, 3);
// calc angle alpha between sunDirRef and sunDIr
double alpha = 0, dotSun = 0;
dotSun = VectorOperations<double>::dot(sunDirRef, sunDirB);
alpha = acos(dotSun);
double dotSun = VectorOperations<double>::dot(sunDirRef, sunDirB);
double alpha = acos(dotSun);
// Law Torque calculations
double torqueCmd[3] = {0, 0, 0}, torqueAlign[3] = {0, 0, 0}, torqueRate[3] = {0, 0, 0},
torqueAll[3] = {0, 0, 0};
double scalarFac = 0;
scalarFac = kAlign * alpha / normCrossSun;
double scalarFac = kAlign * alpha / normCrossSun;
VectorOperations<double>::mulScalar(crossSun, scalarFac, torqueAlign, 3);
double rateSafeMode[3] = {0, 0, 0};
@ -82,39 +80,38 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
VectorOperations<double>::mulScalar(torqueMgt, 1 / pow(normMag, 2), outputMagMomB, 3);
*outputAngle = alpha;
*outputValid = true;
return returnvalue::OK;
}
// Will be the version in worst case scenario in event of no working MEKF (nor GYRs)
void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
bool sunRateBValid, double *magFieldB, bool magFieldBValid,
double *magRateB, bool magRateBValid, double *sunDirRef,
double *satRateRef, double *outputAngle, double *outputMagMomB,
bool *outputValid) {
ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid,
double *sunRateB, bool sunRateBValid, double *magFieldB,
bool magFieldBValid, double *magRateB, bool magRateBValid,
double *sunDirRef, double *satRateRef, double *outputAngle,
double *outputMagMomB) {
// Check for invalid Inputs
if (!susDirBValid || !magFieldBValid || !magRateBValid) {
*outputValid = false;
return;
return returnvalue::FAILED;
}
// change unit from uT to T
double magFieldBT[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
// normalize sunDir and magDir
double magDirB[3] = {0, 0, 0};
VectorOperations<double>::normalize(magFieldB, magDirB, 3);
VectorOperations<double>::normalize(magFieldBT, magDirB, 3);
VectorOperations<double>::normalize(susDirB, susDirB, 3);
// Cosinus angle between sunDir and magDir
double cosAngleSunMag = VectorOperations<double>::dot(magDirB, susDirB);
// Rate parallel to sun direction and magnetic field direction
double rateParaSun = 0, rateParaMag = 0;
double dotSunRateMag = 0, dotmagRateSun = 0, rateFactor = 0;
dotSunRateMag = VectorOperations<double>::dot(sunRateB, magDirB);
dotmagRateSun = VectorOperations<double>::dot(magRateB, susDirB);
rateFactor = 1 - pow(cosAngleSunMag, 2);
rateParaSun = (dotmagRateSun + cosAngleSunMag * dotSunRateMag) / rateFactor;
rateParaMag = (dotSunRateMag + cosAngleSunMag * dotmagRateSun) / rateFactor;
double dotSunRateMag = VectorOperations<double>::dot(sunRateB, magDirB);
double dotmagRateSun = VectorOperations<double>::dot(magRateB, susDirB);
double rateFactor = 1 - pow(cosAngleSunMag, 2);
double rateParaSun = (dotmagRateSun + cosAngleSunMag * dotSunRateMag) / rateFactor;
double rateParaMag = (dotSunRateMag + cosAngleSunMag * dotmagRateSun) / rateFactor;
// Full rate or estimate
double estSatRate[3] = {0, 0, 0};
@ -130,7 +127,7 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl
* is sufficiently large */
double angleSunMag = acos(cosAngleSunMag);
if (angleSunMag < safeModeControllerParameters->sunMagAngleMin) {
return;
return returnvalue::FAILED;
}
// Rate for Torque Calculation
@ -138,9 +135,8 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl
VectorOperations<double>::subtract(estSatRate, satRateRef, diffRate, 3);
// Torque Align calculation
double kRateNoMekf = 0, kAlignNoMekf = 0;
kRateNoMekf = safeModeControllerParameters->k_rate_no_mekf;
kAlignNoMekf = safeModeControllerParameters->k_align_no_mekf;
double kRateNoMekf = safeModeControllerParameters->k_rate_no_mekf;
double kAlignNoMekf = safeModeControllerParameters->k_align_no_mekf;
double cosAngleAlignErr = VectorOperations<double>::dot(sunDirRef, susDirB);
double crossSusSunRef[3] = {0, 0, 0};
@ -165,11 +161,11 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl
// Magnetic moment
double magMomB[3] = {0, 0, 0};
double crossMagFieldTorque[3] = {0, 0, 0};
VectorOperations<double>::cross(magFieldB, torqueB, crossMagFieldTorque);
double magMomFactor = pow(VectorOperations<double>::norm(magFieldB, 3), 2);
VectorOperations<double>::cross(magFieldBT, torqueB, crossMagFieldTorque);
double magMomFactor = pow(VectorOperations<double>::norm(magFieldBT, 3), 2);
VectorOperations<double>::mulScalar(crossMagFieldTorque, 1 / magMomFactor, magMomB, 3);
std::memcpy(outputMagMomB, magMomB, 3 * sizeof(double));
*outputAngle = angleAlignErr;
*outputValid = true;
return returnvalue::OK;
}

12
mission/controller/acs/control/SafeCtrl.h
View File

@ -23,14 +23,12 @@ class SafeCtrl {
bool magFieldModelValid, double *sunDirModel, bool sunDirModelValid,
double *satRateMekf, bool rateMekfValid, double *sunDirRef,
double *satRatRef, // From Guidance (!)
double *outputAngle, double *outputMagMomB, bool *outputValid);
double *outputAngle, double *outputMagMomB);
void safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
bool sunRateBValid, double *magFieldB, bool magFieldBValid, double *magRateB,
bool magRateBValid, double *sunDirRef, double *satRateRef, double *outputAngle,
double *outputMagMomB, bool *outputValid);
void idleSunPointing(); // with reaction wheels
ReturnValue_t safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
bool sunRateBValid, double *magFieldB, bool magFieldBValid,
double *magRateB, bool magRateBValid, double *sunDirRef,
double *satRateRef, double *outputAngle, double *outputMagMomB);
protected:
private:

13
mission/core/GenericFactory.cpp
View File

@ -117,14 +117,16 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
#if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_ADD_TMTC_UDP_SERVER == 1
auto udpBridge = new UdpTmTcBridge(objects::UDP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR);
auto udpBridge =
new UdpTmTcBridge(objects::UDP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR, 50);
new UdpTcPollingTask(objects::UDP_TMTC_POLLING_TASK, objects::UDP_TMTC_SERVER);
sif::info << "Created UDP server for TMTC commanding with listener port "
<< udpBridge->getUdpPort() << std::endl;
udpBridge->setMaxNumberOfPacketsStored(config::MAX_STORED_CMDS_UDP);
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
auto tcpBridge = new TcpTmTcBridge(objects::TCP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR);
auto tcpBridge =
new TcpTmTcBridge(objects::TCP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR, 50);
TcpTmTcServer::TcpConfig cfg(true, true);
auto tcpServer = new TcpTmTcServer(objects::TCP_TMTC_POLLING_TASK, objects::TCP_TMTC_SERVER, cfg);
// TCP is stream based. Use packet ID as start marker when parsing for space packets
@ -139,9 +141,10 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
new CcsdsDistributor(config::EIVE_PUS_APID, objects::CCSDS_PACKET_DISTRIBUTOR);
new PusDistributor(config::EIVE_PUS_APID, objects::PUS_PACKET_DISTRIBUTOR, ccsdsDistrib);
PusTmFunnel::FunnelCfg cfdpFunnelCfg(objects::CFDP_TM_FUNNEL, *tmStore, *ipcStore, 50);
PusTmFunnel::FunnelCfg cfdpFunnelCfg(objects::CFDP_TM_FUNNEL, "CfdpTmFunnel", *tmStore, *ipcStore,
50);
*cfdpFunnel = new CfdpTmFunnel(cfdpFunnelCfg, config::EIVE_CFDP_APID);
PusTmFunnel::FunnelCfg pusFunnelCfg(objects::PUS_TM_FUNNEL, *tmStore, *ipcStore,
PusTmFunnel::FunnelCfg pusFunnelCfg(objects::PUS_TM_FUNNEL, "PusTmFunnel", *tmStore, *ipcStore,
config::MAX_PUS_FUNNEL_QUEUE_DEPTH);
*pusFunnel = new PusTmFunnel(pusFunnelCfg, *timeStamper, sdcMan);
#if OBSW_ADD_TCPIP_SERVERS == 1
@ -236,7 +239,7 @@ void ObjectFactory::createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t the
std::array<DeviceHandlerBase*, 4> rws,
std::array<object_id_t, 4> rwIds) {
RwHelper rwHelper(rwIds);
auto* rwAss = new RwAssembly(objects::RW_ASS, &pwrSwitcher, theSwitch, rwHelper);
auto* rwAss = new RwAssembly(objects::RW_ASSY, &pwrSwitcher, theSwitch, rwHelper);
for (size_t idx = 0; idx < rwIds.size(); idx++) {
ReturnValue_t result = rws[idx]->connectModeTreeParent(*rwAss);
if (result != returnvalue::OK) {

224
mission/core/pollingSeqTables.cpp
View File

@ -251,53 +251,77 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
}
if (cfg.scheduleStr) {
@ -313,15 +337,20 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
if (cfg.scheduleAcsBoard) {
if (enableAside) {
// A side
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
@ -331,23 +360,31 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ);
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ);
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::GET_READ);
}
if (enableBside) {
// B side
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
@ -357,11 +394,14 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ);
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ);
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::GET_READ);
}
if (enableAside) {
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
@ -371,21 +411,29 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::GET_READ);
}
if (enableBside) {
@ -396,21 +444,29 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::GET_READ);
}
}
@ -429,7 +485,8 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
imtq::ComStep::READ_MEASURE_GET);
}
thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::spiSched::SCHED_BLOCK_4_PERIOD, 0);
thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::spiSched::SCHED_BLOCK_4_PERIOD,
0);
if (cfg.scheduleImtq) {
// This is the torquing cycle.
@ -491,23 +548,34 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
DeviceHandlerIF::GET_READ);
}
thisSequence->addSlot(objects::SPI_RTD_COM_IF, length * config::spiSched::SCHED_BLOCK_RTD_PERIOD, 0);
thisSequence->addSlot(objects::SPI_RTD_COM_IF, length * config::spiSched::SCHED_BLOCK_RTD_PERIOD,
0);
#if OBSW_ADD_PL_PCDU == 1
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_RAD_SENSORS == 1
/* Radiation sensor */
thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
DeviceHandlerIF::GET_READ);
#endif
return returnvalue::OK;
}

18
mission/devices/HeaterHandler.cpp
View File

@ -30,8 +30,8 @@ HeaterHandler::HeaterHandler(object_id_t setObjectId_, GpioIF* gpioInterface_, H
if (mainLineSwitcher == nullptr) {
throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid PowerSwitchIF");
}
heaterHealthAndStateMutex = MutexFactory::instance()->createMutex();
if (heaterHealthAndStateMutex == nullptr) {
handlerLock = MutexFactory::instance()->createMutex();
if (handlerLock == nullptr) {
throw std::runtime_error("HeaterHandler::HeaterHandler: Creating Mutex failed");
}
auto mqArgs = MqArgs(setObjectId_, static_cast<void*>(this));
@ -144,7 +144,7 @@ ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId, MessageQueueId_t
if (action == SwitchAction::SET_SWITCH_ON) {
HasHealthIF::HealthState health;
{
MutexGuard mg(heaterHealthAndStateMutex);
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
health = heater.healthDevice->getHealth();
}
if (health == HasHealthIF::FAULTY or health == HasHealthIF::PERMANENT_FAULTY or
@ -270,7 +270,7 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
} else {
triggerEvent(HEATER_WENT_ON, heaterIdx, 0);
{
MutexGuard mg(heaterHealthAndStateMutex);
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
heater.switchState = ON;
}
}
@ -320,7 +320,7 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
triggerEvent(GPIO_PULL_LOW_FAILED, result);
} else {
{
MutexGuard mg(heaterHealthAndStateMutex);
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
heater.switchState = OFF;
}
triggerEvent(HEATER_WENT_OFF, heaterIdx, 0);
@ -346,7 +346,7 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
}
HeaterHandler::SwitchState HeaterHandler::checkSwitchState(heater::Switchers switchNr) const {
MutexGuard mg(heaterHealthAndStateMutex);
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
return heaterVec.at(switchNr).switchState;
}
@ -396,7 +396,7 @@ object_id_t HeaterHandler::getObjectId() const { return SystemObject::getObjectI
ReturnValue_t HeaterHandler::getAllSwitchStates(std::array<SwitchState, 8>& statesBuf) {
{
MutexGuard mg(heaterHealthAndStateMutex);
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
return returnvalue::FAILED;
}
@ -409,7 +409,7 @@ ReturnValue_t HeaterHandler::getAllSwitchStates(std::array<SwitchState, 8>& stat
bool HeaterHandler::allSwitchesOff() {
bool allSwitchesOrd = false;
MutexGuard mg(heaterHealthAndStateMutex);
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
/* Or all switches. As soon one switch is on, allSwitchesOrd will be true */
for (power::Switch_t switchNr = 0; switchNr < heater::NUMBER_OF_SWITCHES; switchNr++) {
allSwitchesOrd = allSwitchesOrd || heaterVec.at(switchNr).switchState;
@ -442,7 +442,7 @@ uint32_t HeaterHandler::getSwitchDelayMs(void) const { return 2000; }
HasHealthIF::HealthState HeaterHandler::getHealth(heater::Switchers heater) {
auto* healthDev = heaterVec.at(heater).healthDevice;
if (healthDev != nullptr) {
MutexGuard mg(heaterHealthAndStateMutex);
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
return healthDev->getHealth();
}
return HasHealthIF::HealthState::FAULTY;

5
mission/devices/HeaterHandler.h
View File

@ -136,7 +136,10 @@ class HeaterHandler : public ExecutableObjectIF,
HeaterMap heaterVec = {};
MutexIF* heaterHealthAndStateMutex = nullptr;
MutexIF* handlerLock = nullptr;
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
static constexpr uint32_t LOCK_TIMEOUT = 20;
static constexpr char LOCK_CTX[] = "HeaterHandler";
HeaterHelper helper;
ModeHelper modeHelper;

38
mission/devices/ImtqHandler.cpp
View File

@ -214,7 +214,8 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
<< ", y = " << dipoleSet.yDipole.value << ", z = " << dipoleSet.zDipole.value
<< ", duration = " << dipoleSet.currentTorqueDurationMs.value << std::endl;
}
MutexGuard mg(torquer::lazyLock());
MutexGuard mg(torquer::lazyLock(), torquer::LOCK_TYPE, torquer::LOCK_TIMEOUT,
torquer::LOCK_CTX);
torquer::TORQUEING = true;
torquer::TORQUE_COUNTDOWN.setTimeout(dipoleSet.currentTorqueDurationMs.value);
rawPacket = commandBuffer;
@ -312,7 +313,7 @@ ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint
uint8_t* rawMgmMeasurement = replies.getRawMgmMeasurement();
result = parseStatusByte(imtq::CC::GET_RAW_MTM_MEASUREMENT, rawMgmMeasurement);
if (result == returnvalue::OK) {
fillRawMtmDataset(rawMgmMeasurement);
fillRawMtmDataset(rawMtmNoTorque, rawMgmMeasurement);
} else {
status = result;
}
@ -323,7 +324,7 @@ ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint
uint8_t* calibMgmMeasurement = replies.getCalibMgmMeasurement();
result = parseStatusByte(imtq::CC::GET_CAL_MTM_MEASUREMENT, calibMgmMeasurement);
if (result == returnvalue::OK) {
fillRawMtmDataset(calibMgmMeasurement);
fillCalibratedMtmDataset(calibMgmMeasurement);
} else {
status = result;
}
@ -345,7 +346,7 @@ ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint
uint8_t* rawMgmMeasurement = replies.getRawMgmMeasurement();
result = parseStatusByte(imtq::CC::GET_RAW_MTM_MEASUREMENT, rawMgmMeasurement);
if (result == returnvalue::OK) {
fillRawMtmDataset(rawMgmMeasurement);
fillRawMtmDataset(rawMtmWithTorque, rawMgmMeasurement);
} else {
status = result;
}
@ -361,7 +362,7 @@ ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint
} else {
status = result;
}
fillEngHkDataset(hkDatasetNoTorque, engHkReply);
fillEngHkDataset(hkDatasetWithTorque, engHkReply);
if (firstReplyCycle) {
firstReplyCycle = false;
}
@ -395,7 +396,7 @@ LocalPoolDataSetBase* ImtqHandler::getDataSetHandle(sid_t sid) {
} else if (sid == negZselfTestDataset.getSid()) {
return &negZselfTestDataset;
} else {
sif::error << "IMTQHandler::getDataSetHandle: Invalid sid" << std::endl;
sif::error << "ImtqHandler::getDataSetHandle: Invalid SID" << std::endl;
return nullptr;
}
}
@ -847,8 +848,11 @@ void ImtqHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
}
}
void ImtqHandler::fillRawMtmDataset(const uint8_t* packet) {
PoolReadGuard rg(&rawMtmNoTorque);
void ImtqHandler::fillRawMtmDataset(imtq::RawMtmMeasurementSet& set, const uint8_t* packet) {
PoolReadGuard rg(&set);
if (rg.getReadResult() != returnvalue::OK) {
sif::error << "ImtqHandler::fillRawMtmDataset: Lock failure" << std::endl;
}
unsigned int offset = 2;
size_t deSerLen = 16;
const uint8_t* dataStart = packet + offset;
@ -876,18 +880,18 @@ void ImtqHandler::fillRawMtmDataset(const uint8_t* packet) {
if (res != returnvalue::OK) {
return;
}
rawMtmNoTorque.mtmRawNt[0] = xRaw * 7.5;
rawMtmNoTorque.mtmRawNt[1] = yRaw * 7.5;
rawMtmNoTorque.mtmRawNt[2] = zRaw * 7.5;
rawMtmNoTorque.coilActuationStatus = static_cast<uint8_t>(coilActStatus);
rawMtmNoTorque.setValidity(true, true);
set.mtmRawNt[0] = static_cast<float>(xRaw) * 7.5;
set.mtmRawNt[1] = static_cast<float>(yRaw) * 7.5;
set.mtmRawNt[2] = static_cast<float>(zRaw) * 7.5;
set.coilActuationStatus = static_cast<uint8_t>(coilActStatus);
set.setValidity(true, true);
if (debugMode) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::info << "IMTQ raw MTM measurement X: " << rawMtmNoTorque.mtmRawNt[0] << " nT" << std::endl;
sif::info << "IMTQ raw MTM measurement Y: " << rawMtmNoTorque.mtmRawNt[1] << " nT" << std::endl;
sif::info << "IMTQ raw MTM measurement Z: " << rawMtmNoTorque.mtmRawNt[2] << " nT" << std::endl;
sif::info << "IMTQ raw MTM measurement X: " << set.mtmRawNt[0] << " nT" << std::endl;
sif::info << "IMTQ raw MTM measurement Y: " << set.mtmRawNt[1] << " nT" << std::endl;
sif::info << "IMTQ raw MTM measurement Z: " << set.mtmRawNt[2] << " nT" << std::endl;
sif::info << "IMTQ coil actuation status during MTM measurement: "
<< (unsigned int)rawMtmNoTorque.coilActuationStatus.value << std::endl;
<< (unsigned int)set.coilActuationStatus.value << std::endl;
#endif
}
}

2
mission/devices/ImtqHandler.h
View File

@ -159,7 +159,7 @@ class ImtqHandler : public DeviceHandlerBase {
* @param packet Pointer to the reply data requested with the GET_RAW_MTM_MEASUREMENTS
* command.
*/
void fillRawMtmDataset(const uint8_t* packet);
void fillRawMtmDataset(imtq::RawMtmMeasurementSet& set, const uint8_t* packet);
/**
* @brief This function handles all self test results. This comprises parsing the error byte

1
mission/devices/MgmRm3100CustomHandler.cpp
View File

@ -91,6 +91,7 @@ ReturnValue_t MgmRm3100CustomHandler::interpretDeviceReply(DeviceCommandId_t id,
}
PoolReadGuard pg(&primaryDataset);
primaryDataset.setValidity(true, true);
for (uint8_t idx = 0; idx < 3; idx++) {
primaryDataset.fieldStrengths[idx] = reply->mgmValuesRaw[idx] * reply->scaleFactors[idx];
}

16
mission/devices/PcduHandler.cpp
View File

@ -18,7 +18,7 @@ PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize)
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(
cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
pwrMutex = MutexFactory::instance()->createMutex();
pwrLock = MutexFactory::instance()->createMutex();
}
PCDUHandler::~PCDUHandler() {}
@ -41,7 +41,7 @@ ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
if (pg.getReadResult() == returnvalue::OK) {
if (switcherSet.p60Dock5VStack.value != switchState) {
triggerEvent(power::SWITCH_HAS_CHANGED, switchState, pcdu::Switches::P60_DOCK_5V_STACK);
MutexGuard mg(pwrMutex);
MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
switchStates[pcdu::P60_DOCK_5V_STACK] = switchState;
}
switcherSet.p60Dock5VStack.setValid(true);
@ -179,7 +179,7 @@ void PCDUHandler::updatePdu2SwitchStates() {
switcherSet.pdu2Switches[idx] = pdu2CoreHk.outputEnables[idx];
}
switcherSet.pdu2Switches.setValid(true);
MutexGuard mg(pwrMutex);
MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH0_Q7S, pdu2CoreHk.outputEnables[Channels::Q7S]);
checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
@ -216,7 +216,7 @@ void PCDUHandler::updatePdu1SwitchStates() {
switcherSet.pdu1Switches[idx] = pdu1CoreHk.outputEnables[idx];
}
switcherSet.pdu1Switches.setValid(true);
MutexGuard mg(pwrMutex);
MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH0_TCS_BOARD_3V3,
pdu1CoreHk.outputEnables[Channels::TCS_BOARD_3V3]);
checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH1_SYRLINKS_12V,
@ -402,9 +402,11 @@ ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
sif::debug << "PCDUHandler::getSwitchState: Invalid switch number" << std::endl;
return returnvalue::FAILED;
}
pwrMutex->lockMutex();
uint8_t currentState = switchStates[switchNr];
pwrMutex->unlockMutex();
uint8_t currentState = 0;
{
MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
currentState = switchStates[switchNr];
}
if (currentState == 1) {
return PowerSwitchIF::SWITCH_ON;
} else {

5
mission/devices/PcduHandler.h
View File

@ -51,7 +51,10 @@ class PCDUHandler : public PowerSwitchIF,
private:
uint32_t pstIntervalMs = 0;
MutexIF* pwrMutex = nullptr;
MutexIF* pwrLock = nullptr;
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
static constexpr uint32_t LOCK_TIMEOUT = 20;
static constexpr char LOCK_CTX[] = "PcduHandler";
/** Housekeeping manager. Handles updates of local pool variables. */
LocalDataPoolManager poolManager;

2
mission/devices/SusHandler.cpp
View File

@ -37,7 +37,7 @@ void SusHandler::doShutDown() {
updatePeriodicReply(false, REPLY);
commandExecuted = false;
internalState = InternalState::NONE;
setMode(_MODE_POWER_DOWN);
setMode(MODE_OFF);
}
}

1
mission/devices/SusHandler.h
View File

@ -3,6 +3,7 @@
#include <eive/eventSubsystemIds.h>
#include <eive/resultClassIds.h>
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "mission/devices/devicedefinitions/acsPolling.h"

6
mission/system/fdir/SyrlinksFdir.cpp
View File

@ -47,8 +47,8 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) {
}
// else
if (missedReplyCount.incrementAndCheck()) {
// handleRecovery(event->getEvent());
triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
handleRecovery(event->getEvent());
// triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
}
break;
case StorageManagerIF::GET_DATA_FAILED:
@ -80,7 +80,7 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) {
break;
case Fuse::POWER_BELOW_LOW_LIMIT:
// Device might got stuck during boot, retry.
// handleRecovery(event->getEvent());
handleRecovery(event->getEvent());
triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
break;
//****Thermal*****

1
mission/system/objects/CMakeLists.txt
View File

@ -7,6 +7,7 @@ target_sources(
TcsSubsystem.cpp
PayloadSubsystem.cpp
AcsBoardAssembly.cpp
SyrlinksAssembly.cpp
Stack5VHandler.cpp
SusAssembly.cpp
RwAssembly.cpp

1
mission/system/objects/ComSubsystem.cpp
View File

@ -30,6 +30,7 @@ void ComSubsystem::performChildOperation() {
if (countdownActive) {
checkTransmitterCountdown();
}
Subsystem::performChildOperation();
}

5
mission/system/objects/DualLaneAssemblyBase.cpp
View File

@ -235,3 +235,8 @@ void DualLaneAssemblyBase::setPreferredSide(duallane::Submodes submode) {
}
this->defaultSubmode = submode;
}
ReturnValue_t DualLaneAssemblyBase::checkAndHandleHealthState(Mode_t deviceMode,
Submode_t deviceSubmode) {
return returnvalue::OK;
}

1
mission/system/objects/DualLaneAssemblyBase.h
View File

@ -74,6 +74,7 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
MessageQueueId_t getEventReceptionQueue() override;
bool sideSwitchTransition(Mode_t mode, Submode_t submode);
ReturnValue_t checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode);
/**
* Implemented by user. Will be called if a full mode operation has finished.

8
mission/system/objects/Stack5VHandler.cpp
View File

@ -5,7 +5,7 @@ Stack5VHandler::Stack5VHandler(PowerSwitchIF& switcher) : switcher(switcher) {
}
ReturnValue_t Stack5VHandler::deviceToOn(StackCommander commander, bool updateStates) {
MutexGuard mg(stackLock);
MutexGuard mg(stackLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (updateStates) {
updateInternalStates();
}
@ -27,7 +27,7 @@ ReturnValue_t Stack5VHandler::deviceToOn(StackCommander commander, bool updateSt
}
ReturnValue_t Stack5VHandler::deviceToOff(StackCommander commander, bool updateStates) {
MutexGuard mg(stackLock);
MutexGuard mg(stackLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (updateStates) {
updateInternalStates();
}
@ -55,12 +55,12 @@ ReturnValue_t Stack5VHandler::deviceToOff(StackCommander commander, bool updateS
}
bool Stack5VHandler::isSwitchOn() {
MutexGuard mg(stackLock);
MutexGuard mg(stackLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
return updateInternalStates();
}
void Stack5VHandler::update() {
MutexGuard mg(stackLock);
MutexGuard mg(stackLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
updateInternalStates();
}

4
mission/system/objects/Stack5VHandler.h
View File

@ -21,7 +21,11 @@ class Stack5VHandler {
void update();
private:
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
static constexpr uint32_t LOCK_TIMEOUT = 20;
MutexIF* stackLock;
static constexpr char LOCK_CTX[] = "Stack5VHandler";
PowerSwitchIF& switcher;
bool switchIsOn = false;
bool targetState = false;

26
mission/system/objects/SusAssembly.cpp
View File

@ -24,6 +24,12 @@ ReturnValue_t SusAssembly::commandChildren(Mode_t mode, Submode_t submode) {
modeTable[idx].setMode(MODE_OFF);
modeTable[idx].setSubmode(SUBMODE_NONE);
}
if (recoveryState == RecoveryState::RECOVERY_IDLE) {
result = checkAndHandleHealthStates(mode, submode);
if (result == NEED_TO_CHANGE_HEALTH) {
return returnvalue::OK;
}
}
if (recoveryState != RecoveryState::RECOVERY_STARTED) {
if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
result = handleNormalOrOnModeCmd(mode, submode);
@ -148,3 +154,23 @@ void SusAssembly::refreshHelperModes() {
helper.susModes[idx] = childrenMap[helper.susIds[idx]].mode;
}
}
ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode) {
using namespace returnvalue;
ReturnValue_t status = returnvalue::OK;
auto overwriteHealthForOneDev = [&](object_id_t dev) {
HealthState health = healthHelper.healthTable->getHealth(dev);
if (health == FAULTY or health == PERMANENT_FAULTY) {
overwriteDeviceHealth(dev, health);
status = NEED_TO_CHANGE_HEALTH;
} else if (health == EXTERNAL_CONTROL) {
modeHelper.setForced(true);
}
};
if (deviceSubmode == duallane::DUAL_MODE) {
for (uint8_t idx = 0; idx < 12; idx++) {
overwriteHealthForOneDev(helper.susIds[idx]);
}
}
return status;
}

1
mission/system/objects/SusAssembly.h
View File

@ -66,6 +66,7 @@ class SusAssembly : public DualLaneAssemblyBase {
void powerStateMachine(Mode_t mode, Submode_t submode);
ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
void refreshHelperModes();
ReturnValue_t checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode);
};
#endif /* MISSION_SYSTEM_SUSASSEMBLY_H_ */

57
mission/system/objects/SyrlinksAssembly.cpp Normal file
View File

@ -0,0 +1,57 @@
#include "SyrlinksAssembly.h"
#include <eive/objects.h>
using namespace returnvalue;
SyrlinksAssembly::SyrlinksAssembly(object_id_t objectId) : AssemblyBase(objectId) {
ModeListEntry entry;
entry.setObject(objects::SYRLINKS_HANDLER);
entry.setMode(MODE_OFF);
entry.setSubmode(SUBMODE_NONE);
commandTable.insert(entry);
}
ReturnValue_t SyrlinksAssembly::commandChildren(Mode_t mode, Submode_t submode) {
commandTable[0].setMode(mode);
commandTable[0].setSubmode(submode);
HybridIterator<ModeListEntry> iter(commandTable.begin(), commandTable.end());
if (recoveryState == RECOVERY_IDLE) {
ReturnValue_t result = checkAndHandleHealthState(mode, submode);
if (result == NEED_TO_CHANGE_HEALTH) {
return OK;
}
}
executeTable(iter);
return returnvalue::OK;
}
ReturnValue_t SyrlinksAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
if (childrenMap[objects::SYRLINKS_HANDLER].mode != wantedMode) {
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
return returnvalue::OK;
}
ReturnValue_t SyrlinksAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_OFF) {
return returnvalue::OK;
}
return returnvalue::FAILED;
}
ReturnValue_t SyrlinksAssembly::checkAndHandleHealthState(Mode_t deviceMode,
Submode_t deviceSubmode) {
HealthState health = healthHelper.healthTable->getHealth(objects::SYRLINKS_HANDLER);
if (health == FAULTY or health == PERMANENT_FAULTY) {
overwriteDeviceHealth(objects::SYRLINKS_HANDLER, health);
return NEED_TO_CHANGE_HEALTH;
} else if (health == EXTERNAL_CONTROL) {
modeHelper.setForced(true);
}
return OK;
}
void SyrlinksAssembly::handleChildrenLostMode(ReturnValue_t result) {
startTransition(mode, submode);
}

20
mission/system/objects/SyrlinksAssembly.h Normal file
View File

@ -0,0 +1,20 @@
#ifndef MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_
#define MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_
#include <fsfw/devicehandlers/AssemblyBase.h>
class SyrlinksAssembly : public AssemblyBase {
public:
SyrlinksAssembly(object_id_t objectId);
private:
FixedArrayList<ModeListEntry, 1> commandTable;
ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
void handleChildrenLostMode(ReturnValue_t result) override;
ReturnValue_t checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode);
};
#endif /* MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_ */

20
mission/system/tree/acsModeTree.cpp
View File

@ -110,7 +110,7 @@ Subsystem& satsystem::acs::init() {
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
check(ACS_SUBSYSTEM.addTable(
TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.second)),
@ -165,7 +165,7 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_1.first, &ACS_TABLE_OFF_TRANS_1.second)), ctxc);
// Build OFF sequence
@ -207,7 +207,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
iht(objects::RW_ASS, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
ctxc);
@ -262,7 +262,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
iht(objects::RW_ASS, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false,
true),
ctxc);
@ -305,7 +305,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
// Build IDLE target
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_IDLE, ACS_TABLE_IDLE_TGT.second);
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);
@ -316,7 +316,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
@ -358,7 +358,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true),
ctxc);
@ -407,7 +407,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TGT.first,
&ACS_TABLE_PTG_TARGET_NADIR_TGT.second)),
@ -458,7 +458,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
check(ss.addTable(
TableEntry(ACS_TABLE_PTG_TARGET_GS_TGT.first, &ACS_TABLE_PTG_TARGET_GS_TGT.second)),
@ -508,7 +508,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first,
&ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second)),

16
mission/system/tree/comModeTree.cpp
View File

@ -105,11 +105,11 @@ void buildRxOnlySequence(Subsystem& ss, ModeListEntry& eh) {
// Build RX Only table. We could track the state of the CCSDS IP core handler
// as well but I do not think this is necessary because enabling that should
// not interfere with the Syrlinks Handler.
iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TGT.second);
iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TGT.second);
check(ss.addTable(TableEntry(COM_TABLE_RX_ONLY_TGT.first, &COM_TABLE_RX_ONLY_TGT.second)), ctxc);
// Build RX Only transition 0
iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TRANS_0.second);
iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TRANS_0.second);
check(ss.addTable(TableEntry(COM_TABLE_RX_ONLY_TRANS_0.first, &COM_TABLE_RX_ONLY_TRANS_0.second)),
ctxc);
@ -147,7 +147,7 @@ void buildTxAndRxLowRateSequence(Subsystem& ss, ModeListEntry& eh) {
};
// Build RX and TX low datarate table.
iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE,
iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE,
COM_TABLE_RX_AND_TX_LOW_RATE_TGT.second);
iht(objects::CCSDS_HANDLER, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_LOW),
COM_TABLE_RX_AND_TX_LOW_RATE_TGT.second);
@ -163,7 +163,7 @@ void buildTxAndRxLowRateSequence(Subsystem& ss, ModeListEntry& eh) {
ctxc);
// Build TX and RX low transition 1
iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE,
iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE,
COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.second);
check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.first,
&COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.second)),
@ -199,7 +199,7 @@ void buildTxAndRxHighRateSequence(Subsystem& ss, ModeListEntry& eh) {
};
// Build RX and TX high datarate table.
iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE,
iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE,
COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.second);
iht(objects::CCSDS_HANDLER, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_HIGH),
COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.second);
@ -215,7 +215,7 @@ void buildTxAndRxHighRateSequence(Subsystem& ss, ModeListEntry& eh) {
ctxc);
// Build TX and RX high transition 1
iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE,
iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE,
COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.second);
check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.first,
&COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.second)),
@ -253,7 +253,7 @@ void buildTxAndRxDefaultRateSequence(Subsystem& ss, ModeListEntry& eh) {
};
// Build RX and TX default datarate table.
iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_DEFAULT_DATARATE,
iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_DEFAULT_DATARATE,
COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT.second);
iht(objects::CCSDS_HANDLER, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_DEFAULT),
COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT.second);
@ -269,7 +269,7 @@ void buildTxAndRxDefaultRateSequence(Subsystem& ss, ModeListEntry& eh) {
ctxc);
// Build TX and RX default transition 1
iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_DEFAULT_DATARATE,
iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_DEFAULT_DATARATE,
COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.second);
check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.first,
&COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.second)),

20
mission/system/tree/system.cpp
View File

@ -87,19 +87,19 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
// consecutive commanding of TCS and ACS can lead to SPI issues.
iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second);
iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_SAFE_TRANS_0.second);
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_0.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_0.second);
check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_0.first, &EIVE_TABLE_SAFE_TRANS_0.second)),
ctxc);
// Build SAFE transition 1
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_1.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_1.second);
check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_1.first, &EIVE_TABLE_SAFE_TRANS_1.second)),
ctxc);
// check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_1.first, &EIVE_TABLE_SAFE_TRANS_1.second)),
// ctxc);
// Build Safe sequence
ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TGT.first, 0, false);
ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_0.first, 0, false);
ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_1.first, 0, false);
// ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_1.first, 0, false);
check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_SAFE.first, &EIVE_SEQUENCE_SAFE.second,
EIVE_SEQUENCE_SAFE.first)),
ctxc);
@ -129,19 +129,19 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
// Build SAFE transition 0
iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_IDLE_TRANS_0.second);
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_IDLE_TRANS_1.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TRANS_1.second);
check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_0.first, &EIVE_TABLE_IDLE_TRANS_0.second)),
ctxc);
// Build SAFE transition 1
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_IDLE_TRANS_1.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TRANS_1.second);
check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_1.first, &EIVE_TABLE_IDLE_TRANS_1.second)),
ctxc);
// check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_1.first, &EIVE_TABLE_IDLE_TRANS_1.second)),
// ctxc);
// Build Safe sequence
ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TGT.first, 0, false);
ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_0.first, 0, false);
ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_1.first, 0, false);
// ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_1.first, 0, false);
check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_IDLE.first, &EIVE_SEQUENCE_IDLE.second,
EIVE_SEQUENCE_SAFE.first)),
ctxc);

8
mission/tmtc/TmFunnelBase.cpp
View File

@ -5,7 +5,7 @@
#include "fsfw/ipc/QueueFactory.h"
TmFunnelBase::TmFunnelBase(FunnelCfg cfg)
: SystemObject(cfg.objectId), tmStore(cfg.tmStore), ipcStore(cfg.ipcStore) {
: SystemObject(cfg.objectId), name(cfg.name), tmStore(cfg.tmStore), ipcStore(cfg.ipcStore) {
tmQueue = QueueFactory::instance()->createMessageQueue(cfg.tmMsgDepth);
}
@ -37,8 +37,7 @@ ReturnValue_t TmFunnelBase::sendPacketToDestinations(store_address_t origStoreId
message.setStorageId(storeId);
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PusTmFunnel::handlePacket: Store too full to create data copy"
<< std::endl;
sif::error << name << "::handlePacket: Store too full to create data copy" << std::endl;
#endif
}
} else {
@ -48,7 +47,8 @@ ReturnValue_t TmFunnelBase::sendPacketToDestinations(store_address_t origStoreId
result = tmQueue->sendMessage(dest.queueId, &message);
if (result != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PusTmFunnel::handlePacket: Error sending TM to downlink handler" << std::endl;
sif::error << name << "::handlePacket: Error sending TM to downlink handler " << dest.name
<< std::endl;
#endif
tmStore.deleteData(message.getStorageId());
}

13
mission/tmtc/TmFunnelBase.h
View File

@ -12,10 +12,15 @@
class TmFunnelBase : public AcceptsTelemetryIF, public SystemObject {
public:
struct FunnelCfg {
FunnelCfg(object_id_t objId, StorageManagerIF& tmStore, StorageManagerIF& ipcStore,
uint32_t tmMsgDepth)
: objectId(objId), tmStore(tmStore), ipcStore(ipcStore), tmMsgDepth(tmMsgDepth) {}
FunnelCfg(object_id_t objId, const char* name, StorageManagerIF& tmStore,
StorageManagerIF& ipcStore, uint32_t tmMsgDepth)
: objectId(objId),
name(name),
tmStore(tmStore),
ipcStore(ipcStore),
tmMsgDepth(tmMsgDepth) {}
object_id_t objectId;
const char* name;
StorageManagerIF& tmStore;
StorageManagerIF& ipcStore;
uint32_t tmMsgDepth;
@ -30,6 +35,7 @@ class TmFunnelBase : public AcceptsTelemetryIF, public SystemObject {
~TmFunnelBase() override;
protected:
const char* name;
StorageManagerIF& tmStore;
StorageManagerIF& ipcStore;
@ -43,7 +49,6 @@ class TmFunnelBase : public AcceptsTelemetryIF, public SystemObject {
};
std::vector<Destination> destinations;
MessageQueueIF* tmQueue = nullptr;
};

2
tmtc

@ -1 +1 @@
Subproject commit 350ffda6c61b76dc9a6bbf08cec168c29c08136f
Subproject commit 94ae2d16e21ade8f89723b2e62356967a67b171d