Merge remote-tracking branch 'origin/main' into relax-sus-fdir
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This commit is contained in:
Robin Müller 2023-06-13 07:49:28 +02:00
commit 5e79293d38
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22 changed files with 266 additions and 55 deletions

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@ -26,7 +26,9 @@ will consitute of a breaking change warranting a new major release:
sensible raw values most of the time. Some further testing is necessary, but some changes in the
code should cause the SUS devices to remain healthy for now.
# [v3.0.0] to be released
# [v3.0.0] 2023-06-11
- `eive-tmtc` version v4.0.0
## Changed
@ -61,6 +63,13 @@ will consitute of a breaking change warranting a new major release:
only be used to cancel a transfer.
- Handling of multiple RWs in the ACS Controller is improved and can be changed by parameter
commands.
- The Directory Listing direct dumper now has a state machine to stagger the directory listing dump.
This is required because very large dumps will overload the queue capacities in the framework.
- The PUS Service 8 now has larger queue sizes to handle more action replies. The PUS Service 1
also has a larger queue size to handle a lot of step replies now.
- Moved PDU `vcc` and `vbat` variable from auxiliary dataset to core dataset.
- Tweak TCP/IP configuration: Only the TCP server will be included on the EM. For the FM, no
TCP/IP servers will be included by default.
## Added
@ -71,9 +80,12 @@ will consitute of a breaking change warranting a new major release:
- IMTQ HK sets
- IMTQ dummy now handles power switch
- Added some new ACS parameters
- Enabled decimation filter for the ADIS GYRs
- Enabled second low-pass filter for L3GD20H GYRs
## Fixed
- CFDP low level protocol bugfix. Requires `fsfw` update and `tmtc` update.
- Compile fix if SCEX is compiled for the EM.
- Set up Rad Sensor chip select even for EM to avoid SPI bus issues.
- Correct ADIS Gyroscope type configuration for the EM, where the 16507 type is used instead of the
@ -107,6 +119,8 @@ will consitute of a breaking change warranting a new major release:
quaternion.
- Various fixes for the pointing modes of the `ACS Controller`. All modes should work now as
intended.
- The variance for the ADIS GYRs now represents the used `-3` version and not the `-1` version
- CFDP funnel did not route packets to live channel VC0
# [v2.0.5] 2023-05-11

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@ -79,6 +79,13 @@ else()
set(INIT_VAL 1)
set(OBSW_STAR_TRACKER_GROUND_CONFIG 0)
endif()
set(OBSW_ADD_TMTC_TCP_SERVER
${OBSW_Q7S_EM}
CACHE STRING "Add TCP TMTC Server")
set(OBSW_ADD_TMTC_UDP_SERVER
0
CACHE STRING "Add UDP TMTC Server")
set(OBSW_ADD_MGT
${INIT_VAL}
CACHE STRING "Add MGT module")

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@ -67,8 +67,8 @@
// because UDP packets are not allowed in the VPN
// This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the
// CCSDS IP Cores.
#define OBSW_ADD_TMTC_TCP_SERVER 1
#define OBSW_ADD_TMTC_UDP_SERVER 1
#define OBSW_ADD_TMTC_TCP_SERVER @OBSW_ADD_TMTC_TCP_SERVER@
#define OBSW_ADD_TMTC_UDP_SERVER @OBSW_ADD_TMTC_UDP_SERVER@
// Can be used to switch device to NORMAL mode immediately
#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 0

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@ -112,6 +112,9 @@ void CoreController::performControlOperation() {
sdStateMachine();
performMountedSdCardOperations();
readHkData();
if (dumpContext.active) {
dirListingDumpHandler();
}
if (shellCmdIsExecuting) {
bool replyReceived = false;
@ -1038,7 +1041,6 @@ ReturnValue_t CoreController::actionListDirectoryDumpDirectly(ActionId_t actionI
return returnvalue::FAILED;
}
}
std::array<uint8_t, 1024> dirListingBuf{};
dirListingBuf[8] = parser.compressionOptionSet();
// First four bytes reserved for segment index. One byte for compression option information
std::strcpy(reinterpret_cast<char *>(dirListingBuf.data() + 2 * sizeof(uint32_t) + 1), repoName);
@ -1047,38 +1049,47 @@ ReturnValue_t CoreController::actionListDirectoryDumpDirectly(ActionId_t actionI
return returnvalue::FAILED;
}
std::error_code e;
size_t totalFileSize = std::filesystem::file_size(LIST_DIR_DUMP_WORK_FILE, e);
uint32_t segmentIdx = 0;
size_t dumpedBytes = 0;
dumpContext.totalFileSize = std::filesystem::file_size(LIST_DIR_DUMP_WORK_FILE, e);
dumpContext.segmentIdx = 0;
dumpContext.dumpedBytes = 0;
size_t nextDumpLen = 0;
size_t dummy = 0;
size_t maxDumpLen = dirListingBuf.size() - 2 * sizeof(uint32_t) - 1 - repoNameLen - 1;
size_t listingDataOffset = 2 * sizeof(uint32_t) + 1 + repoNameLen + 1;
uint32_t chunks = totalFileSize / maxDumpLen;
if (totalFileSize % maxDumpLen != 0) {
dumpContext.maxDumpLen = dirListingBuf.size() - 2 * sizeof(uint32_t) - 1 - repoNameLen - 1;
dumpContext.listingDataOffset = 2 * sizeof(uint32_t) + 1 + repoNameLen + 1;
uint32_t chunks = dumpContext.totalFileSize / dumpContext.maxDumpLen;
if (dumpContext.totalFileSize % dumpContext.maxDumpLen != 0) {
chunks++;
}
SerializeAdapter::serialize(&chunks, dirListingBuf.data() + sizeof(uint32_t), &dummy,
dirListingBuf.size() - sizeof(uint32_t),
SerializeIF::Endianness::NETWORK);
while (dumpedBytes < totalFileSize) {
ifile.seekg(dumpedBytes, std::ios::beg);
nextDumpLen = maxDumpLen;
if (totalFileSize - dumpedBytes < maxDumpLen) {
nextDumpLen = totalFileSize - dumpedBytes;
while (dumpContext.dumpedBytes < dumpContext.totalFileSize) {
ifile.seekg(dumpContext.dumpedBytes, std::ios::beg);
nextDumpLen = dumpContext.maxDumpLen;
if (dumpContext.totalFileSize - dumpContext.dumpedBytes < dumpContext.maxDumpLen) {
nextDumpLen = dumpContext.totalFileSize - dumpContext.dumpedBytes;
}
SerializeAdapter::serialize(&segmentIdx, dirListingBuf.data(), &dummy, dirListingBuf.size(),
SerializeIF::Endianness::NETWORK);
ifile.read(reinterpret_cast<char *>(dirListingBuf.data() + listingDataOffset), nextDumpLen);
SerializeAdapter::serialize(&dumpContext.segmentIdx, dirListingBuf.data(), &dummy,
dirListingBuf.size(), SerializeIF::Endianness::NETWORK);
ifile.read(reinterpret_cast<char *>(dirListingBuf.data() + dumpContext.listingDataOffset),
nextDumpLen);
result = actionHelper.reportData(commandedBy, actionId, dirListingBuf.data(),
listingDataOffset + nextDumpLen);
dumpContext.listingDataOffset + nextDumpLen);
if (result != returnvalue::OK) {
// Remove work file when we are done
std::filesystem::remove(LIST_DIR_DUMP_WORK_FILE, e);
return result;
}
segmentIdx++;
dumpedBytes += nextDumpLen;
dumpContext.segmentIdx++;
dumpContext.dumpedBytes += nextDumpLen;
// Dump takes multiple task cycles, so cache the dump state and continue dump the next cycles.
if (dumpContext.segmentIdx == 10) {
dumpContext.active = true;
dumpContext.firstDump = true;
dumpContext.commander = commandedBy;
dumpContext.actionId = actionId;
return returnvalue::OK;
}
}
// Remove work file when we are done
std::filesystem::remove(LIST_DIR_DUMP_WORK_FILE, e);
@ -2346,6 +2357,54 @@ MessageQueueId_t CoreController::getCommandQueue() const {
return ExtendedControllerBase::getCommandQueue();
}
void CoreController::dirListingDumpHandler() {
if (dumpContext.firstDump) {
dumpContext.firstDump = false;
return;
}
size_t nextDumpLen = 0;
size_t dummy = 0;
ReturnValue_t result;
std::error_code e;
std::ifstream ifile(LIST_DIR_DUMP_WORK_FILE, std::ios::binary);
if (ifile.bad()) {
return;
}
while (dumpContext.dumpedBytes < dumpContext.totalFileSize) {
ifile.seekg(dumpContext.dumpedBytes, std::ios::beg);
nextDumpLen = dumpContext.maxDumpLen;
if (dumpContext.totalFileSize - dumpContext.dumpedBytes < dumpContext.maxDumpLen) {
nextDumpLen = dumpContext.totalFileSize - dumpContext.dumpedBytes;
}
SerializeAdapter::serialize(&dumpContext.segmentIdx, dirListingBuf.data(), &dummy,
dirListingBuf.size(), SerializeIF::Endianness::NETWORK);
ifile.read(reinterpret_cast<char *>(dirListingBuf.data() + dumpContext.listingDataOffset),
nextDumpLen);
result =
actionHelper.reportData(dumpContext.commander, dumpContext.actionId, dirListingBuf.data(),
dumpContext.listingDataOffset + nextDumpLen);
if (result != returnvalue::OK) {
// Remove work file when we are done
std::filesystem::remove(LIST_DIR_DUMP_WORK_FILE, e);
dumpContext.active = false;
actionHelper.finish(false, dumpContext.commander, dumpContext.actionId, result);
return;
}
dumpContext.segmentIdx++;
dumpContext.dumpedBytes += nextDumpLen;
// Dump takes multiple task cycles, so cache the dump state and continue dump the next cycles.
if (dumpContext.segmentIdx == 10) {
break;
}
}
if (dumpContext.dumpedBytes >= dumpContext.totalFileSize) {
actionHelper.finish(true, dumpContext.commander, dumpContext.actionId, result);
dumpContext.active = false;
// Remove work file when we are done
std::filesystem::remove(LIST_DIR_DUMP_WORK_FILE, e);
}
}
bool CoreController::isNumber(const std::string &s) {
return !s.empty() && std::find_if(s.begin(), s.end(),
[](unsigned char c) { return !std::isdigit(c); }) == s.end();

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@ -177,6 +177,20 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
DeviceCommandId_t actionId;
} sdCommandingInfo;
struct DirListingDumpContext {
bool active;
bool firstDump;
size_t dumpedBytes;
size_t totalFileSize;
size_t listingDataOffset;
size_t maxDumpLen;
uint32_t segmentIdx;
MessageQueueId_t commander = MessageQueueIF::NO_QUEUE;
DeviceCommandId_t actionId;
};
std::array<uint8_t, 1024> dirListingBuf{};
DirListingDumpContext dumpContext{};
RebootFile rebootFile = {};
CommandExecutor cmdExecutor;
@ -274,6 +288,7 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
void rewriteRebootFile(RebootFile file);
void announceBootCounts();
void readHkData();
void dirListingDumpHandler();
bool isNumber(const std::string& s);
};

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@ -140,6 +140,7 @@ void ObjectFactory::produce(void* args) {
#if OBSW_TM_TO_PTME == 1
if (ccsdsArgs.liveDestination != nullptr) {
pusFunnel->addLiveDestination("VC0 LIVE TM", *ccsdsArgs.liveDestination, 0);
cfdpFunnel->addLiveDestination("VC0 LIVE TM", *ccsdsArgs.liveDestination, 0);
}
#endif
#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */

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@ -97,6 +97,7 @@ void ObjectFactory::produce(void* args) {
#if OBSW_TM_TO_PTME == 1
if (ccsdsArgs.liveDestination != nullptr) {
pusFunnel->addLiveDestination("VC0 LIVE TM", *ccsdsArgs.liveDestination, 0);
cfdpFunnel->addLiveDestination("VC0 LIVE TM", *ccsdsArgs.liveDestination, 0);
}
#endif
#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */

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@ -58,7 +58,9 @@ static constexpr uint32_t CFDP_STORE_QUEUE_SIZE = 300;
static constexpr uint32_t MAX_PUS_FUNNEL_QUEUE_DEPTH = 100;
static constexpr uint32_t MAX_CFDP_FUNNEL_QUEUE_DEPTH = 80;
static constexpr uint32_t VERIFICATION_SERVICE_QUEUE_DEPTH = 120;
static constexpr uint32_t HK_SERVICE_QUEUE_DEPTH = 60;
static constexpr uint32_t ACTION_SERVICE_QUEUE_DEPTH = 60;
static constexpr uint32_t MAX_STORED_CMDS_UDP = 150;
static constexpr uint32_t MAX_STORED_CMDS_TCP = 180;

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@ -19,7 +19,7 @@ struct DummyCfg {
bool addTempSensorDummies = true;
bool addRtdComIFDummy = true;
bool addPlocDummies = true;
bool addCamSwitcherDummy = true;
bool addCamSwitcherDummy = false;
};
void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch, GpioIF* gpioIF, bool enableHkSets);

2
fsfw

@ -1 +1 @@
Subproject commit 5eb9ee8bc1e6f8640cbea46febd11e4b92241881
Subproject commit 5322de059916efcf874b10ccc766b46e53d2470b

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@ -113,6 +113,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
if (req->mode != adis.mode) {
if (req->mode == acs::SimpleSensorMode::NORMAL) {
adis.type = req->type;
adis.decRate = req->cfg.decRateReg;
// The initial countdown is handled by the device handler now.
// adis.countdown.setTimeout(adis1650x::START_UP_TIME);
if (adis.type == adis1650x::Type::ADIS16507) {
@ -376,6 +377,80 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
}
}
ReturnValue_t AcsBoardPolling::writeAdisReg(SpiCookie& cookie) {
ReturnValue_t result = returnvalue::OK;
int retval = 0;
// Prepare transfer
int fileDescriptor = 0;
std::string device = spiComIF.getSpiDev();
UnixFileGuard fileHelper(device, fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
if (fileHelper.getOpenResult() != returnvalue::OK) {
return spi::OPENING_FILE_FAILED;
}
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
uint32_t spiSpeed = 0;
cookie.getSpiParameters(spiMode, spiSpeed, nullptr);
spiComIF.setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
cookie.assignWriteBuffer(cmdBuf.data());
cookie.setTransferSize(2);
gpioId_t gpioId = cookie.getChipSelectPin();
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 0;
MutexIF* mutex = spiComIF.getCsMutex();
cookie.getMutexParams(timeoutType, timeoutMs);
if (mutex == nullptr) {
sif::warning << "GyroADIS16507Handler::spiSendCallback: "
"Mutex or GPIO interface invalid"
<< std::endl;
return returnvalue::FAILED;
}
size_t idx = 0;
spi_ioc_transfer* transferStruct = cookie.getTransferStructHandle();
uint64_t origTx = transferStruct->tx_buf;
uint64_t origRx = transferStruct->rx_buf;
for (idx = 0; idx < 4; idx += 2) {
result = mutex->lockMutex(timeoutType, timeoutMs);
if (result != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "AcsBoardPolling: Failed to lock mutex" << std::endl;
#endif
return result;
}
// Pull SPI CS low. For now, no support for active high given
if (gpioId != gpio::NO_GPIO) {
gpioIF.pullLow(gpioId);
}
// Execute transfer
// Initiate a full duplex SPI transfer.
retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie.getTransferStructHandle());
if (retval < 0) {
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
result = spi::FULL_DUPLEX_TRANSFER_FAILED;
}
#if FSFW_HAL_SPI_WIRETAPPING == 1
comIf->performSpiWiretapping(cookie);
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
if (gpioId != gpio::NO_GPIO) {
gpioIF.pullHigh(gpioId);
}
mutex->unlockMutex();
transferStruct->tx_buf += 2;
transferStruct->rx_buf += 2;
if (idx < 4) {
usleep(adis1650x::STALL_TIME_MICROSECONDS);
}
}
transferStruct->tx_buf = origTx;
transferStruct->rx_buf = origRx;
cookie.setTransferSize(0);
return returnvalue::OK;
}
ReturnValue_t AcsBoardPolling::readAdisCfg(SpiCookie& cookie, size_t transferLen) {
ReturnValue_t result = returnvalue::OK;
int retval = 0;
@ -455,15 +530,20 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
ReturnValue_t result;
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
bool mustPerformStartup = false;
uint16_t decRate = 0;
{
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
mode = gyro.mode;
decRate = gyro.decRate;
mustPerformStartup = gyro.performStartup;
}
if (mode == acs::SimpleSensorMode::OFF) {
return;
}
if (mustPerformStartup) {
adis1650x::prepareWriteRegCommand(adis1650x::DEC_RATE_REG, decRate, cmdBuf.data(),
cmdBuf.size());
writeAdisReg(*gyro.cookie);
uint8_t regList[6];
// Read configuration
regList[0] = adis1650x::DIAG_STAT_REG;
@ -491,13 +571,19 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
gyro.replyResult = returnvalue::FAILED;
return;
}
uint16_t decRateReadBack = (rawReply[10] << 8) | rawReply[11];
if (decRateReadBack != decRate) {
sif::warning << "AcsPollingTask: DEC rate configuration failed. Read " << decRateReadBack
<< ", expected " << decRate << std::endl;
gyro.replyResult = returnvalue::FAILED;
}
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
gyro.ownReply.cfgWasSet = true;
gyro.ownReply.cfg.diagStat = (rawReply[2] << 8) | rawReply[3];
gyro.ownReply.cfg.filterSetting = (rawReply[4] << 8) | rawReply[5];
gyro.ownReply.cfg.rangMdl = (rawReply[6] << 8) | rawReply[7];
gyro.ownReply.cfg.mscCtrlReg = (rawReply[8] << 8) | rawReply[9];
gyro.ownReply.cfg.decRateReg = (rawReply[10] << 8) | rawReply[11];
gyro.ownReply.cfg.decRateReg = decRateReadBack;
gyro.ownReply.cfg.prodId = prodId;
gyro.ownReply.data.sensitivity = adis1650x::rangMdlToSensitivity(gyro.ownReply.cfg.rangMdl);
gyro.performStartup = false;

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@ -37,6 +37,7 @@ class AcsBoardPolling : public SystemObject,
struct GyroAdis : public DevBase {
adis1650x::Type type;
uint16_t decRate;
Countdown countdown;
acs::Adis1650XReply ownReply;
acs::Adis1650XReply readerReply;
@ -84,6 +85,8 @@ class AcsBoardPolling : public SystemObject,
void gyroAdisHandler(GyroAdis& gyro);
void mgmLis3Handler(MgmLis3& mgm);
void mgmRm3100Handler(MgmRm3100& mgm);
// This fumction configures the register as specified on p.21 of the datasheet.
ReturnValue_t writeAdisReg(SpiCookie& cookie);
// Special readout: 16us stall time between small 2 byte transfers.
ReturnValue_t readAdisCfg(SpiCookie& spiCookie, size_t transferLen);
};

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@ -15,7 +15,7 @@ GyrAdis1650XHandler::GyrAdis1650XHandler(object_id_t objectId, object_id_t devic
}
void GyrAdis1650XHandler::doStartUp() {
if (internalState != InternalState::STARTUP) {
if (internalState == InternalState::NONE) {
internalState = InternalState::STARTUP;
commandExecuted = false;
}
@ -24,13 +24,14 @@ void GyrAdis1650XHandler::doStartUp() {
if (not commandExecuted) {
warningSwitch = true;
breakCountdown.setTimeout(adis1650x::START_UP_TIME);
updatePeriodicReply(true, adis1650x::REPLY);
commandExecuted = true;
}
if (breakCountdown.hasTimedOut()) {
updatePeriodicReply(true, adis1650x::REPLY);
setMode(MODE_ON);
internalState = InternalState::NONE;
}
if (internalState == InternalState::STARTUP_DONE) {
setMode(MODE_ON);
commandExecuted = false;
internalState = InternalState::NONE;
}
}
@ -61,6 +62,7 @@ ReturnValue_t GyrAdis1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_
return NOTHING_TO_SEND;
}
*id = adis1650x::REQUEST;
adisRequest.cfg.decRateReg = adis1650x::DEC_RATE;
return preparePeriodicRequest(acs::SimpleSensorMode::NORMAL);
}
case (InternalState::SHUTDOWN): {
@ -91,6 +93,9 @@ ReturnValue_t GyrAdis1650XHandler::scanForReply(const uint8_t *start, size_t rem
getMode() == _MODE_POWER_DOWN) {
return IGNORE_FULL_PACKET;
}
if (internalState == InternalState::STARTUP) {
internalState = InternalState::STARTUP_DONE;
}
*foundLen = remainingSize;
if (remainingSize != sizeof(acs::Adis1650XReply)) {
return returnvalue::FAILED;

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@ -48,7 +48,7 @@ class GyrAdis1650XHandler : public DeviceHandlerBase {
bool warningSwitch = true;
enum class InternalState { NONE, STARTUP, SHUTDOWN };
enum class InternalState { NONE, STARTUP, STARTUP_DONE, SHUTDOWN };
InternalState internalState = InternalState::STARTUP;
bool commandExecuted = false;

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@ -8,11 +8,6 @@
namespace acs {
struct Adis1650XRequest {
SimpleSensorMode mode;
adis1650x::Type type;
};
struct Adis1650XConfig {
uint16_t diagStat;
uint16_t filterSetting;
@ -22,6 +17,12 @@ struct Adis1650XConfig {
uint16_t prodId;
};
struct Adis1650XRequest {
SimpleSensorMode mode;
adis1650x::Type type;
Adis1650XConfig cfg;
};
struct Adis1650XData {
double sensitivity = 0.0;
// Angular velocities in all axes (X, Y and Z)

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@ -52,3 +52,14 @@ double adis1650x::rangMdlToSensitivity(uint16_t rangMdl) {
}
}
}
void adis1650x::prepareWriteRegCommand(uint8_t regStart, uint16_t val, uint8_t* outBuf,
size_t maxLen) {
if (maxLen < 4) {
return;
}
outBuf[0] = regStart | adis1650x::WRITE_MASK;
outBuf[1] = val & 0xff;
outBuf[2] = (regStart + 1) | adis1650x::WRITE_MASK;
outBuf[3] = (val >> 8) & 0xff;
}

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@ -16,6 +16,8 @@ enum class BurstModes {
};
size_t prepareReadCommand(const uint8_t* regList, size_t len, uint8_t* outBuf, size_t maxLen);
void prepareWriteRegCommand(uint8_t regStart, uint16_t val, uint8_t* outBuf, size_t maxLen);
BurstModes burstModeFromMscCtrl(uint16_t mscCtrl);
double rangMdlToSensitivity(uint16_t rangMdl);
@ -92,6 +94,9 @@ static constexpr size_t SENSOR_READOUT_SIZE = 20 + 2;
static constexpr uint32_t ADIS_DATASET_ID = READ_SENSOR_DATA;
static constexpr uint32_t ADIS_CFG_DATASET_ID = READ_OUT_CONFIG;
static constexpr uint16_t FILT_CTRL = 0x0000;
static constexpr uint16_t DEC_RATE = 0x00C7;
enum GlobCmds : uint8_t {
FACTORY_CALIBRATION = 0b0000'0010,
SENSOR_SELF_TEST = 0b0000'0100,

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@ -93,6 +93,7 @@ ReturnValue_t CfdpHandler::handleCfdpPacket(TmTcMessage& msg) {
return INVALID_PDU_FORMAT;
}
if (not FileDirectiveReader::checkFileDirective(pduDataField[0])) {
sif::error << "CfdpHandler: Invalid PDU directive field " << pduDataField[0] << std::endl;
return INVALID_DIRECTIVE_FIELD;
}
auto directive = static_cast<FileDirective>(pduDataField[0]);

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@ -781,9 +781,9 @@ class AcsParameters : public HasParametersIF {
/* var = sigma^2, sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
* assumed to be equal for the same class of sensors */
float gyr02variance[3] = {pow(3.0e-3, 2), // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
pow(3.0e-3, 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
pow(4.3e-3, 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
float gyr02variance[3] = {pow(4.6e-3, 2), // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
pow(4.6e-3, 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
pow(6.1e-3, 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
uint8_t preferAdis = false;
float gyrFilterWeight = 0.6;

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@ -49,6 +49,7 @@
#include "mission/system/acs/acsModeTree.h"
#include "mission/system/tcs/tcsModeTree.h"
#include "mission/tcs/defs.h"
#include "mission/tmtc/Service15TmStorage.h"
#include "mission/tmtc/tmFilters.h"
#include "objects/systemObjectList.h"
#include "tmtc/pusIds.h"
@ -58,15 +59,13 @@ using persTmStore::PersistentTmStores;
#if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_ADD_TMTC_UDP_SERVER == 1
// UDP server includes
#include "devices/gpioIds.h"
#include "fsfw/osal/common/UdpTcPollingTask.h"
#include "fsfw/osal/common/UdpTmTcBridge.h"
#include <fsfw/osal/common/UdpTcPollingTask.h>
#include <fsfw/osal/common/UdpTmTcBridge.h>
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
// TCP server includes
#include "fsfw/osal/common/TcpTmTcBridge.h"
#include "fsfw/osal/common/TcpTmTcServer.h"
#include "mission/tmtc/Service15TmStorage.h"
#include <fsfw/osal/common/TcpTmTcBridge.h>
#include <fsfw/osal/common/TcpTmTcServer.h>
#endif
#endif
@ -234,7 +233,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
// PUS service stack
new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION, config::EIVE_PUS_APID,
pus::PUS_SERVICE_1, objects::PUS_TM_FUNNEL, 40);
pus::PUS_SERVICE_1, objects::PUS_TM_FUNNEL,
config::VERIFICATION_SERVICE_QUEUE_DEPTH);
new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS, config::EIVE_PUS_APID,
pus::PUS_SERVICE_2, 3, 10);
new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, config::EIVE_PUS_APID,
@ -243,7 +243,7 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
PsbParams(objects::PUS_SERVICE_5_EVENT_REPORTING, config::EIVE_PUS_APID, pus::PUS_SERVICE_5),
80, 160);
new Service8FunctionManagement(objects::PUS_SERVICE_8_FUNCTION_MGMT, config::EIVE_PUS_APID,
pus::PUS_SERVICE_8, 16, 60);
pus::PUS_SERVICE_8, config::ACTION_SERVICE_QUEUE_DEPTH, 16, 60);
new Service9TimeManagement(
PsbParams(objects::PUS_SERVICE_9_TIME_MGMT, config::EIVE_PUS_APID, pus::PUS_SERVICE_9));

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@ -595,8 +595,8 @@ ReturnValue_t GomspaceDeviceHandler::parsePduHkTable(PDU::PduCoreHk& coreHk, PDU
for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
coreHk.voltages[idx] = as<uint16_t>(packet + 0x12 + (idx * 2));
}
auxHk.vcc.value = as<int16_t>(packet + 0x24);
auxHk.vbat.value = as<int16_t>(packet + 0x26);
coreHk.vcc.value = as<int16_t>(packet + 0x24);
coreHk.vbat.value = as<int16_t>(packet + 0x26);
coreHk.temperature = as<int16_t>(packet + 0x28) * 0.1;
for (uint8_t idx = 0; idx < 3; idx++) {

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@ -404,6 +404,11 @@ class PduCoreHk : public StaticLocalDataSet<9> {
/** Battery mode: 1 = Critical, 2 = Safe, 3 = Normal, 4 = Full */
lp_var_t<uint8_t> battMode = lp_var_t<uint8_t>(sid.objectId, pool::PDU_BATT_MODE, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, pool::PDU_TEMPERATURE, this);
/** Measured VCC */
lp_var_t<int16_t> vcc = lp_var_t<int16_t>(sid.objectId, pool::PDU_VCC, this);
/** Measured VBAT */
lp_var_t<int16_t> vbat = lp_var_t<int16_t>(sid.objectId, pool::PDU_VBAT, this);
};
class PduConfig : public StaticLocalDataSet<32> {
@ -451,11 +456,6 @@ class PduAuxHk : public StaticLocalDataSet<36> {
PduAuxHk(object_id_t objectId, uint32_t setId) : StaticLocalDataSet(sid_t(objectId, setId)) {}
/** Measured VCC */
lp_var_t<int16_t> vcc = lp_var_t<int16_t>(sid.objectId, pool::PDU_VCC, this);
/** Measured VBAT */
lp_var_t<int16_t> vbat = lp_var_t<int16_t>(sid.objectId, pool::PDU_VBAT, this);
/** Output converter enable status */
lp_vec_t<uint8_t, 3> converterEnable =
lp_vec_t<uint8_t, 3>(sid.objectId, pool::PDU_CONV_EN, this);