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eive/eive-obsw
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Merge pull request 'enable periodic HK' (#525) from feature_set_up_periodic_hk into develop
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Reviewed-on: #525
This commit is contained in:
Robin Müller 2023-03-27 13:50:51 +02:00
commit 68bc7f7682
35 changed files with 140 additions and 89 deletions
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1
CHANGELOG.md
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@ -18,6 +18,7 @@ will consitute of a breaking change warranting a new major release:
## Changed
- Enabled periodic hosuekeeping generation for release images.
- Project structure (linux and mission folder) is subsystem centric now.
# [v1.40.0] 2023-03-24

2
CMakeLists.txt
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@ -297,9 +297,11 @@ include(BuildType)
set_build_type()
set(FSFW_DEBUG_INFO 0)
set(OBSW_ENABLE_PERIODIC_HK 1)
set(Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 0)
if(RELEASE_BUILD MATCHES 0)
set(FSFW_DEBUG_INFO 1)
set(OBSW_ENABLE_PERIODIC_HK 0)
set(Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1)
endif()

9
bsp_q7s/OBSWConfig.h.in
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@ -13,9 +13,12 @@
/** All of the following flags should be enabled for mission code */
/*******************************************************************/
#define OBSW_ENABLE_PERIODIC_HK 0
// This enables a lot of periodically generated telemetry, so it can make sense to
// disable this for debugging purposes.
#define OBSW_ENABLE_PERIODIC_HK @OBSW_ENABLE_PERIODIC_HK@
// This switch will cause the SW to command the EIVE system object to safe mode. This will
// trigger a lot of events, so it can make sense to disable this for debugging purposes
// trigger a lot of events, so it can make sense to disable this for debugging purposes.
#define OBSW_COMMAND_SAFE_MODE_AT_STARTUP 1
#define OBSW_ADD_GOMSPACE_PCDU @OBSW_ADD_GOMSPACE_PCDU@
@ -28,8 +31,8 @@
#define OBSW_ADD_SUS_BOARD_ASS @OBSW_ADD_SUS_BOARD_ASS@
#define OBSW_ADD_ACS_BOARD @OBSW_ADD_ACS_BOARD@
#define OBSW_ADD_ACS_CTRL 1
#define OBSW_ADD_TCS_CTRL 1
#define OBSW_ADD_GPS_CTRL @OBSW_ADD_GPS_CTRL@
#define OBSW_ADD_TCS_CTRL @OBSW_ADD_TCS_CTRL@
#define OBSW_ADD_RW @OBSW_ADD_RW@
#define OBSW_ADD_RTD_DEVICES @OBSW_ADD_RTD_DEVICES@
#define OBSW_ADD_SA_DEPL @OBSW_ADD_SA_DEPL@

6
bsp_q7s/core/CoreController.cpp
View File

@ -31,8 +31,10 @@
xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;
CoreController::CoreController(object_id_t objectId, const std::atomic_uint16_t &i2cErrors)
CoreController::CoreController(object_id_t objectId, const std::atomic_uint16_t &i2cErrors,
bool enableHkSet)
: ExtendedControllerBase(objectId, 5),
enableHkSet(enableHkSet),
cmdExecutor(4096),
cmdReplyBuf(4096, true),
cmdRepliesSizes(128),
@ -136,7 +138,7 @@ ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &local
localDataPoolMap.emplace(core::TEMPERATURE, &tempPoolEntry);
localDataPoolMap.emplace(core::PS_VOLTAGE, &psVoltageEntry);
localDataPoolMap.emplace(core::PL_VOLTAGE, &plVoltageEntry);
poolManager.subscribeForRegularPeriodicPacket({hkSet.getSid(), false, 10.0});
poolManager.subscribeForRegularPeriodicPacket({hkSet.getSid(), enableHkSet, 12.0});
return returnvalue::OK;
}

3
bsp_q7s/core/CoreController.h
View File

@ -135,7 +135,7 @@ class CoreController : public ExtendedControllerBase {
static constexpr Event I2C_UNAVAILABLE_REBOOT =
event::makeEvent(SUBSYSTEM_ID, 10, severity::MEDIUM);
CoreController(object_id_t objectId, const std::atomic_uint16_t& i2cErrors);
CoreController(object_id_t objectId, const std::atomic_uint16_t& i2cErrors, bool enableHkSet);
virtual ~CoreController();
ReturnValue_t initialize() override;
@ -179,6 +179,7 @@ class CoreController : public ExtendedControllerBase {
static constexpr uint32_t BOOT_OFFSET_SECONDS = 15;
static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
static constexpr uint32_t MUTEX_TIMEOUT = 20;
bool enableHkSet = false;
GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::UNKNOWN;
// States for SD state machine, which is used in non-blocking mode

29
bsp_q7s/core/ObjectFactory.cpp
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@ -187,27 +187,28 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
//*spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
}
void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher,
bool enableHkSets) {
CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_SIZE, addresses::P60DOCK, 500);
CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU1, 500);
CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU2, 500);
CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_SIZE, addresses::ACU, 500);
auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
P60DockHandler* p60dockhandler =
new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie, p60Fdir);
P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF,
p60DockCspCookie, p60Fdir, enableHkSets);
auto pdu1Fdir = new GomspacePowerFdir(objects::PDU1_HANDLER);
Pdu1Handler* pdu1handler =
new Pdu1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
Pdu1Handler* pdu1handler = new Pdu1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF,
pdu1CspCookie, pdu1Fdir, enableHkSets);
auto pdu2Fdir = new GomspacePowerFdir(objects::PDU2_HANDLER);
Pdu2Handler* pdu2handler =
new Pdu2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
Pdu2Handler* pdu2handler = new Pdu2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
pdu2CspCookie, pdu2Fdir, enableHkSets);
auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
ACUHandler* acuhandler =
new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir);
ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie,
acuFdir, enableHkSets);
auto pcduHandler = new PcduHandler(objects::PCDU_HANDLER, 50);
/**
@ -963,14 +964,14 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
starTracker->setCustomFdir(strFdir);
}
void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets) {
auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
new ImtqPollingTask(objects::IMTQ_POLLING, I2C_FATAL_ERRORS);
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::IMTQ_POLLING, imtqI2cCookie,
pcdu::Switches::PDU1_CH3_MGT_5V);
pcdu::Switches::PDU1_CH3_MGT_5V, enableHkSets);
imtqHandler->enableThermalModule(ThermalStateCfg());
imtqHandler->setPowerSwitcher(pwrSwitcher);
imtqHandler->connectModeTreeParent(*imtqAssy);
@ -984,10 +985,10 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
#endif
}
void ObjectFactory::createBpxBatteryComponent() {
void ObjectFactory::createBpxBatteryComponent(bool enableHkSets) {
I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_PL_EIVE);
BpxBatteryHandler* bpxHandler =
new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
BpxBatteryHandler* bpxHandler = new BpxBatteryHandler(
objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie, enableHkSets);
bpxHandler->setStartUpImmediately();
bpxHandler->setToGoToNormalMode(true);
#if OBSW_DEBUG_BPX_BATT == 1

7
bsp_q7s/core/ObjectFactory.h
View File

@ -53,7 +53,8 @@ void produce(void* args);
void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, SerialComIF** uartComIF,
SpiComIF** spiMainComIF, I2cComIF** i2cComIF);
void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher,
bool enableHkSets);
void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);
void createTmpComponents();
@ -63,8 +64,8 @@ void createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF, Ser
PowerSwitchIF& pwrSwitcher);
void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
HeaterHandler*& heaterHandler);
void createImtqComponents(PowerSwitchIF* pwrSwitcher);
void createBpxBatteryComponent();
void createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets);
void createBpxBatteryComponent(bool enableHkSets);
void createStrComponents(PowerSwitchIF* pwrSwitcher);
void createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher, GpioIF& gpioIF);
void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);

17
bsp_q7s/em/emObjectFactory.cpp
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@ -29,6 +29,11 @@ void ObjectFactory::produce(void* args) {
StorageManagerIF* ipcStore = nullptr;
StorageManagerIF* tmStore = nullptr;
bool enableHkSets = false;
#if OBSW_ENABLE_PERIODIC_HK == 1
enableHkSets = true;
#endif
PersistentTmStores stores;
ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
*SdCardManager::instance(), &ipcStore, &tmStore, stores);
@ -61,12 +66,12 @@ void ObjectFactory::produce(void* args) {
auto* comCookieDummy = new ComCookieDummy();
pwrSwitcher = new PcduHandlerDummy(objects::PCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
#else
createPcduComponents(gpioComIF, &pwrSwitcher);
createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
#endif
dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF);
new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS);
new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS, enableHkSets);
// Regular FM code, does not work for EM if the hardware is not connected
// createPcduComponents(gpioComIF, &pwrSwitcher);
@ -84,7 +89,7 @@ void ObjectFactory::produce(void* args) {
// createRadSensorComponent(gpioComIF);
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(gpioComIF, uartComIF, *pwrSwitcher);
createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher);
#else
// Still add all GPIOs for EM.
GpioCookie* acsBoardGpios = new GpioCookie();
@ -93,7 +98,7 @@ void ObjectFactory::produce(void* args) {
#endif
#if OBSW_ADD_MGT == 1
createImtqComponents(pwrSwitcher);
createImtqComponents(pwrSwitcher, enableHkSets);
#endif
#if OBSW_ADD_SYRLINKS == 1
@ -105,7 +110,7 @@ void ObjectFactory::produce(void* args) {
#endif
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
createBpxBatteryComponent();
createBpxBatteryComponent(enableHkSets);
#endif
#if OBSW_ADD_STAR_TRACKER == 1
@ -131,7 +136,7 @@ void ObjectFactory::produce(void* args) {
createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
#endif
createAcsController(true);
createAcsController(true, enableHkSets);
HeaterHandler* heaterHandler = nullptr;
ObjectFactory::createGenericHeaterComponents(*gpioComIF, *pwrSwitcher, heaterHandler);
createThermalController(*heaterHandler);

15
bsp_q7s/fmObjectFactory.cpp
View File

@ -24,6 +24,11 @@ void ObjectFactory::produce(void* args) {
StorageManagerIF* ipcStore = nullptr;
StorageManagerIF* tmStore = nullptr;
bool enableHkSets = false;
#if OBSW_ENABLE_PERIODIC_HK == 1
enableHkSets = true;
#endif
PersistentTmStores stores;
ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
*SdCardManager::instance(), &ipcStore, &tmStore, stores);
@ -38,8 +43,8 @@ void ObjectFactory::produce(void* args) {
q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
gpioCallbacks::disableAllDecoder(gpioComIF);
new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS);
createPcduComponents(gpioComIF, &pwrSwitcher);
new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS, enableHkSets);
createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
auto* stackHandler = new Stack5VHandler(*pwrSwitcher);
#if OBSW_ADD_RAD_SENSORS == 1
@ -66,12 +71,12 @@ void ObjectFactory::produce(void* args) {
createPayloadComponents(gpioComIF, *pwrSwitcher);
#if OBSW_ADD_MGT == 1
createImtqComponents(pwrSwitcher);
createImtqComponents(pwrSwitcher, enableHkSets);
#endif
createReactionWheelComponents(gpioComIF, pwrSwitcher);
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
createBpxBatteryComponent();
createBpxBatteryComponent(enableHkSets);
#endif
#if OBSW_ADD_STAR_TRACKER == 1
@ -101,6 +106,6 @@ void ObjectFactory::produce(void* args) {
createMiscComponents();
createThermalController(*heaterHandler);
createAcsController(true);
createAcsController(true, enableHkSets);
satsystem::init();
}

1
common/config/eive/definitions.h
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@ -55,6 +55,7 @@ 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 HK_SERVICE_QUEUE_DEPTH = 60;
static constexpr uint32_t MAX_STORED_CMDS_UDP = 150;
static constexpr uint32_t MAX_STORED_CMDS_TCP = 180;

2
fsfw

@ -1 +1 @@
Subproject commit b814e7198f720cad0fb063f54644d5dbc92c165c
Subproject commit b31e1037fb3d436e6a7f213050af8f64d194a85d

4
linux/ObjectFactory.cpp
View File

@ -327,8 +327,8 @@ void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwr
scexHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
}
AcsController* ObjectFactory::createAcsController(bool connectSubsystem) {
auto acsCtrl = new AcsController(objects::ACS_CONTROLLER);
AcsController* ObjectFactory::createAcsController(bool connectSubsystem, bool enableHkSets) {
auto acsCtrl = new AcsController(objects::ACS_CONTROLLER, enableHkSets);
if (connectSubsystem) {
acsCtrl->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
}

2
linux/ObjectFactory.h
View File

@ -30,6 +30,6 @@ void createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher,
void gpioChecker(ReturnValue_t result, std::string output);
AcsController* createAcsController(bool connectSubsystem);
AcsController* createAcsController(bool connectSubsystem, bool enableHkSets);
} // namespace ObjectFactory

7
mission/acs/ImtqHandler.cpp
View File

@ -30,8 +30,9 @@
static constexpr bool ACTUATION_WIRETAPPING = false;
ImtqHandler::ImtqHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
power::Switch_t pwrSwitcher)
power::Switch_t pwrSwitcher, bool enableHkSets)
: DeviceHandlerBase(objectId, comIF, comCookie),
enableHkSets(enableHkSets),
statusSet(this),
dipoleSet(*this),
rawMtmNoTorque(this),
@ -778,9 +779,9 @@ ReturnValue_t ImtqHandler::initializeLocalDataPool(localpool::DataPool& localDat
localDataPoolMap.emplace(imtq::FINA_NEG_Z_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), false, 10.0));
subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), enableHkSets, 12.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), false, 10.0));
subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), enableHkSets, 12.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(rawMtmNoTorque.getSid(), false, 10.0));
poolManager.subscribeForDiagPeriodicPacket(

3
mission/acs/ImtqHandler.h
View File

@ -18,7 +18,7 @@ class ImtqHandler : public DeviceHandlerBase {
enum NormalPollingMode { UNCALIBRATED = 0, CALIBRATED = 1, BOTH = 2 };
ImtqHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
power::Switch_t pwrSwitcher);
power::Switch_t pwrSwitcher, bool enableHkSets);
virtual ~ImtqHandler();
void setPollingMode(NormalPollingMode pollMode);
@ -85,6 +85,7 @@ class ImtqHandler : public DeviceHandlerBase {
enum class InternalState { NONE, STARTUP, SHUTDOWN } internalState = InternalState::NONE;
bool commandExecuted = false;
bool enableHkSets = false;
imtq::Request request{};

4
mission/acs/RwHandler.cpp
View File

@ -33,6 +33,7 @@ void RwHandler::doStartUp() {
sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to high";
}
updatePeriodicReply(true, rws::REPLY_ID);
statusSet.setReportingEnabled(true);
setMode(_MODE_TO_ON);
}
@ -48,6 +49,7 @@ void RwHandler::doShutDown() {
statusSet.referenceSpeed = 0.0;
statusSet.state = 0;
statusSet.setValidity(false, true);
statusSet.setReportingEnabled(false);
}
{
PoolReadGuard pg(&tmDataset);
@ -304,7 +306,7 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP
localDataPoolMap.emplace(rws::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(rws::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 5.0));
subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 12.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(tmDataset.getSid(), false, 30.0));
poolManager.subscribeForRegularPeriodicPacket(

4
mission/acs/str/StarTrackerHandler.cpp
View File

@ -260,6 +260,7 @@ void StarTrackerHandler::doStartUp() {
default:
return;
}
solutionSet.setReportingEnabled(true);
startupState = StartupState::DONE;
internalState = InternalState::IDLE;
setMode(_MODE_TO_ON);
@ -271,6 +272,7 @@ void StarTrackerHandler::doShutDown() {
internalState = InternalState::IDLE;
startupState = StartupState::IDLE;
bootState = FwBootState::NONE;
solutionSet.setReportingEnabled(false);
setMode(_MODE_POWER_DOWN);
}
@ -1270,7 +1272,7 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(interfaceSet.getSid(), false, 10.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(solutionSet.getSid(), false, 5.0));
subdp::DiagnosticsHkPeriodicParams(solutionSet.getSid(), false, 12.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(cameraSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(

10
mission/com/SyrlinksHandler.cpp
View File

@ -641,12 +641,16 @@ ReturnValue_t SyrlinksHandler::initializeLocalDataPool(localpool::DataPool& loca
localDataPoolMap.emplace(syrlinks::TEMP_BASEBAND_BOARD, new PoolEntry<float>({0}));
localDataPoolMap.emplace(syrlinks::TEMP_POWER_AMPLIFIER, new PoolEntry<float>({0}));
bool enableHkSets = false;
#if OBSW_ENABLE_PERIODIC_HK == 1
enableHkSets = true;
#endif
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(txDataset.getSid(), false, 5.0));
subdp::DiagnosticsHkPeriodicParams(txDataset.getSid(), enableHkSets, 60.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(rxDataset.getSid(), false, 5.0));
subdp::DiagnosticsHkPeriodicParams(rxDataset.getSid(), enableHkSets, 60.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(temperatureSet.getSid(), false, 10.0));
subdp::RegularHkPeriodicParams(temperatureSet.getSid(), enableHkSets, 20.0));
return returnvalue::OK;
}

17
mission/controller/AcsController.cpp
View File

@ -4,8 +4,9 @@
#include <mission/acs/defs.h>
#include <mission/config/torquer.h>
AcsController::AcsController(object_id_t objectId)
AcsController::AcsController(object_id_t objectId, bool enableHkSets)
: ExtendedControllerBase(objectId),
enableHkSets(enableHkSets),
guidance(&acsParameters),
safeCtrl(&acsParameters),
ptgCtrl(&acsParameters),
@ -574,7 +575,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT, &mgmVecTot);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT_DERIVATIVE, &mgmVecTotDer);
localDataPoolMap.emplace(acsctrl::PoolIds::MAG_IGRF_MODEL, &magIgrf);
poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), false, 5.0});
poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), enableHkSets, 12.0});
// SUS Raw
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_N_LOC_XFYFZM_PT_XF, &sus0ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_N_LOC_XBYFZM_PT_XB, &sus1ValRaw);
@ -605,7 +606,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT, &susVecTot);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT_DERIVATIVE, &susVecTotDer);
localDataPoolMap.emplace(acsctrl::PoolIds::SUN_IJK_MODEL, &sunIjk);
poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), false, 5.0});
poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), enableHkSets, 12.0});
// GYR Raw
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_ADIS, &gyr0VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_L3, &gyr1VecRaw);
@ -618,30 +619,30 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_VEC, &gyr2VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_VEC, &gyr3VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_VEC_TOT, &gyrVecTot);
poolManager.subscribeForDiagPeriodicPacket({gyrDataProcessed.getSid(), false, 5.0});
poolManager.subscribeForDiagPeriodicPacket({gyrDataProcessed.getSid(), enableHkSets, 12.0});
// GPS Processed
localDataPoolMap.emplace(acsctrl::PoolIds::GC_LATITUDE, &gcLatitude);
localDataPoolMap.emplace(acsctrl::PoolIds::GD_LONGITUDE, &gdLongitude);
localDataPoolMap.emplace(acsctrl::PoolIds::ALTITUDE, &altitude);
localDataPoolMap.emplace(acsctrl::PoolIds::GPS_POSITION, &gpsPosition);
localDataPoolMap.emplace(acsctrl::PoolIds::GPS_VELOCITY, &gpsVelocity);
poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), false, 5.0});
poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), enableHkSets, 12.0});
// MEKF
localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
localDataPoolMap.emplace(acsctrl::PoolIds::SAT_ROT_RATE_MEKF, &satRotRateMekf);
localDataPoolMap.emplace(acsctrl::PoolIds::MEKF_STATUS, &mekfStatus);
poolManager.subscribeForDiagPeriodicPacket({mekfData.getSid(), false, 5.0});
poolManager.subscribeForDiagPeriodicPacket({mekfData.getSid(), enableHkSets, 12.0});
// Ctrl Values
localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat);
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_QUAT, &errQuat);
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_ANG, &errAng);
localDataPoolMap.emplace(acsctrl::PoolIds::TGT_ROT_RATE, &tgtRotRate);
poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), false, 5.0});
poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), enableHkSets, 12.0});
// Actuator CMD
localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_TORQUE, &rwTargetTorque);
localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_SPEED, &rwTargetSpeed);
localDataPoolMap.emplace(acsctrl::PoolIds::MTQ_TARGET_DIPOLE, &mtqTargetDipole);
poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), false, 5.0});
poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), enableHkSets, 12.0});
return returnvalue::OK;
}

4
mission/controller/AcsController.h
View File

@ -28,7 +28,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
public:
static constexpr dur_millis_t INIT_DELAY = 500;
AcsController(object_id_t objectId);
AcsController(object_id_t objectId, bool enableHkSets);
MessageQueueId_t getCommandQueue() const;
ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
@ -46,6 +46,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
static constexpr double RW_OFF_TORQUE[4] = {0.0, 0.0, 0.0, 0.0};
static constexpr int32_t RW_OFF_SPEED[4] = {0, 0, 0, 0};
bool enableHkSets = false;
AcsParameters acsParameters;
SensorProcessing sensorProcessing;
Navigation navigation;

13
mission/controller/ThermalController.cpp
View File

@ -196,14 +196,19 @@ ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& lo
localDataPoolMap.emplace(tcsCtrl::HEATER_SWITCH_LIST, &heaterSwitchStates);
localDataPoolMap.emplace(tcsCtrl::HEATER_CURRENT, &heaterCurrent);
bool enableHkSets = false;
#if OBSW_ENABLE_PERIODIC_HK == 1
enableHkSets = true;
#endif
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(sensorTemperatures.getSid(), false, 10.0));
subdp::RegularHkPeriodicParams(sensorTemperatures.getSid(), enableHkSets, 60.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(susTemperatures.getSid(), false, 10.0));
subdp::RegularHkPeriodicParams(susTemperatures.getSid(), enableHkSets, 60.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(deviceTemperatures.getSid(), false, 10.0));
subdp::RegularHkPeriodicParams(deviceTemperatures.getSid(), enableHkSets, 60.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(heaterInfo.getSid(), false, 10.0));
subdp::DiagnosticsHkPeriodicParams(heaterInfo.getSid(), enableHkSets, 30.0));
return returnvalue::OK;
}

2
mission/genericFactory.cpp
View File

@ -234,7 +234,7 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
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,
pus::PUS_SERVICE_3);
pus::PUS_SERVICE_3, config::HK_SERVICE_QUEUE_DEPTH);
new Service5EventReporting(
PsbParams(objects::PUS_SERVICE_5_EVENT_REPORTING, config::EIVE_PUS_APID, pus::PUS_SERVICE_5),
40, 120);

8
mission/power/AcuHandler.cpp
View File

@ -3,8 +3,8 @@
#include "OBSWConfig.h"
ACUHandler::ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
FailureIsolationBase *customFdir)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir),
FailureIsolationBase *customFdir, bool enableHkSets)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir, enableHkSets),
coreHk(this),
auxHk(this) {
cfg.maxConfigTableAddress = ACU::MAX_CONFIGTABLE_ADDRESS;
@ -149,9 +149,9 @@ ReturnValue_t ACUHandler::initializeLocalDataPool(localpool::DataPool &localData
localDataPoolMap.emplace(pool::ACU_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), false, 10.0));
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 20.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(auxHk.getSid(), false, 30.0));
subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 3000.0));
return returnvalue::OK;
}

2
mission/power/AcuHandler.h
View File

@ -13,7 +13,7 @@
class ACUHandler : public GomspaceDeviceHandler {
public:
ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
FailureIsolationBase* customFdir);
FailureIsolationBase* customFdir, bool enableHkSets);
virtual ~ACUHandler();
void setDebugMode(bool enable);

11
mission/power/BpxBatteryHandler.cpp
View File

@ -1,8 +1,12 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include <mission/power/BpxBatteryHandler.h>
BpxBatteryHandler::BpxBatteryHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie)
: DeviceHandlerBase(objectId, comIF, comCookie), hkSet(this), cfgSet(this) {}
BpxBatteryHandler::BpxBatteryHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
bool enableHkSets)
: DeviceHandlerBase(objectId, comIF, comCookie),
enableHkSets(enableHkSets),
hkSet(this),
cfgSet(this) {}
BpxBatteryHandler::~BpxBatteryHandler() {}
@ -267,8 +271,9 @@ ReturnValue_t BpxBatteryHandler::initializeLocalDataPool(localpool::DataPool& lo
localDataPoolMap.emplace(BpxBattery::BATTERY_HEATER_MODE, &battheatMode);
localDataPoolMap.emplace(BpxBattery::BATTHEAT_LOW_LIMIT, &battheatLow);
localDataPoolMap.emplace(BpxBattery::BATTHEAT_HIGH_LIMIT, &battheatHigh);
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(hkSet.getSid(), false, 30.0));
subdp::RegularHkPeriodicParams(hkSet.getSid(), enableHkSets, 20.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(cfgSet.getSid(), false, 30.0));
return returnvalue::OK;

4
mission/power/BpxBatteryHandler.h
View File

@ -7,7 +7,8 @@
class BpxBatteryHandler : public DeviceHandlerBase {
public:
BpxBatteryHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
BpxBatteryHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
bool enableHkSets);
virtual ~BpxBatteryHandler();
void setToGoToNormalMode(bool enable);
@ -19,6 +20,7 @@ class BpxBatteryHandler : public DeviceHandlerBase {
IDLE = 1,
};
bool enableHkSets = false;
States state = States::CHECK_COM;
bool commandExecuted = false;
bool debugMode = false;

6
mission/power/GomspaceDeviceHandler.cpp
View File

@ -12,8 +12,10 @@ using namespace GOMSPACE;
GomspaceDeviceHandler::GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF,
CookieIF* comCookie, TableConfig& tableConfig,
FailureIsolationBase* customFdir)
: DeviceHandlerBase(objectId, comIF, comCookie, customFdir), tableCfg(tableConfig) {
FailureIsolationBase* customFdir, bool enableHkSets)
: DeviceHandlerBase(objectId, comIF, comCookie, customFdir),
enableHkSets(enableHkSets),
tableCfg(tableConfig) {
if (comCookie == nullptr) {
sif::error << "GomspaceDeviceHandler::GomspaceDeviceHandler: Invalid com cookie" << std::endl;
}

4
mission/power/GomspaceDeviceHandler.h
View File

@ -45,7 +45,8 @@ class GomspaceDeviceHandler : public DeviceHandlerBase {
* device.
*/
GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
TableConfig &tableConfig, FailureIsolationBase *customFdir);
TableConfig &tableConfig, FailureIsolationBase *customFdir,
bool enableHkSets);
virtual ~GomspaceDeviceHandler();
/**
@ -59,6 +60,7 @@ class GomspaceDeviceHandler : public DeviceHandlerBase {
static const uint8_t PARAM_SET_OK = 1;
static const uint8_t PING_REPLY_SIZE = 2;
bool enableHkSets = false;
uint8_t rememberRequestedSize = 0;
uint8_t rememberCommandId = GOMSPACE::NONE;
uint8_t cspPacket[MAX_PACKET_LEN];

8
mission/power/P60DockHandler.cpp
View File

@ -4,8 +4,8 @@
#include "OBSWConfig.h"
P60DockHandler::P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
FailureIsolationBase *customFdir)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir),
FailureIsolationBase *customFdir, bool enableHkSets)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir, enableHkSets),
coreHk(this),
auxHk(this) {
cfg.maxConfigTableAddress = P60Dock::MAX_CONFIGTABLE_ADDRESS;
@ -166,9 +166,9 @@ ReturnValue_t P60DockHandler::initializeLocalDataPool(localpool::DataPool &local
localDataPoolMap.emplace(pool::P60DOCK_ANT6_DEPL, new PoolEntry<int8_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_AR6_DEPL, new PoolEntry<int8_t>({0}));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), false, 10.0));
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 20.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(auxHk.getSid(), false, 30.0));
subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 3000.0));
return returnvalue::OK;
}

2
mission/power/P60DockHandler.h
View File

@ -22,7 +22,7 @@ class P60DockHandler : public GomspaceDeviceHandler {
static constexpr Event BATT_MODE_CHANGED = event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
FailureIsolationBase* customFdir);
FailureIsolationBase* customFdir, bool enableHkSets);
virtual ~P60DockHandler();
void setDebugMode(bool enable);

8
mission/power/Pdu1Handler.cpp
View File

@ -5,8 +5,8 @@
#include "devices/powerSwitcherList.h"
Pdu1Handler::Pdu1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
FailureIsolationBase *customFdir)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir),
FailureIsolationBase *customFdir, bool enableHkSets)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir, enableHkSets),
coreHk(this),
auxHk(this) {
initPduConfigTable();
@ -90,9 +90,9 @@ ReturnValue_t Pdu1Handler::initializeLocalDataPool(localpool::DataPool &localDat
LocalDataPoolManager &poolManager) {
initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU1);
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), false, 10.0));
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 20.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(auxHk.getSid(), false, 30.0));
subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 3000.0));
return returnvalue::OK;
}

2
mission/power/Pdu1Handler.h
View File

@ -22,7 +22,7 @@
class Pdu1Handler : public GomspaceDeviceHandler {
public:
Pdu1Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
FailureIsolationBase* customFdir);
FailureIsolationBase* customFdir, bool enableHkSets);
virtual ~Pdu1Handler();
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,

8
mission/power/Pdu2Handler.cpp
View File

@ -5,8 +5,8 @@
#include "devices/powerSwitcherList.h"
Pdu2Handler::Pdu2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
FailureIsolationBase *customFdir)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir),
FailureIsolationBase *customFdir, bool enableHkSets)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir, enableHkSets),
coreHk(this),
auxHk(this) {
initPduConfigTable();
@ -49,9 +49,9 @@ ReturnValue_t Pdu2Handler::initializeLocalDataPool(localpool::DataPool &localDat
LocalDataPoolManager &poolManager) {
initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU2);
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), false, 10.0));
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(auxHk.getSid(), false, 30.0));
subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 30.0));
return returnvalue::OK;
}

2
mission/power/Pdu2Handler.h
View File

@ -21,7 +21,7 @@
class Pdu2Handler : public GomspaceDeviceHandler {
public:
Pdu2Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
FailureIsolationBase* customFdir);
FailureIsolationBase* customFdir, bool enableHkSets);
virtual ~Pdu2Handler();
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,

2
tmtc

@ -1 +1 @@
Subproject commit 3d25a30a112f8d75c54368c462c17e1fbafc7690
Subproject commit f6fcb2fb282d79b1e250722eba46a319603b0232