eive/eive-obsw
eive/eive-obsw
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Merge remote-tracking branch 'origin/develop' into bugfix_acs_brd_ass
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This commit is contained in:
Robin Müller 2023-03-02 14:55:00 +01:00
commit 74ffbf1dcd
7 changed files with 38 additions and 29 deletions
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7
CHANGELOG.md
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@ -19,6 +19,13 @@ will consitute of a breaking change warranting a new major release:
## Changed
- 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.
## Fixed
- IMTQ: Sets were filled with wrong data, e.g. Raw MTM was filled with calibrated MTM measurements.
- Set RM3100 dataset to valid.
# [v1.33.0]

2
mission/controller/AcsController.cpp
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@ -661,7 +661,6 @@ void AcsController::announceMode(bool recursive) {
}
void AcsController::copyMgmData() {
ACS::SensorValues sensorValues;
{
PoolReadGuard pg(&sensorValues.mgm0Lis3Set);
if (pg.getReadResult() == returnvalue::OK) {
@ -806,7 +805,6 @@ void AcsController::copySusData() {
}
void AcsController::copyGyrData() {
ACS::SensorValues sensorValues;
{
PoolReadGuard pg(&sensorValues.gyr0AdisSet);
if (pg.getReadResult() == returnvalue::OK) {

33
mission/devices/ImtqHandler.cpp
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@ -312,7 +312,7 @@ 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 +323,7 @@ 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 +345,7 @@ 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 +361,7 @@ ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint
} else {
status = result;
}
fillEngHkDataset(hkDatasetNoTorque, engHkReply);
fillEngHkDataset(hkDatasetWithTorque, engHkReply);
if (firstReplyCycle) {
firstReplyCycle = false;
}
@ -847,8 +847,11 @@ 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 +879,18 @@ 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];
}

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);

2
tmtc

@ -1 +1 @@
Subproject commit 350ffda6c61b76dc9a6bbf08cec168c29c08136f
Subproject commit 2dd850f0725d37256c17576bf7d3ae4423184044