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Merge remote-tracking branch 'origin/main' into str_set_time
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Robin Müller 2023-07-12 17:06:18 +02:00
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359
CHANGELOG.md
View File

@ -16,6 +16,365 @@ will consitute of a breaking change warranting a new major release:
# [unreleased]
## Changed
- TCS: Remove OBC IF board thermal module, which is exactly identical to OBC module and therefore
obsolete.
- Swapped PL and PS I2C, BPX battery and MGT are connected to PS I2C now for firmware versions
equal or above v4. However, this software version is compatible to both v3 and v4 of the firmware.
- The firmware version variables are global statics inititalized early during the program
runtime now. This makes it possible to check the firmware version earlier.
- The TCS controller will now always command heaters OFF when being blind for thermal
components (no sensors available), irrespective of current switch state.
- Make OBSW compatible to prospective FW version v5.0.0, where the Q7 I2C devices were
moved to a PL I2C block and the TMP sensor devices were moved to the PS I2C0.
- Made `Xadc` code a little bit more robust against errors.
## Fixed
- TMP1075: Set dataset invalid on shutdown explicitely
- Small fixes for TMP1075 FDIR: Use strange and missed reply counters.
- TCS controller: Last heater (S-band heater) was skipped for transition completion
checks.
- TCS controller: A helper member to track the elapsed heater control cycles was not reset
properly, which could lead to switch transitions being completed immediately. This can
lead to weird bugs like heaters being commanded ON twice and can potentially lead to
other bugs.
- TMP1075: Devices did not go to OFF mode when being set faulty.
- Update PL PCDU 1 in TCS mode tree on the EM.
- TMP1075: Possibly ignored health commands.
- Bugfix in FSFW where certain packet types could only be sent with source data fields with a
maximum size of 255 bytes.
- TCS CTRL: Limit number of heater handler messages sent in case there are not sensors available
anymore.
# Added
- Two events for heaters being commanded ON and OFF by the TCS controller
- Upper limit for burn time of TCS heaters. Currently set to 1 hour for each heater.
This mechanism will only track the burn time for heaters which were commanded by the
TCS controller.
- TCS controller is now observable by introducing a new HK dataset which exposes some internal
fields related to TCS control.
# [v6.0.0] 2023-07-02
- `q7s-package` version v3.2.0
- Important bugfixes for PTME. See `q7s-package` CHANGELOG.
## Changed
- Added back PTME busy bit polling. This is necessary due to changes to the AXI APB interface
to the PTME core.
## Fixed
- For the live channel (VC0), telemetry was still only dumped if the transmitter is active.
Please note that this fix will lead to crashes for FW versions below v3.2.
However, it might not be an issue for the oldest firmware on the satellite (v2.5.1).
# [v5.2.0] 2023-07-02
## Fixed
- The firmware information event was not triggered even when possible because of an ordering
bug in the initializer function.
- Empty dumps (no TM in time range) will now correctly be completed immediately
## Changed
- PTME was always reset on submode changes. The reset will now only be performed if the actual data
rate changes.
- Add back ACS board code for the EM. Now that the radiation sensor was removed, the image switching
issue has disappeared and adding back the ACS board is worth it for the GPS timekeeping.
# [v5.1.0] 2023-06-28
- `eive-tmtc` version v5.1.0
## Changed
- Persistent TM store dumps are now performed in chronological order.
- Increase Syrlinks RX HK rate to 5.0 seconds during a pass.
- Various robustness improvements for the heater handler. The heater handler will now only
process the command queue if it is not busy with switch commanding which reduces the amount
of possible bugs.
- The heater handler is only able to process messages stricly sequentially now but is scheduled
twice in a 0.5 second slot so something like a consecutive heater ON or OFF command can still
be handled relatively quickly.
## Added
- Sequence counters for PUS and CFDP packets are now stored persistently across graceful reboots.
- The PUS packet message type counter will now be incremented properly for each PUS service.
- Internal error reporter set is now enabled by default and generated every 120 seconds.
# [v5.0.0] 2023-06-26
v3.3.1 and all following version will now be moved to v5.0.0 with the additional changes listed
here. This was done because the firmware update (v4.0.0) is not working right now and it is not
known when and how it will be fixed. Because of that, all updates to make the SW work with the new
firmware, which are limited to a few files will be moved to a dev branch so regular development
compatible to the old firmware can continue.
TLDR: This version is compatible to the old firmware and some changes which only work with the new
firmware have been reverted.
## Changed
- Added `sync` syscall in graceful shutdown handler
- Graceful shutdown is now performed by the reboot watchdog
- There is now a separate file for the total reboot counter. The reboot watchdog has its own local
counters to determine whether a reboot is necessary.
# [v4.0.1] 2023-06-24
## Fixed
- `PusLiveDemux` packet demultiplexing bugfix where the demultiplexing did not work when there was
only one destination available.
# [v4.0.0] 2023-06-22
- `eive-tmtc` version v5.0.0
- `q7s-package` version v3.1.1
## Fixed
- Important bugfixes for PTME. See `q7s-package` CHANGELOG.
- TCS fixes: Set temperature values to invalid value for MAX31865 RTD handler, SUS handler
and STR handler. Also set dataset to invakid for RTD handler.
- Fixed H parameter in SUS converter from 1 mm to 2.5 mm.
## Changed
- Removed PTME busy/ready signals. Those were not used anyway because register reads are used now.
- APB bus access busy checking is not done anymore as this is performed by the bus itself now.
- Core controller will now announce version and image information event in addition to reboot
event in the `inititalize` function.
- Core controller will now try to request and announce the firmware version in addition to the
OBSW version as well.
- Added core controller action to read reboot mechansm information
- GNSS reset pin will now only be asserted for 5 ms instead of 100 ms.
## Added
- Added PL I2C reset pin. It is not used/connected for now but could be used for FDIR procedures to
restore the PL I2C.
- Core controller now announces firmware version as well when requesting a version info event
# [v3.3.1] 2023-06-22
## Fixed
- `PusLiveDemux` packet demultiplexing bugfix where the demultiplexing did not work when there was
only one destination available.
## Fixed
- Fixed H parameter in SUS converter from 1 mm to 2.5 mm.
# [v3.3.0] 2023-06-21
Like v3.2.0 but without the custom FM changes related to VC0.
# [v3.2.0] 2023-06-21
## Fixed
- Fix sun vector calculation
- SUS total vector was not reset to being a zero vector during eclipse due to a wrong memcpy
length.
## Changed
- Reverted all changes related to VC0 handling to avoid FM bug possibly related to FPGA bug.
# [v3.1.1] 2023-06-14
## Fixed
- TMP1075 bugfix where negative temperatures could not be measured because of a two's-complement
conversion bug.
# [v3.1.0] 2023-06-14
- `eive-tmtc` version v4.1.0
## Fixed
- TCS heater switch enumeration naming was old/wrong and was not updated in sync with the object ID
update. This lead to the TCS controller commanding the wrong heaters.
## Changed
- Increase number of allowed parallel HK commands to 16
## Added
- Added `CONFIG_SET`, `MAN_HEATER_ON` and `MAN_HEATER_OFF` support for the BPX battery handler
# [v3.0.0] 2023-06-11
- `eive-tmtc` version v4.0.0
## Changed
- Adapt EM configuration to include all GomSpace PCDU devices except the ACU. For the ACU
(which broke), a dummy will still be used.
- Event Manager queue depth is configurable now.
- Do not construct and schedule broken TMP1075 device anymore.
- Do not track payload modes in system mode tables.
- ACS modes derived from system modes.
- The CMake build generator will now search for the cross-compiler binaries in the environmental
variable named `CROSS_COMPILE_BIN_PATH` first when setting up the build system. This prevents
CMake from selecting wrong cross-compilers if multiple cross-compilers with the same name are used
on the same system.
- Add ACS board for EM by default now.
- Add support for MPSoC HK packet.
- Add support for MPSoC Flash Directory Content Report.
- Dynamically enable and disable HK packets for MPSoC on `ON` and `OFF` commands.
- Add support for MPSoC Flash Directory Content Report.
- Larger allowed path and file sizes for STR and PLOC MPSoC modules.
- More robust MPSoC flash read and write command data handling.
- Increase frequency of payload handlers from 0.8 seconds to 0.5 seconds.
- Disable missed deadlines per default. Not useful in orbit, and triggers all the time on the EM
build after a number of subsequent runs, without any apparent reason (deadlines are not actually
missed, thread usage displayed is nominal)
- TM store dumpes will not be cancelled anymore if the transmitter is off. The dump can be cancelled
with an OFF command, and the PTME is perfectly capable of dumping without the transmitter being
on.
- Transmitter state is not taken into account anymore for writing into the PTME. The PTME should
be perfectly capable of generating a valid CADU, even when the transmitter is not ON for any
reason.
- OFF mode is ignores in TM store for determining whether a store will be written. The modes will
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
- Add the remaining system modes.
- PLOC MPSoC flash read command working.
- BPX battery handler is added for EM by default.
- ACU dummy HK sets
- 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
16505 type.
- Host build is working again. Added reduced live TM helper which schedules the PUS and CFDP
funnel.
- PLOC Supervisor handler now has a power switcher assigned to make PLOC power switching work
without an additional PCDU power switch command.
- The PLOC Supervisor handler now waits for the replies to the `SET_TIME` command to verify working
communication.
- The PLOC MPSoC now waits 10 cycles before going to on. These wait cycles are necessary because
the MPSoC is not ready to process commands without this additional boot time.
- Fixed correction for `GPS Altitude` in case the sensor data is out of the expected bonds.
- PLOC MPSoC special communication is now scheduled, which allows flash read and flash write
commands to work.
- Fixed the MPSoC flash write command.
- Added missing ACS parameter.
- HK TM store: The HK store dump success event was triggered for cancelled HK dumps.
- When a PUS parsing error occured while parsing a TM store file, the dump completion procedure
was always executed.
- Some smaller logic fixes in the TM store base class
- Fixed usage of C `abs` instead of C++ `std::abs`, which results in MTQ commands not being
scaled correctly between 1Am² and 0.2Am².
- TCS Heater Handler: Always trigger mode event if a heater goes `OFF` or `ON`. This event might
soon replace the `HEATER_WENT_ON` and `HEATER_WENT_OFF` events.
- Prevent spam of TCS controller heater unavailability event if all heaters are in external control.
- TCS heater switch info set contained invalid values because of a faulty `memcpy` in the TCS
controller. There is not crash risk but the heater states were invalid.
- STR datasets were not set to invalid on shutdown.
- Fixed usage of quaternion valid flag, which does not actually represent the validity of the
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
- The dual lane assembly transition failed handler started new transitions towards the current mode
instead of the target mode. This means that if the dual lane assembly never reached the initial
submode (e.g. mode normal and submode dual side), it will transition back to the current mode,
which miht be `MODE_OFF`. Furthermore, this can lead to invalid internal states, so the subsequent
recovery handling becomes stuck in the custom recovery sequence when swichting power back on.
- The dual lane custom recovery handling was adapted to always perform proper power switch handling
irrespective of current or target modes.
# [v2.0.4] 2023-04-19
## Fixed
- The dual lane assembly datasets were not marked invalid properly on OFF transitions.
# [v2.0.3] 2023-04-17
- eive-tmtc: v3.1.1
## Fixed
- Fixed shadowing within the `SafeCtrl`, which prevented actuator commands to be calculated during
eclipse phase.
- EM build idle mode fixes for RW dummy.
## Added
- Add `MGT_OVERHEATING` event and fallback to system SAFE mode if the MGT is overheating for
whatever reason.
## Changed
- Low-pass filters can no longer be executed if no actual data is available.
# [v2.0.2] 2023-04-16
- Bump patch version to 2.
# [v2.0.1] 2023-04-16
- eive-tmtc: v3.1.0
# [v2.0.0] 2023-04-16
This is the version which will fly on the satellite for the initial launch phase.
- q7s-package: v2.5.0
- eive-tmtc: v3.0.0
- `wire` library is now on version v10.7 as well.
## Added
- Added `mv`, `cp` and `rm` action helpers for the core controller for common filesystem operations.
- Extended directory listing helpers. There is now a directory listing helper which dumps the
directory listing as an action data reply immediately. For smaller directory listings, this
allows a listing without requiring a separate file downlink (which also has not been implemented
yet)
## Changed
- The directory listing action commands now allow compressing of either the target output file
for the directory listing into file action command, or compression in the helper which dumps
the directory listing directly.
# [v1.45.0] 2023-04-14
- q7s-package: v2.5.0

24
CMakeLists.txt
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@ -9,8 +9,8 @@
# ##############################################################################
cmake_minimum_required(VERSION 3.13)
set(OBSW_VERSION_MAJOR 1)
set(OBSW_VERSION_MINOR 45)
set(OBSW_VERSION_MAJOR 6)
set(OBSW_VERSION_MINOR 0)
set(OBSW_VERSION_REVISION 0)
# set(CMAKE_VERBOSE TRUE)
@ -79,12 +79,19 @@ 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")
set(OBSW_ADD_BPX_BATTERY_HANDLER
${INIT_VAL}
CACHE STRING "Add MGT module")
1
CACHE STRING "Add BPX battery module")
set(OBSW_ADD_STAR_TRACKER
${INIT_VAL}
CACHE STRING "Add Startracker module")
@ -98,7 +105,7 @@ set(OBSW_ADD_THERMAL_TEMP_INSERTER
${OBSW_Q7S_EM}
CACHE STRING "Add thermal sensor temperature inserter")
set(OBSW_ADD_ACS_BOARD
${INIT_VAL}
1
CACHE STRING "Add ACS board module")
set(OBSW_ADD_GPS_CTRL
${INIT_VAL}
@ -143,11 +150,14 @@ set(OBSW_ADD_SYRLINKS
1
CACHE STRING "Add Syrlinks module")
set(OBSW_ADD_TMP_DEVICES
${INIT_VAL}
1
CACHE STRING "Add TMP devices")
set(OBSW_ADD_GOMSPACE_PCDU
${INIT_VAL}
1
CACHE STRING "Add GomSpace PCDU modules")
set(OBSW_ADD_GOMSPACE_ACU
${INIT_VAL}
CACHE STRING "Add GomSpace ACU submodule")
set(OBSW_ADD_RW
${INIT_VAL}
CACHE STRING "Add RW modules")

24
README.md
View File

@ -99,11 +99,21 @@ When using Windows, run theses steps in MSYS2.
git submodule update --init
```
3. Ensure that the cross-compiler is working with `arm-linux-gnueabihf-gcc --version` and that
3. Create two system variables to pass the system root path and the cross-compiler path to the
build system. You only need to do this once when setting up the build system.
Example for Unix:
```sh
export CROSS_COMPILE_BIN_PATH=<absolutePathToCrossCompilerBinPath>
export ZYNQ_7020_SYSROOT=<absolutePathToSysroot>
```
4. Ensure that the cross-compiler is working with
`${CROSS_COMPILE_BIN_PATH}/arm-linux-gnueabihf-gcc --version` and that
the sysroot environmental variables have been set like specified in the
[root filesystem chapter](#sysroot).
4. Run the CMake configuration to create the build system in a `build-Debug-Q7S` folder.
5. Run the CMake configuration to create the build system in a `build-Debug-Q7S` folder.
Add `-G "MinGW Makefiles` in MinGW64 on Windows.
```sh
@ -112,7 +122,7 @@ When using Windows, run theses steps in MSYS2.
cmake --build . -j
```
You can also use provided shell scripts to perform these commands.
Please note that you can also use provided shell scripts to perform these commands.
```sh
cp scripts/q7s-env.sh ..
cp scripts/q7s-env-em.sh ..
@ -144,7 +154,7 @@ When using Windows, run theses steps in MSYS2.
There are also different values for `-DTGT_BSP` to build for the Raspberry Pi
or the Beagle Bone Black: `arm/raspberrypi` and `arm/beagleboneblack`.
5. Build the software with
6. Build the software with
```sh
cd cmake-build-debug-q7s
@ -954,6 +964,12 @@ used by other software components to read the current chip and copy.
This is a configuration scripts which runs after the Network Time Protocol has run. This script
currently sets the static IP address `192.168.133.10` and starts the `can` interface.
## Initial boot delay
You can create a file named `boot_delays_secs.txt` inside the home folder to delay the OBSW boot
for 6 seconds if the file is empty of for the number of seconds specified inside the file. This
can be helpful if something inside the OBSW leads to an immediate crash of the OBC.
## PCDU
Connect to serial console of P60 Dock

6
automation/Jenkinsfile vendored
View File

@ -22,7 +22,7 @@ pipeline {
steps {
dir(BUILDDIR_Q7S) {
sh 'cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug ..'
sh 'cmake --build . -j6'
sh 'cmake --build . -j8'
}
}
}
@ -30,7 +30,7 @@ pipeline {
steps {
dir(BUILDDIR_Q7S_EM) {
sh 'cmake -DTGT_BSP="arm/q7s" -DEIVE_Q7S_EM=ON -DCMAKE_BUILD_TYPE=Debug ..'
sh 'cmake --build . -j6'
sh 'cmake --build . -j8'
}
}
}
@ -38,7 +38,7 @@ pipeline {
steps {
dir(BUILDDIR_LINUX) {
sh 'cmake ..'
sh 'cmake --build . -j6'
sh 'cmake --build . -j8'
sh './eive-unittest'
}
}

17
bsp_hosted/ObjectFactory.cpp
View File

@ -39,7 +39,7 @@
#include "devices/gpioIds.h"
#include "fsfw_hal/linux/gpio/Gpio.h"
#include "linux/payload/PlocMpsocHandler.h"
#include "linux/payload/PlocMpsocHelper.h"
#include "linux/payload/PlocMpsocSpecialComHelper.h"
#include "linux/payload/PlocSupervisorHandler.h"
#include "linux/payload/PlocSupvUartMan.h"
#include "test/gpio/DummyGpioIF.h"
@ -62,10 +62,15 @@ void ObjectFactory::produce(void* args) {
StorageManagerIF* tmStore;
StorageManagerIF* ipcStore;
PersistentTmStores persistentStores;
bool enableHkSets = false;
#if OBSW_ENABLE_PERIODIC_HK == 1
enableHkSets = true;
#endif
auto sdcMan = new DummySdCardManager("/tmp");
ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel, *sdcMan, &ipcStore,
&tmStore, persistentStores);
&tmStore, persistentStores, 120, enableHkSets);
new TmFunnelHandler(objects::LIVE_TM_TASK, *pusFunnel, *cfdpFunnel);
auto* dummyGpioIF = new DummyGpioIF();
auto* dummySwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
std::vector<ReturnValue_t> switcherList;
@ -81,8 +86,8 @@ void ObjectFactory::produce(void* args) {
auto mpsocCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, mpscoDev, uart::PLOC_MPSOC_BAUD,
mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
mpsocCookie->setNoFixedSizeReply();
auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
auto plocMpsocHelper = new PlocMpsocSpecialComHelper(objects::PLOC_MPSOC_HELPER);
new PlocMpsocHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, dummyGpioIF),
objects::PLOC_SUPERVISOR_HANDLER);
#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
@ -100,7 +105,7 @@ void ObjectFactory::produce(void* args) {
#endif
dummy::DummyCfg cfg;
dummy::createDummies(cfg, *dummySwitcher, dummyGpioIF);
dummy::createDummies(cfg, *dummySwitcher, dummyGpioIF, enableHkSets);
HeaterHandler* heaterHandler = nullptr;
// new ThermalController(objects::THERMAL_CONTROLLER);
@ -108,7 +113,7 @@ void ObjectFactory::produce(void* args) {
if (heaterHandler == nullptr) {
sif::error << "HeaterHandler could not be created" << std::endl;
} else {
ObjectFactory::createThermalController(*heaterHandler);
ObjectFactory::createThermalController(*heaterHandler, true);
}
new TestTask(objects::TEST_TASK);
}

31
bsp_hosted/fsfwconfig/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 290 translations.
* @brief Auto-generated event translation file. Contains 299 translations.
* @details
* Generated on: 2023-04-14 20:23:17
* Generated on: 2023-07-07 12:06:06
*/
#include "translateEvents.h"
@ -197,6 +197,10 @@ const char *MPSOC_EXE_INVALID_APID_STRING = "MPSOC_EXE_INVALID_APID";
const char *MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HELPER_SEQ_CNT_MISMATCH";
const char *MPSOC_TM_SIZE_ERROR_STRING = "MPSOC_TM_SIZE_ERROR";
const char *MPSOC_TM_CRC_MISSMATCH_STRING = "MPSOC_TM_CRC_MISSMATCH";
const char *MPSOC_FLASH_READ_PACKET_ERROR_STRING = "MPSOC_FLASH_READ_PACKET_ERROR";
const char *MPSOC_FLASH_READ_FAILED_STRING = "MPSOC_FLASH_READ_FAILED";
const char *MPSOC_FLASH_READ_SUCCESSFUL_STRING = "MPSOC_FLASH_READ_SUCCESSFUL";
const char *MPSOC_READ_TIMEOUT_STRING = "MPSOC_READ_TIMEOUT";
const char *TRANSITION_BACK_TO_OFF_STRING = "TRANSITION_BACK_TO_OFF";
const char *NEG_V_OUT_OF_BOUNDS_STRING = "NEG_V_OUT_OF_BOUNDS";
const char *U_DRO_OUT_OF_BOUNDS_STRING = "U_DRO_OUT_OF_BOUNDS";
@ -273,6 +277,7 @@ const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
const char *I2C_REBOOT_STRING = "I2C_REBOOT";
const char *PDEC_REBOOT_STRING = "PDEC_REBOOT";
const char *FIRMWARE_INFO_STRING = "FIRMWARE_INFO";
const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
@ -280,6 +285,10 @@ const char *OBC_OVERHEATING_STRING = "OBC_OVERHEATING";
const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
const char *MGT_OVERHEATING_STRING = "MGT_OVERHEATING";
const char *TCS_SWITCHING_HEATER_ON_STRING = "TCS_SWITCHING_HEATER_ON";
const char *TCS_SWITCHING_HEATER_OFF_STRING = "TCS_SWITCHING_HEATER_OFF";
const char *TCS_HEATER_MAX_BURN_TIME_REACHED_STRING = "TCS_HEATER_MAX_BURN_TIME_REACHED";
const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
@ -682,6 +691,14 @@ const char *translateEvents(Event event) {
return MPSOC_TM_SIZE_ERROR_STRING;
case (12613):
return MPSOC_TM_CRC_MISSMATCH_STRING;
case (12614):
return MPSOC_FLASH_READ_PACKET_ERROR_STRING;
case (12615):
return MPSOC_FLASH_READ_FAILED_STRING;
case (12616):
return MPSOC_FLASH_READ_SUCCESSFUL_STRING;
case (12617):
return MPSOC_READ_TIMEOUT_STRING;
case (12700):
return TRANSITION_BACK_TO_OFF_STRING;
case (12701):
@ -834,6 +851,8 @@ const char *translateEvents(Event event) {
return I2C_REBOOT_STRING;
case (14012):
return PDEC_REBOOT_STRING;
case (14013):
return FIRMWARE_INFO_STRING;
case (14100):
return NO_VALID_SENSOR_TEMPERATURE_STRING;
case (14101):
@ -848,6 +867,14 @@ const char *translateEvents(Event event) {
return PCDU_SYSTEM_OVERHEATING_STRING;
case (14107):
return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
case (14108):
return MGT_OVERHEATING_STRING;
case (14109):
return TCS_SWITCHING_HEATER_ON_STRING;
case (14110):
return TCS_SWITCHING_HEATER_OFF_STRING;
case (14111):
return TCS_HEATER_MAX_BURN_TIME_REACHED_STRING;
case (14201):
return TX_TIMER_EXPIRED_STRING;
case (14202):

2
bsp_hosted/fsfwconfig/objects/translateObjects.cpp
View File

@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 171 translations.
* Generated on: 2023-04-14 20:23:17
* Generated on: 2023-07-07 12:06:06
*/
#include "translateObjects.h"

20
bsp_hosted/scheduling.cpp
View File

@ -59,19 +59,15 @@ void scheduling::initTasks() {
"DIST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
ReturnValue_t result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if (result != returnvalue::OK) {
sif::error << "adding CCSDS distributor failed" << std::endl;
sif::error << "Adding CCSDS distributor failed" << std::endl;
}
result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if (result != returnvalue::OK) {
sif::error << "adding PUS distributor failed" << std::endl;
}
result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
if (result != returnvalue::OK) {
sif::error << "adding TM funnel failed" << std::endl;
sif::error << "Adding PUS distributor failed" << std::endl;
}
result = tmtcDistributor->addComponent(objects::CFDP_DISTRIBUTOR);
if (result != returnvalue::OK) {
sif::error << "adding CFDP distributor failed" << std::endl;
sif::error << "Adding CFDP distributor failed" << std::endl;
}
result = tmtcDistributor->addComponent(objects::UDP_TMTC_SERVER);
if (result != returnvalue::OK) {
@ -95,6 +91,13 @@ void scheduling::initTasks() {
sif::error << "Add component UDP Polling failed" << std::endl;
}
PeriodicTaskIF* liveTmTask = factory->createPeriodicTask(
"LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, nullptr, &RR_SCHEDULING);
result = liveTmTask->addComponent(objects::LIVE_TM_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK);
}
PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
"PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
@ -149,7 +152,7 @@ void scheduling::initTasks() {
"THERMAL_CTL_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
result = thermalTask->addComponent(objects::CORE_CONTROLLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER);
scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
}
result = thermalTask->addComponent(objects::THERMAL_CONTROLLER);
if (result != returnvalue::OK) {
@ -217,6 +220,7 @@ void scheduling::initTasks() {
tmtcDistributor->startTask();
udpPollingTask->startTask();
tcpPollingTask->startTask();
liveTmTask->startTask();
pusHighPrio->startTask();
pusMedPrio->startTask();

3
bsp_q7s/CMakeLists.txt
View File

@ -7,7 +7,8 @@ target_link_libraries(${SIMPLE_OBSW_NAME} PUBLIC ${LIB_FSFW_NAME})
target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
add_subdirectory(simple)
target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp)
target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp scheduling.cpp
objectFactory.cpp)
add_subdirectory(boardtest)

9
bsp_q7s/OBSWConfig.h.in
View File

@ -22,6 +22,9 @@
#define OBSW_COMMAND_SAFE_MODE_AT_STARTUP 1
#define OBSW_ADD_GOMSPACE_PCDU @OBSW_ADD_GOMSPACE_PCDU@
// This define is necessary because the EM setup has the P60 dock module, but no ACU on the P60
// module because it broke.
#define OBSW_ADD_GOMSPACE_ACU @OBSW_ADD_GOMSPACE_ACU@
#define OBSW_ADD_MGT @OBSW_ADD_MGT@
#define OBSW_ADD_BPX_BATTERY_HANDLER @OBSW_ADD_BPX_BATTERY_HANDLER@
#define OBSW_ADD_STAR_TRACKER @OBSW_ADD_STAR_TRACKER@
@ -64,12 +67,12 @@
// 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
#define OBSW_PRINT_MISSED_DEADLINES 1
#define OBSW_PRINT_MISSED_DEADLINES 0
#define OBSW_MPSOC_JTAG_BOOT 0
#define OBSW_STAR_TRACKER_GROUND_CONFIG @OBSW_STAR_TRACKER_GROUND_CONFIG@

11
bsp_q7s/boardconfig/busConf.h
View File

@ -12,6 +12,9 @@ static constexpr char SPI_RW_DEV[] = "/dev/spi_rw";
static constexpr char I2C_PL_EIVE[] = "/dev/i2c_pl";
//! I2C bus using the I2C peripheral of the ARM processing system (PS)
static constexpr char I2C_PS_EIVE[] = "/dev/i2c_ps";
//! I2C bus using the first I2C peripheral of the ARM processing system (PS).
//! Named like this because it is used by default for the Q7 devices.
static constexpr char I2C_Q7_EIVE[] = "/dev/i2c_q7";
static constexpr char UART_GNSS_DEV[] = "/dev/gps0";
static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul_plmpsoc";
@ -23,6 +26,7 @@ static constexpr char UART_SCEX_DEV[] = "/dev/scex";
static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio_pdec_regs";
static constexpr char UIO_PTME[] = "/dev/uio_ptme";
static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio_pdec_cfg_mem";
static constexpr char UIO_SYS_ROM[] = "/dev/uio_sys_rom";
static constexpr char UIO_PDEC_RAM[] = "/dev/uio_pdec_ram";
static constexpr char UIO_PDEC_IRQ[] = "/dev/uio_pdec_irq";
static constexpr int MAP_ID_PTME_CONFIG = 3;
@ -57,6 +61,7 @@ static constexpr char GYRO_0_ENABLE[] = "enable_gyro_0";
static constexpr char GYRO_2_ENABLE[] = "enable_gyro_2";
static constexpr char GNSS_SELECT[] = "gnss_mux_select";
static constexpr char GNSS_MUX_SELECT[] = "gnss_mux_select";
static constexpr char PL_I2C_ARESETN[] = "pl_i2c_aresetn";
static constexpr char HEATER_0[] = "heater0";
static constexpr char HEATER_1[] = "heater1";
@ -82,14 +87,12 @@ static constexpr char EN_RW_4[] = "enable_rw_4";
static constexpr char RAD_SENSOR_CHIP_SELECT[] = "rad_sensor_chip_select";
static constexpr char ENABLE_RADFET[] = "enable_radfet";
static constexpr char PAPB_BUSY_SIGNAL_VC0[] = "papb_busy_signal_vc0";
static constexpr char PAPB_EMPTY_SIGNAL_VC0[] = "papb_empty_signal_vc0";
static constexpr char PAPB_BUSY_SIGNAL_VC1[] = "papb_busy_signal_vc1";
static constexpr char PAPB_EMPTY_SIGNAL_VC1[] = "papb_empty_signal_vc1";
static constexpr char PAPB_BUSY_SIGNAL_VC2[] = "papb_busy_signal_vc2";
static constexpr char PAPB_EMPTY_SIGNAL_VC2[] = "papb_empty_signal_vc2";
static constexpr char PAPB_BUSY_SIGNAL_VC3[] = "papb_busy_signal_vc3";
static constexpr char PAPB_EMPTY_SIGNAL_VC3[] = "papb_empty_signal_vc3";
static constexpr char PTME_RESETN[] = "ptme_resetn";
static constexpr char RS485_EN_TX_CLOCK[] = "tx_clock_enable_ltc2872";

5
bsp_q7s/core/CMakeLists.txt
View File

@ -1,4 +1 @@
target_sources(${OBSW_NAME} PRIVATE CoreController.cpp scheduling.cpp
ObjectFactory.cpp WatchdogHandler.cpp)
target_sources(${SIMPLE_OBSW_NAME} PRIVATE scheduling.cpp)
target_sources(${OBSW_NAME} PRIVATE CoreController.cpp WatchdogHandler.cpp)

809
bsp_q7s/core/CoreController.cpp
View File

File diff suppressed because it is too large Load Diff

145
bsp_q7s/core/CoreController.h
View File

@ -1,11 +1,13 @@
#ifndef BSP_Q7S_CORE_CORECONTROLLER_H_
#define BSP_Q7S_CORE_CORECONTROLLER_H_
#include <bsp_q7s/core/defs.h>
#include <fsfw/container/DynamicFIFO.h>
#include <fsfw/container/SimpleRingBuffer.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include <fsfw/parameters/ParameterHelper.h>
#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
#include <fsfw_hal/linux/uio/UioMapper.h>
#include <libxiphos.h>
#include <mission/acs/archive/GPSDefinitions.h>
#include <mission/utility/trace.h>
@ -13,7 +15,6 @@
#include <atomic>
#include <cstddef>
#include "CoreDefinitions.h"
#include "OBSWConfig.h"
#include "bsp_q7s/fs/SdCardManager.h"
#include "events/subsystemIdRanges.h"
@ -23,7 +24,7 @@
class Timer;
class SdCardManager;
struct RebootFile {
struct RebootWatchdogFile {
static constexpr uint8_t DEFAULT_MAX_BOOT_CNT = 10;
bool enabled = true;
@ -44,6 +45,93 @@ struct RebootFile {
xsc::Copy mechanismNextCopy = xsc::Copy::NO_COPY;
};
class RebootWatchdogPacket : public SerialLinkedListAdapter<SerializeIF> {
public:
RebootWatchdogPacket(RebootWatchdogFile& rf) {
enabled = rf.enabled;
maxCount = rf.maxCount;
img00Count = rf.img00Cnt;
img01Count = rf.img01Cnt;
img10Count = rf.img10Cnt;
img11Count = rf.img11Cnt;
img00Lock = rf.img00Lock;
img01Lock = rf.img01Lock;
img10Lock = rf.img10Lock;
img11Lock = rf.img11Lock;
lastChip = static_cast<uint8_t>(rf.lastChip);
lastCopy = static_cast<uint8_t>(rf.lastCopy);
nextChip = static_cast<uint8_t>(rf.mechanismNextChip);
nextCopy = static_cast<uint8_t>(rf.mechanismNextCopy);
setLinks();
}
private:
void setLinks() {
setStart(&enabled);
enabled.setNext(&maxCount);
maxCount.setNext(&img00Count);
img00Count.setNext(&img01Count);
img01Count.setNext(&img10Count);
img10Count.setNext(&img11Count);
img11Count.setNext(&img00Lock);
img00Lock.setNext(&img01Lock);
img01Lock.setNext(&img10Lock);
img10Lock.setNext(&img11Lock);
img11Lock.setNext(&lastChip);
lastChip.setNext(&lastCopy);
lastCopy.setNext(&nextChip);
nextChip.setNext(&nextCopy);
setLast(&nextCopy);
}
SerializeElement<uint8_t> enabled = false;
SerializeElement<uint32_t> maxCount = 0;
SerializeElement<uint32_t> img00Count = 0;
SerializeElement<uint32_t> img01Count = 0;
SerializeElement<uint32_t> img10Count = 0;
SerializeElement<uint32_t> img11Count = 0;
SerializeElement<uint8_t> img00Lock = false;
SerializeElement<uint8_t> img01Lock = false;
SerializeElement<uint8_t> img10Lock = false;
SerializeElement<uint8_t> img11Lock = false;
SerializeElement<uint8_t> lastChip = 0;
SerializeElement<uint8_t> lastCopy = 0;
SerializeElement<uint8_t> nextChip = 0;
SerializeElement<uint8_t> nextCopy = 0;
};
struct RebootCountersFile {
// 16 bit values so all boot counters fit into one event.
uint16_t img00Cnt = 0;
uint16_t img01Cnt = 0;
uint16_t img10Cnt = 0;
uint16_t img11Cnt = 0;
};
class RebootCountersPacket : public SerialLinkedListAdapter<SerializeIF> {
RebootCountersPacket(RebootCountersFile& rf) {
img00Count = rf.img00Cnt;
img01Count = rf.img01Cnt;
img10Count = rf.img10Cnt;
img11Count = rf.img11Cnt;
setLinks();
}
private:
void setLinks() {
setStart(&img00Count);
img00Count.setNext(&img01Count);
img01Count.setNext(&img10Count);
img10Count.setNext(&img11Count);
setLast(&img11Count);
}
SerializeElement<uint16_t> img00Count = 0;
SerializeElement<uint16_t> img01Count = 0;
SerializeElement<uint16_t> img10Count = 0;
SerializeElement<uint16_t> img11Count = 0;
};
class CoreController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
public:
enum ParamId : uint8_t { PREF_SD = 0, NUM_IDS };
@ -57,15 +145,21 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
const std::string VERSION_FILE =
"/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::VERSION_FILE_NAME);
const std::string REBOOT_FILE =
"/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::REBOOT_FILE_NAME);
const std::string LEGACY_REBOOT_WATCHDOG_FILE =
"/" + std::string(core::CONF_FOLDER) + "/" +
std::string(core::LEGACY_REBOOT_WATCHDOG_FILE_NAME);
const std::string REBOOT_WATCHDOG_FILE =
"/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::REBOOT_WATCHDOG_FILE_NAME);
const std::string BACKUP_TIME_FILE =
"/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::TIME_FILE_NAME);
const std::string REBOOT_COUNTERS_FILE =
"/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::REBOOT_COUNTER_FILE_NAME);
static constexpr char CHIP_0_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-nom-rootfs";
static constexpr char CHIP_0_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-gold-rootfs";
static constexpr char CHIP_1_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi1-nom-rootfs";
static constexpr char CHIP_1_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi1-gold-rootfs";
static constexpr char LIST_DIR_DUMP_WORK_FILE[] = "/tmp/dir_listing.tmp";
static constexpr dur_millis_t INIT_SD_CARD_CHECK_TIMEOUT = 5000;
static constexpr dur_millis_t DEFAULT_SD_CARD_CHECK_TIMEOUT = 60000;
@ -141,6 +235,7 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
static constexpr bool BLOCKING_SD_INIT = false;
uint32_t* mappedSysRomAddr = nullptr;
SdCardManager* sdcMan = nullptr;
MessageQueueIF* eventQueue = nullptr;
@ -176,7 +271,22 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
DeviceCommandId_t actionId;
} sdCommandingInfo;
RebootFile rebootFile = {};
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{};
RebootWatchdogFile rebootWatchdogFile = {};
RebootCountersFile rebootCountersFile = {};
CommandExecutor cmdExecutor;
SimpleRingBuffer cmdReplyBuf;
@ -246,10 +356,18 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
void executeNextExternalSdCommand();
void checkExternalSdCommandStatus();
void performRebootFileHandling(bool recreateFile);
void performRebootWatchdogHandling(bool recreateFile);
void performRebootCountersHandling(bool recreateFile);
ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size);
ReturnValue_t actionListDirectoryDumpDirectly(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size);
ReturnValue_t performGracefulShutdown(xsc::Chip targetChip, xsc::Copy targetCopy);
ReturnValue_t actionListDirectoryCommonCommandCreator(const uint8_t* data, size_t size,
std::ostringstream& oss);
ReturnValue_t actionXscReboot(const uint8_t* data, size_t size);
ReturnValue_t actionReboot(const uint8_t* data, size_t size);
@ -259,14 +377,19 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
int handleBootCopyProtAtIndex(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
bool& protOperationPerformed, bool selfChip, bool selfCopy,
bool allChips, bool allCopies, uint8_t arrIdx);
void determineAndExecuteReboot(RebootFile& rf, bool& needsReboot, xsc::Chip& tgtChip,
xsc::Copy& tgtCopy);
void resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy);
void rebootWatchdogAlgorithm(RebootWatchdogFile& rf, bool& needsReboot, xsc::Chip& tgtChip,
xsc::Copy& tgtCopy);
void resetRebootWatchdogCounters(xsc::Chip tgtChip, xsc::Copy tgtCopy);
void setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy);
bool parseRebootFile(std::string path, RebootFile& file);
void rewriteRebootFile(RebootFile file);
bool parseRebootWatchdogFile(std::string path, RebootWatchdogFile& file);
bool parseRebootCountersFile(std::string path, RebootCountersFile& file);
void rewriteRebootWatchdogFile(RebootWatchdogFile file);
void rewriteRebootCountersFile(RebootCountersFile file);
void announceBootCounts();
void announceVersionInfo();
void announceCurrentImageInfo();
void readHkData();
void dirListingDumpHandler();
bool isNumber(const std::string& s);
};

12
bsp_q7s/core/CoreDefinitions.h → bsp_q7s/core/defs.h
View File

@ -1,10 +1,16 @@
#ifndef BSP_Q7S_CORE_COREDEFINITIONS_H_
#define BSP_Q7S_CORE_COREDEFINITIONS_H_
#ifndef BSP_Q7S_CORE_DEFS_H_
#define BSP_Q7S_CORE_DEFS_H_
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
namespace core {
extern uint8_t FW_VERSION_MAJOR;
extern uint8_t FW_VERSION_MINOR;
extern uint8_t FW_VERSION_REVISION;
extern bool FW_VERSION_HAS_SHA;
extern char FW_VERSION_GIT_SHA[4];
static const uint8_t HK_SET_ENTRIES = 3;
static const uint32_t HK_SET_ID = 5;
@ -36,4 +42,4 @@ class HkSet : public StaticLocalDataSet<HK_SET_ENTRIES> {
} // namespace core
#endif /* BSP_Q7S_CORE_COREDEFINITIONS_H_ */
#endif /* BSP_Q7S_CORE_DEFS_H_ */

72
bsp_q7s/em/emObjectFactory.cpp
View File

@ -1,4 +1,5 @@
#include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
#include <bsp_q7s/objectFactory.h>
#include <dummies/ComCookieDummy.h>
#include <dummies/PcduHandlerDummy.h>
#include <fsfw/health/HealthTableIF.h>
@ -10,8 +11,8 @@
#include "OBSWConfig.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/core/ObjectFactory.h"
#include "busConf.h"
#include "common/config/devices/addresses.h"
#include "devConf.h"
#include "dummies/helperFactory.h"
#include "eive/objects.h"
@ -35,27 +36,54 @@ void ObjectFactory::produce(void* args) {
#endif
PersistentTmStores stores;
readFirmwareVersion();
ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
*SdCardManager::instance(), &ipcStore, &tmStore, stores);
*SdCardManager::instance(), &ipcStore, &tmStore, stores, 200,
enableHkSets);
LinuxLibgpioIF* gpioComIF = nullptr;
SerialComIF* uartComIF = nullptr;
SpiComIF* spiMainComIF = nullptr;
I2cComIF* i2cComIF = nullptr;
createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF);
/* Adding gpios for chip select decoding to the gpioComIf */
// Adding GPIOs for chip select decoding and initializing them.
q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
gpioCallbacks::disableAllDecoder(gpioComIF);
createPlI2cResetGpio(gpioComIF);
// Hardware is usually not connected to EM, so we need to create dummies which replace lower
// level components.
dummy::DummyCfg dummyCfg;
dummyCfg.addCoreCtrlCfg = false;
dummyCfg.addCamSwitcherDummy = false;
#if OBSW_ADD_SYRLINKS == 1
dummyCfg.addSyrlinksDummies = false;
#endif
#if OBSW_ADD_PLOC_SUPERVISOR == 1 || OBSW_ADD_PLOC_MPSOC == 1
dummyCfg.addPlocDummies = false;
#endif
#if OBSW_ADD_TMP_DEVICES == 1
std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd = {{
{objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
{objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
{objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
}};
createTmpComponents(tmpDevsToAdd);
dummy::Tmp1075Cfg tmpCfg{};
tmpCfg.addTcsBrd0 = true;
tmpCfg.addTcsBrd1 = true;
tmpCfg.addPlPcdu0 = false;
tmpCfg.addPlPcdu1 = false;
tmpCfg.addIfBrd = false;
dummyCfg.tmp1075Cfg = tmpCfg;
#endif
#if OBSW_ADD_GOMSPACE_PCDU == 1
dummyCfg.addPowerDummies = false;
// The ACU broke.
dummyCfg.addOnlyAcuDummy = true;
#endif
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
dummyCfg.addBpxBattDummy = false;
#endif
#if OBSW_ADD_ACS_BOARD == 1
dummyCfg.addAcsBoardDummies = false;
@ -69,27 +97,16 @@ void ObjectFactory::produce(void* args) {
#endif
satsystem::EIVE_SYSTEM.setI2cRecoveryParams(pwrSwitcher);
dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF);
dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF, enableHkSets);
new CoreController(objects::CORE_CONTROLLER, enableHkSets);
// Regular FM code, does not work for EM if the hardware is not connected
// createPcduComponents(gpioComIF, &pwrSwitcher);
// createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
// createSyrlinksComponents(pwrSwitcher);
// createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
// createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
// createTmpComponents();
// createSolarArrayDeploymentComponents();
// createPayloadComponents(gpioComIF);
// createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
// TODO: Careful! Switching this on somehow messes with the communication with the ProASIC
// and will cause xsc_boot_copy commands to always boot to 0 0
// createRadSensorComponent(gpioComIF);
// Initialize chip select to avoid SPI bus issues.
createRadSensorChipSelect(gpioComIF);
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher);
createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true,
adis1650x::Type::ADIS16507);
#else
// Still add all GPIOs for EM.
GpioCookie* acsBoardGpios = new GpioCookie();
@ -97,8 +114,12 @@ void ObjectFactory::produce(void* args) {
gpioChecker(gpioComIF->addGpios(acsBoardGpios), "ACS Board");
#endif
const char* battAndImtqI2cDev = q7s::I2C_PL_EIVE;
if (core::FW_VERSION_MAJOR >= 4) {
battAndImtqI2cDev = q7s::I2C_PS_EIVE;
}
#if OBSW_ADD_MGT == 1
createImtqComponents(pwrSwitcher, enableHkSets);
createImtqComponents(pwrSwitcher, enableHkSets, battAndImtqI2cDev);
#endif
#if OBSW_ADD_SYRLINKS == 1
@ -110,13 +131,15 @@ void ObjectFactory::produce(void* args) {
#endif
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
createBpxBatteryComponent(enableHkSets);
createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
#endif
#if OBSW_ADD_STAR_TRACKER == 1
createStrComponents(pwrSwitcher);
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
createPayloadComponents(gpioComIF, *pwrSwitcher);
#if OBSW_ADD_CCSDS_IP_CORES == 1
CcsdsIpCoreHandler* ipCoreHandler = nullptr;
CcsdsComponentArgs ccsdsArgs(*gpioComIF, *ipcStore, *tmStore, stores, *pusFunnel, *cfdpFunnel,
@ -125,6 +148,7 @@ 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 */
@ -134,11 +158,11 @@ void ObjectFactory::produce(void* args) {
#endif /* OBSW_ADD_TEST_CODE == 1 */
#if OBSW_ADD_SCEX_DEVICE == 1
createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
power::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
#endif
createAcsController(true, enableHkSets);
HeaterHandler* heaterHandler;
createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
createThermalController(*heaterHandler);
satsystem::init();
createThermalController(*heaterHandler, true);
satsystem::init(true);
}

36
bsp_q7s/fmObjectFactory.cpp
View File

@ -1,4 +1,6 @@
#include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
#include <bsp_q7s/objectFactory.h>
#include <devices/gpioIds.h>
#include <fsfw/storagemanager/LocalPool.h>
#include <fsfw/storagemanager/PoolManager.h>
#include <mission/power/gsDefs.h>
@ -6,9 +8,9 @@
#include "OBSWConfig.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/core/ObjectFactory.h"
#include "busConf.h"
#include "devConf.h"
#include "devices/addresses.h"
#include "eive/objects.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "linux/ObjectFactory.h"
@ -31,8 +33,10 @@ void ObjectFactory::produce(void* args) {
#endif
PersistentTmStores stores;
readFirmwareVersion();
ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
*SdCardManager::instance(), &ipcStore, &tmStore, stores);
*SdCardManager::instance(), &ipcStore, &tmStore, stores, 200,
true);
LinuxLibgpioIF* gpioComIF = nullptr;
SerialComIF* uartComIF = nullptr;
@ -43,6 +47,7 @@ void ObjectFactory::produce(void* args) {
/* Adding gpios for chip select decoding to the gpioComIf */
q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
gpioCallbacks::disableAllDecoder(gpioComIF);
createPlI2cResetGpio(gpioComIF);
new CoreController(objects::CORE_CONTROLLER, enableHkSets);
createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
@ -58,12 +63,22 @@ void ObjectFactory::produce(void* args) {
#endif
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true);
createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true,
adis1650x::Type::ADIS16505);
#endif
HeaterHandler* heaterHandler;
createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
#if OBSW_ADD_TMP_DEVICES == 1
createTmpComponents();
std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd = {{
{objects::TMP1075_HANDLER_TCS_0, addresses::TMP1075_TCS_0},
{objects::TMP1075_HANDLER_TCS_1, addresses::TMP1075_TCS_1},
{objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
// damaged
// {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
{objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
}};
createTmpComponents(tmpDevsToAdd);
#endif
createSolarArrayDeploymentComponents(*pwrSwitcher, *gpioComIF);
createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
@ -73,13 +88,17 @@ void ObjectFactory::produce(void* args) {
createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
createPayloadComponents(gpioComIF, *pwrSwitcher);
const char* battAndImtqI2cDev = q7s::I2C_PL_EIVE;
if (core::FW_VERSION_MAJOR >= 4) {
battAndImtqI2cDev = q7s::I2C_PS_EIVE;
}
#if OBSW_ADD_MGT == 1
createImtqComponents(pwrSwitcher, enableHkSets);
createImtqComponents(pwrSwitcher, enableHkSets, battAndImtqI2cDev);
#endif
createReactionWheelComponents(gpioComIF, pwrSwitcher);
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
createBpxBatteryComponent(enableHkSets);
createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
#endif
#if OBSW_ADD_STAR_TRACKER == 1
@ -94,6 +113,7 @@ 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 */
@ -108,7 +128,7 @@ void ObjectFactory::produce(void* args) {
#endif /* OBSW_ADD_TEST_CODE == 1 */
createMiscComponents();
createThermalController(*heaterHandler);
createThermalController(*heaterHandler, false);
createAcsController(true, enableHkSets);
satsystem::init();
satsystem::init(false);
}

190
bsp_q7s/core/ObjectFactory.cpp → bsp_q7s/objectFactory.cpp
View File

@ -1,7 +1,9 @@
#include "ObjectFactory.h"
#include "objectFactory.h"
#include <fsfw/devicehandlers/HealthDevice.h>
#include <fsfw/subsystem/Subsystem.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw_hal/linux/uio/UioMapper.h>
#include <linux/acs/AcsBoardPolling.h>
#include <linux/acs/GpsHyperionLinuxController.h>
#include <linux/acs/ImtqPollingTask.h>
@ -10,10 +12,10 @@
#include <linux/com/SyrlinksComHandler.h>
#include <linux/payload/PlocMemoryDumper.h>
#include <linux/payload/PlocMpsocHandler.h>
#include <linux/payload/PlocMpsocHelper.h>
#include <linux/payload/PlocMpsocSpecialComHelper.h>
#include <linux/payload/PlocSupervisorHandler.h>
#include <linux/payload/ScexUartReader.h>
#include <linux/payload/plocMpscoDefs.h>
#include <linux/payload/plocMpsocHelpers.h>
#include <linux/power/CspComIF.h>
#include <mission/acs/GyrL3gCustomHandler.h>
#include <mission/acs/MgmLis3CustomHandler.h>
@ -31,6 +33,9 @@
#include <mission/system/objects/CamSwitcher.h>
#include <mission/system/tcs/TmpDevFdir.h>
#include <cstdint>
#include <cstring>
#include "OBSWConfig.h"
#include "bsp_q7s/boardtest/Q7STestTask.h"
#include "bsp_q7s/callbacks/gnssCallback.h"
@ -99,6 +104,7 @@
#include <sstream>
#include "bsp_q7s/core/defs.h"
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tmtcpacket/pus/tm.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
@ -129,6 +135,11 @@ ResetArgs RESET_ARGS_GNSS;
std::atomic_bool LINK_STATE = CcsdsIpCoreHandler::LINK_DOWN;
std::atomic_bool PTME_LOCKED = false;
std::atomic_uint16_t I2C_FATAL_ERRORS = 0;
uint8_t core::FW_VERSION_MAJOR = 0;
uint8_t core::FW_VERSION_MINOR = 0;
uint8_t core::FW_VERSION_REVISION = 0;
bool core::FW_VERSION_HAS_SHA = false;
char core::FW_VERSION_GIT_SHA[4] = {};
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
@ -150,28 +161,23 @@ void Factory::setStaticFrameworkObjectIds() {
void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
void ObjectFactory::createTmpComponents() {
std::vector<std::pair<object_id_t, address_t>> tmpDevIds = {{
{objects::TMP1075_HANDLER_TCS_0, addresses::TMP1075_TCS_0},
{objects::TMP1075_HANDLER_TCS_1, addresses::TMP1075_TCS_1},
{objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
// damaged
// {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
{objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
}};
void ObjectFactory::createTmpComponents(
std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd) {
const char* tmpI2cDev = q7s::I2C_PS_EIVE;
if (core::FW_VERSION_MAJOR == 4) {
tmpI2cDev = q7s::I2C_PL_EIVE;
} else if (core::FW_VERSION_MAJOR >= 5) {
tmpI2cDev = q7s::I2C_Q7_EIVE;
}
std::vector<I2cCookie*> tmpDevCookies;
for (size_t idx = 0; idx < tmpDevIds.size(); idx++) {
for (size_t idx = 0; idx < tmpDevsToAdd.size(); idx++) {
tmpDevCookies.push_back(
new I2cCookie(tmpDevIds[idx].second, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_PS_EIVE));
new I2cCookie(tmpDevsToAdd[idx].second, TMP1075::MAX_REPLY_LENGTH, tmpI2cDev));
auto* tmpDevHandler =
new Tmp1075Handler(tmpDevIds[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
tmpDevHandler->setCustomFdir(new TmpDevFdir(tmpDevIds[idx].first));
new Tmp1075Handler(tmpDevsToAdd[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
tmpDevHandler->setCustomFdir(new TmpDevFdir(tmpDevsToAdd[idx].first));
tmpDevHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
// TODO: Remove this after TCS subsystem was added
// These devices are connected to the 3V3 stack and should be powered permanently. Therefore,
// we set them to normal mode immediately here.
tmpDevHandler->setModeNormal();
}
}
@ -189,7 +195,6 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
*i2cComIF = new I2cComIF(objects::I2C_COM_IF);
*uartComIF = new SerialComIF(objects::UART_COM_IF);
*spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
//*spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
}
void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher,
@ -197,7 +202,6 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
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,
@ -211,9 +215,12 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
Pdu2Handler* pdu2handler = new Pdu2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
pdu2CspCookie, pdu2Fdir, enableHkSets);
#if OBSW_ADD_GOMSPACE_ACU == 1
CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_SIZE, addresses::ACU, 500);
auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie,
acuFdir, enableHkSets);
#endif
auto pcduHandler = new PcduHandler(objects::PCDU_HANDLER, 50);
/**
@ -223,7 +230,9 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
p60dockhandler->setModeNormal();
pdu1handler->setModeNormal();
pdu2handler->setModeNormal();
#if OBSW_ADD_GOMSPACE_ACU == 1
acuhandler->setModeNormal();
#endif
if (pwrSwitcher != nullptr) {
*pwrSwitcher = pcduHandler;
}
@ -237,20 +246,7 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF,
Stack5VHandler& stackHandler) {
using namespace gpio;
if (gpioComIF == nullptr) {
return returnvalue::FAILED;
}
GpioCookie* gpioCookieRadSensor = new GpioCookie;
std::stringstream consumer;
consumer << "0x" << std::hex << objects::RAD_SENSOR;
GpiodRegularByLineName* gpio = new GpiodRegularByLineName(
q7s::gpioNames::RAD_SENSOR_CHIP_SELECT, consumer.str(), Direction::OUT, Levels::HIGH);
gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_RADFET, consumer.str(), Direction::OUT,
Levels::LOW);
gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio);
gpioChecker(gpioComIF->addGpios(gpioCookieRadSensor), "RAD sensor");
createRadSensorChipSelect(gpioComIF);
SpiCookie* spiCookieRadSensor =
new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, RAD_SENSOR::READ_SIZE,
@ -364,7 +360,7 @@ void ObjectFactory::createAcsBoardGpios(GpioCookie& cookie) {
void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF,
SerialComIF* uartComIF, PowerSwitchIF& pwrSwitcher,
bool enableHkSets) {
bool enableHkSets, adis1650x::Type adisType) {
using namespace gpio;
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
createAcsBoardGpios(*gpioCookieAcsBoard);
@ -450,9 +446,8 @@ void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF*
new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, adis1650x::MAXIMUM_REPLY_SIZE,
spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
auto adisHandler =
new GyrAdis1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::ACS_BOARD_POLLING_TASK,
spiCookie, adis1650x::Type::ADIS16505);
auto adisHandler = new GyrAdis1650XHandler(objects::GYRO_0_ADIS_HANDLER,
objects::ACS_BOARD_POLLING_TASK, spiCookie, adisType);
fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
adisHandler->setCustomFdir(fdir);
assemblyChildren[4] = adisHandler;
@ -485,9 +480,8 @@ void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF*
new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, adis1650x::MAXIMUM_REPLY_SIZE,
spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
adisHandler =
new GyrAdis1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::ACS_BOARD_POLLING_TASK,
spiCookie, adis1650x::Type::ADIS16505);
adisHandler = new GyrAdis1650XHandler(objects::GYRO_2_ADIS_HANDLER,
objects::ACS_BOARD_POLLING_TASK, spiCookie, adisType);
fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
adisHandler->setCustomFdir(fdir);
assemblyChildren[6] = adisHandler;
@ -517,7 +511,7 @@ void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF*
debugGps = true;
#endif
RESET_ARGS_GNSS.gpioComIF = gpioComIF;
RESET_ARGS_GNSS.waitPeriodMs = 100;
RESET_ARGS_GNSS.waitPeriodMs = 5;
auto gpsCtrl = new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT,
enableHkSets, debugGps);
gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
@ -635,8 +629,8 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV,
serial::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
mpsocCookie->setNoFixedSizeReply();
auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
auto* mpsocHandler = new PlocMPSoCHandler(
auto plocMpsocHelper = new PlocMpsocSpecialComHelper(objects::PLOC_MPSOC_HELPER);
auto* mpsocHandler = new PlocMpsocHandler(
objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie, plocMpsocHelper,
Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF), objects::PLOC_SUPERVISOR_HANDLER);
mpsocHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
@ -656,6 +650,7 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
auto* supvHandler = new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
power::PDU1_CH6_PLOC_12V, *supvHelper);
supvHandler->setPowerSwitcher(&pwrSwitch);
supvHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
static_cast<void>(consumer);
@ -741,20 +736,12 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
// GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
GpioCookie* gpioCookiePtmeIp = new GpioCookie;
GpiodRegularByLineName* gpio = nullptr;
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, "PAPB VC0");
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, "PAPB VC0");
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, "PAPB VC1");
gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC1, "PAPB VC1");
gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, "PAPB VC2");
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, "PAPB VC2");
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, "PAPB VC3");
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, "PAPB VC3");
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::PTME_RESETN, "PTME RESETN",
@ -763,18 +750,14 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
gpioChecker(args.gpioComIF.addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
// Creating virtual channel interfaces
VirtualChannelIF* vc0 =
new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY,
q7s::UIO_PTME, q7s::uiomapids::PTME_VC0);
VirtualChannelIF* vc1 =
new PapbVcInterface(&args.gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY,
q7s::UIO_PTME, q7s::uiomapids::PTME_VC1);
VirtualChannelIF* vc2 =
new PapbVcInterface(&args.gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY,
q7s::UIO_PTME, q7s::uiomapids::PTME_VC2);
VirtualChannelIF* vc3 =
new PapbVcInterface(&args.gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY,
q7s::UIO_PTME, q7s::uiomapids::PTME_VC3);
VirtualChannelIF* vc0 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_EMPTY,
q7s::UIO_PTME, q7s::uiomapids::PTME_VC0);
VirtualChannelIF* vc1 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC1_PAPB_EMPTY,
q7s::UIO_PTME, q7s::uiomapids::PTME_VC1);
VirtualChannelIF* vc2 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC2_PAPB_EMPTY,
q7s::UIO_PTME, q7s::uiomapids::PTME_VC2);
VirtualChannelIF* vc3 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC3_PAPB_EMPTY,
q7s::UIO_PTME, q7s::uiomapids::PTME_VC3);
// Creating ptme object and adding virtual channel interfaces
Ptme* ptme = new Ptme(objects::PTME);
ptme->addVcInterface(ccsds::VC0, vc0);
@ -816,7 +799,7 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
// Core task which handles the HK store and takes care of dumping it as TM using a VC directly
auto* hkStore = new PersistentSingleTmStoreTask(
objects::HK_STORE_AND_TM_TASK, args.ipcStore, *args.stores.hkStore, *vc,
persTmStore::DUMP_HK_STORE_DONE, persTmStore::DUMP_HK_STORE_DONE, *SdCardManager::instance(),
persTmStore::DUMP_HK_STORE_DONE, persTmStore::DUMP_HK_CANCELLED, *SdCardManager::instance(),
PTME_LOCKED);
hkStore->connectModeTreeParent(satsystem::com::SUBSYSTEM);
@ -976,12 +959,13 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
starTracker->setCustomFdir(strFdir);
}
void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets) {
void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets,
const char* i2cDev) {
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);
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, i2cDev);
auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::IMTQ_POLLING, imtqI2cCookie,
power::Switches::PDU1_CH3_MGT_5V, enableHkSets);
imtqHandler->enableThermalModule(ThermalStateCfg());
@ -997,8 +981,8 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enable
#endif
}
void ObjectFactory::createBpxBatteryComponent(bool enableHkSets) {
I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_PL_EIVE);
void ObjectFactory::createBpxBatteryComponent(bool enableHkSets, const char* i2cDev) {
I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, i2cDev);
BpxBatteryHandler* bpxHandler = new BpxBatteryHandler(
objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie, enableHkSets);
bpxHandler->setStartUpImmediately();
@ -1019,3 +1003,67 @@ void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
sif::warning << "Sending mode command failed" << std::endl;
}
}
void ObjectFactory::createRadSensorChipSelect(LinuxLibgpioIF* gpioIF) {
using namespace gpio;
if (gpioIF == nullptr) {
return;
}
GpioCookie* gpioCookieRadSensor = new GpioCookie;
std::stringstream consumer;
consumer << "0x" << std::hex << objects::RAD_SENSOR;
GpiodRegularByLineName* gpio = new GpiodRegularByLineName(
q7s::gpioNames::RAD_SENSOR_CHIP_SELECT, consumer.str(), Direction::OUT, Levels::HIGH);
gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_RADFET, consumer.str(), Direction::OUT,
Levels::LOW);
gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio);
gpioChecker(gpioIF->addGpios(gpioCookieRadSensor), "RAD sensor");
}
void ObjectFactory::createPlI2cResetGpio(LinuxLibgpioIF* gpioIF) {
using namespace gpio;
if (common::OBSW_VERSION_MAJOR >= 6 or common::OBSW_VERSION_MAJOR == 4) {
if (gpioIF == nullptr) {
return;
}
GpioCookie* gpioI2cResetnCookie = new GpioCookie;
GpiodRegularByLineName* gpioI2cResetn = new GpiodRegularByLineName(
q7s::gpioNames::PL_I2C_ARESETN, "PL_I2C_ARESETN", Direction::OUT, Levels::HIGH);
gpioI2cResetnCookie->addGpio(gpioIds::PL_I2C_ARESETN, gpioI2cResetn);
gpioChecker(gpioIF->addGpios(gpioI2cResetnCookie), "PL I2C ARESETN");
// Reset I2C explicitely again.
gpioIF->pullLow(gpioIds::PL_I2C_ARESETN);
TaskFactory::delayTask(1);
gpioIF->pullHigh(gpioIds::PL_I2C_ARESETN);
}
}
ReturnValue_t ObjectFactory::readFirmwareVersion() {
uint32_t* mappedSysRomAddr = nullptr;
// The SYS ROM FPGA block is only available in those versions.
if (not(common::OBSW_VERSION_MAJOR >= 6) or (common::OBSW_VERSION_MAJOR == 4)) {
return returnvalue::OK;
}
// This has to come before the version announce because it might be required for retrieving
// the firmware version.
UioMapper sysRomMapper(q7s::UIO_SYS_ROM);
ReturnValue_t result =
sysRomMapper.getMappedAdress(&mappedSysRomAddr, UioMapper::Permissions::READ_ONLY);
if (result != returnvalue::OK) {
sif::error << "Getting mapped SYS ROM UIO address failed" << std::endl;
return returnvalue::FAILED;
}
if (mappedSysRomAddr != nullptr) {
uint32_t firstEntry = *(reinterpret_cast<uint32_t*>(mappedSysRomAddr));
uint32_t secondEntry = *(reinterpret_cast<uint32_t*>(mappedSysRomAddr) + 1);
core::FW_VERSION_MAJOR = (firstEntry >> 24) & 0xff;
core::FW_VERSION_MINOR = (firstEntry >> 16) & 0xff;
core::FW_VERSION_REVISION = (firstEntry >> 8) & 0xff;
bool hasGitSha = (firstEntry & 0x0b1);
if (hasGitSha) {
std::memcpy(core::FW_VERSION_GIT_SHA, &secondEntry, 4);
}
}
return returnvalue::OK;
}

13
bsp_q7s/core/ObjectFactory.h → bsp_q7s/objectFactory.h
View File

@ -3,6 +3,7 @@
#include <fsfw/returnvalues/returnvalue.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <mission/acs/gyroAdisHelpers.h>
#include <mission/com/CcsdsIpCoreHandler.h>
#include <mission/com/PersistentLogTmStoreTask.h>
#include <mission/genericFactory.h>
@ -57,24 +58,28 @@ void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher
bool enableHkSets);
void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);
void createTmpComponents();
void createTmpComponents(std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd);
void createRadSensorChipSelect(LinuxLibgpioIF* gpioIF);
ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
void createAcsBoardGpios(GpioCookie& cookie);
void createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
PowerSwitchIF& pwrSwitcher, bool enableHkSets);
PowerSwitchIF& pwrSwitcher, bool enableHkSets,
adis1650x::Type adisType);
void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
HeaterHandler*& heaterHandler);
void createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets);
void createBpxBatteryComponent(bool enableHkSets);
void createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets, const char* i2cDev);
void createBpxBatteryComponent(bool enableHkSets, const char* i2cDev);
void createStrComponents(PowerSwitchIF* pwrSwitcher);
void createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher, GpioIF& gpioIF);
void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
void createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitcher);
void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
ReturnValue_t createCcsdsComponents(CcsdsComponentArgs& args);
ReturnValue_t readFirmwareVersion();
void createMiscComponents();
void createTestComponents(LinuxLibgpioIF* gpioComIF);
void createPlI2cResetGpio(LinuxLibgpioIF* gpioComIF);
void testAcsBrdAss(AcsBoardAssembly* assAss);

2
bsp_q7s/obsw.cpp
View File

@ -11,13 +11,13 @@
#include "OBSWConfig.h"
#include "bsp_q7s/core/WatchdogHandler.h"
#include "commonConfig.h"
#include "core/scheduling.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/version.h"
#include "mission/acs/defs.h"
#include "mission/com/defs.h"
#include "mission/system/systemTree.h"
#include "q7sConfig.h"
#include "scheduling.h"
#include "watchdog/definitions.h"
static constexpr int OBSW_ALREADY_RUNNING = -2;

23
bsp_q7s/core/scheduling.cpp → bsp_q7s/scheduling.cpp
View File

@ -9,7 +9,6 @@
#include <vector>
#include "OBSWConfig.h"
#include "bsp_q7s/core/ObjectFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/platform.h"
@ -21,6 +20,8 @@
#include "mission/pollingSeqTables.h"
#include "mission/scheduling.h"
#include "mission/utility/InitMission.h"
#include "objectFactory.h"
#include "q7sConfig.h"
/* This is configured for linux without CR */
#ifdef PLATFORM_UNIX
@ -324,6 +325,10 @@ void scheduling::initTasks() {
if (result != returnvalue::OK) {
scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
}
result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
}
#if OBSW_ADD_SYRLINKS == 1
PeriodicTaskIF* syrlinksCom = factory->createPeriodicTask(
@ -345,7 +350,6 @@ void scheduling::initTasks() {
}
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
// TODO: Use regular scheduler for this task
#if OBSW_ADD_PLOC_MPSOC == 1
PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
"PLOC_MPSOC_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
@ -366,7 +370,7 @@ void scheduling::initTasks() {
#endif /* OBSW_ADD_PLOC_SUPERVISOR */
PeriodicTaskIF* plTask = factory->createPeriodicTask(
"PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc, &RR_SCHEDULING);
"PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
plTask->addComponent(objects::CAM_SWITCHER);
scheduling::addMpsocSupvHandlers(plTask);
scheduling::scheduleScexDev(plTask);
@ -472,6 +476,9 @@ void scheduling::initTasks() {
#if OBSW_ADD_PLOC_SUPERVISOR == 1
supvHelperTask->startTask();
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
#if OBSW_ADD_PLOC_MPSOC == 1
mpsocHelperTask->startTask();
#endif
plTask->startTask();
#if OBSW_ADD_TEST_CODE == 1
@ -525,7 +532,15 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
FixedTimeslotTaskIF* i2cPst =
factory.createFixedTimeslotTask("I2C_PS_PST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.6,
missedDeadlineFunc, &RR_SCHEDULING);
result = pst::pstI2cProcessingSystem(i2cPst);
pst::TmpSchedConfig tmpSchedConf;
#if OBSW_Q7S_EM == 1
tmpSchedConf.scheduleTmpDev0 = true;
tmpSchedConf.scheduleTmpDev1 = true;
tmpSchedConf.schedulePlPcduDev0 = true;
tmpSchedConf.schedulePlPcduDev1 = true;
tmpSchedConf.scheduleIfBoardDev = true;
#endif
result = pst::pstI2c(tmpSchedConf, i2cPst);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "scheduling::initTasks: I2C PST is empty" << std::endl;

0
bsp_q7s/core/scheduling.h → bsp_q7s/scheduling.h
View File

7
bsp_q7s/xadc/Xadc.cpp
View File

@ -129,7 +129,7 @@ ReturnValue_t Xadc::readValFromFile(const char* filename, T& val) {
sif::warning << "Xadc::readValFromFile: Failed to open file " << filename << std::endl;
return returnvalue::FAILED;
}
char valstring[MAX_STR_LENGTH] = "";
char valstring[MAX_STR_LENGTH]{};
char* returnVal = fgets(valstring, MAX_STR_LENGTH, fp);
if (returnVal == nullptr) {
sif::warning << "Xadc::readValFromFile: Failed to read string from file " << filename
@ -139,6 +139,11 @@ ReturnValue_t Xadc::readValFromFile(const char* filename, T& val) {
}
std::istringstream valSstream(valstring);
valSstream >> val;
if (valSstream.bad()) {
sif::warning << "Xadc: Conversion of value to target type failed" << std::endl;
fclose(fp);
return returnvalue::FAILED;
}
fclose(fp);
return returnvalue::OK;
}

4
cmake/Zynq7020CrossCompileConfig.cmake
View File

@ -40,8 +40,8 @@ set(CROSS_COMPILE_OBJCOPY "${CROSS_COMPILE}-objcopy")
set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size")
# At the very least, cross compile gcc and g++ have to be set!
find_program (CMAKE_C_COMPILER ${CROSS_COMPILE_CC} REQUIRED)
find_program (CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX} REQUIRED)
find_program (CMAKE_C_COMPILER ${CROSS_COMPILE_CC} HINTS $ENV{CROSS_COMPILE_BIN_PATH} REQUIRED)
find_program (CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX} HINTS $ENV{CROSS_COMPILE_BIN_PATH} REQUIRED)
# Useful utilities, not strictly necessary
find_program(CMAKE_SIZE ${CROSS_COMPILE_SIZE})
find_program(CMAKE_OBJCOPY ${CROSS_COMPILE_OBJCOPY})

7
common/config/devices/gpioIds.h
View File

@ -77,6 +77,8 @@ enum gpioId_t {
CS_RAD_SENSOR,
ENABLE_RADFET,
PL_I2C_ARESETN,
PAPB_BUSY_N,
PAPB_EMPTY,
@ -93,15 +95,10 @@ enum gpioId_t {
EN_RW_CS,
SPI_MUX,
VC0_PAPB_EMPTY,
VC0_PAPB_BUSY,
VC1_PAPB_EMPTY,
VC1_PAPB_BUSY,
VC2_PAPB_EMPTY,
VC2_PAPB_BUSY,
VC3_PAPB_EMPTY,
VC3_PAPB_BUSY,
PTME_RESETN,
PDEC_RESET,

8
common/config/eive/definitions.h
View File

@ -11,6 +11,8 @@ static constexpr char SD_1_MOUNT_POINT[] = "/mnt/sd1";
static constexpr char OBSW_UPDATE_ARCHIVE_FILE_NAME[] = "eive-sw-update.tar.xz";
static constexpr char STRIPPED_OBSW_BINARY_FILE_NAME[] = "eive-obsw-stripped";
static constexpr char OBSW_VERSION_FILE_NAME[] = "obsw_version.txt";
static constexpr char PUS_SEQUENCE_COUNT_FILE[] = "pus-sequence-count.txt";
static constexpr char CFDP_SEQUENCE_COUNT_FILE[] = "cfdp-sequence-count.txt";
static constexpr char OBSW_PATH[] = "/usr/bin/eive-obsw";
static constexpr char OBSW_VERSION_FILE_PATH[] = "/usr/share/eive-obsw/obsw_version.txt";
@ -34,8 +36,8 @@ static constexpr uint32_t STR_IMG_HELPER_QUEUE_SIZE = 50;
static constexpr uint8_t LIVE_TM = 0;
/* Limits for filename and path checks */
static constexpr uint32_t MAX_PATH_SIZE = 100;
static constexpr uint32_t MAX_FILENAME_SIZE = 50;
static constexpr uint32_t MAX_PATH_SIZE = 200;
static constexpr uint32_t MAX_FILENAME_SIZE = 100;
static constexpr uint32_t SA_DEPL_INIT_BUFFER_SECS = 120;
// Burn time for autonomous deployment
@ -58,7 +60,9 @@ 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;

49
dummies/AcuDummy.cpp
View File

@ -2,8 +2,11 @@
#include <mission/power/gsDefs.h>
AcuDummy::AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie) {}
AcuDummy::AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie, bool enableHkSets)
: DeviceHandlerBase(objectId, comif, comCookie),
coreHk(this),
auxHk(this),
enableHkSets(enableHkSets) {}
AcuDummy::~AcuDummy() {}
@ -37,7 +40,49 @@ uint32_t AcuDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return
ReturnValue_t AcuDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
using namespace ACU;
localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNELS, new PoolEntry<int16_t>(6));
localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNELS, new PoolEntry<uint16_t>(6));
localDataPoolMap.emplace(pool::ACU_VCC, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(pool::ACU_VBAT, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(ACU::pool::ACU_TEMPERATURES,
new PoolEntry<float>({10.0, 10.0, 10.0}, true));
localDataPoolMap.emplace(pool::ACU_MPPT_MODE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(pool::ACU_VBOOST_IN_CHANNELS, new PoolEntry<uint16_t>(6));
localDataPoolMap.emplace(pool::ACU_POWER_IN_CHANNELS, new PoolEntry<uint16_t>(6));
localDataPoolMap.emplace(pool::ACU_DAC_ENABLES, new PoolEntry<uint8_t>(3));
localDataPoolMap.emplace(pool::ACU_DAC_RAW_CHANNELS, new PoolEntry<uint16_t>(6));
localDataPoolMap.emplace(pool::ACU_BOOTCAUSE, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(pool::ACU_BOOTCNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(pool::ACU_UPTIME, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(pool::ACU_RESET_CAUSE, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(pool::ACU_MPPT_TIME, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(pool::ACU_MPPT_PERIOD, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(pool::ACU_DEVICES, new PoolEntry<uint8_t>(8));
localDataPoolMap.emplace(pool::ACU_DEVICES_STATUS, new PoolEntry<uint8_t>(8));
localDataPoolMap.emplace(pool::ACU_WDT_CNT_GND, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(pool::ACU_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 30.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 6000.0));
return returnvalue::OK;
}
LocalPoolDataSetBase *AcuDummy::getDataSetHandle(sid_t sid) {
if (sid == coreHk.getSid()) {
return &coreHk;
} else if (sid == auxHk.getSid()) {
return &auxHk;
}
return nullptr;
}

8
dummies/AcuDummy.h
View File

@ -2,6 +2,7 @@
#define DUMMIES_ACUDUMMY_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/power/gsDefs.h>
class AcuDummy : public DeviceHandlerBase {
public:
@ -11,10 +12,14 @@ class AcuDummy : public DeviceHandlerBase {
static const uint8_t SIMPLE_COMMAND_DATA = 1;
static const uint8_t PERIODIC_REPLY_DATA = 2;
AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie, bool enableHkSets);
virtual ~AcuDummy();
protected:
ACU::CoreHk coreHk;
ACU::AuxHk auxHk;
bool enableHkSets;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
@ -28,6 +33,7 @@ class AcuDummy : public DeviceHandlerBase {
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
};
#endif /* DUMMIES_ACUDUMMY_H_ */

2
dummies/CoreControllerDummy.cpp
View File

@ -1,6 +1,6 @@
#include "CoreControllerDummy.h"
#include <bsp_q7s/core/CoreDefinitions.h>
#include <bsp_q7s/core/defs.h>
#include <objects/systemObjectList.h>
#include <cmath>

77
dummies/ImtqDummy.cpp
View File

@ -2,15 +2,34 @@
#include <mission/acs/imtqHelpers.h>
ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie) {}
ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
power::Switch_t pwrSwitcher, bool enableHkSets)
: DeviceHandlerBase(objectId, comif, comCookie),
enableHkSets(enableHkSets),
statusSet(this),
dipoleSet(*this),
rawMtmNoTorque(this),
hkDatasetNoTorque(this),
rawMtmWithTorque(this),
hkDatasetWithTorque(this),
calMtmMeasurementSet(this),
switcher(pwrSwitcher) {}
ImtqDummy::~ImtqDummy() = default;
void ImtqDummy::doStartUp() { setMode(MODE_NORMAL); }
void ImtqDummy::doStartUp() { setMode(MODE_ON); }
void ImtqDummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
ReturnValue_t ImtqDummy::getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) {
if (switcher != power::NO_SWITCH) {
*numberOfSwitches = 1;
*switches = &switcher;
return returnvalue::OK;
}
return DeviceHandlerBase::NO_SWITCH;
}
ReturnValue_t ImtqDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
ReturnValue_t ImtqDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
@ -45,5 +64,57 @@ ReturnValue_t ImtqDummy::initializeLocalDataPool(localpool::DataPool &localDataP
localDataPoolMap.emplace(imtq::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(imtq::DIPOLES_ID, new PoolEntry<int16_t>({0, 0, 0}));
localDataPoolMap.emplace(imtq::CURRENT_TORQUE_DURATION, new PoolEntry<uint16_t>({0}));
// ENG HK No Torque
localDataPoolMap.emplace(imtq::DIGITAL_VOLTAGE_MV, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(imtq::ANALOG_VOLTAGE_MV, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(imtq::DIGITAL_CURRENT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(imtq::ANALOG_CURRENT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(imtq::COIL_CURRENTS, &coilCurrentsMilliampsNoTorque);
localDataPoolMap.emplace(imtq::COIL_TEMPERATURES, &coilTempsNoTorque);
localDataPoolMap.emplace(imtq::MCU_TEMPERATURE, new PoolEntry<int16_t>({0}));
// ENG HK With Torque
localDataPoolMap.emplace(imtq::DIGITAL_VOLTAGE_MV_WT, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(imtq::ANALOG_VOLTAGE_MV_WT, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(imtq::DIGITAL_CURRENT_WT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(imtq::ANALOG_CURRENT_WT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(imtq::COIL_CURRENTS_WT, &coilCurrentsMilliampsWithTorque);
localDataPoolMap.emplace(imtq::COIL_TEMPERATURES_WT, &coilTempsWithTorque);
localDataPoolMap.emplace(imtq::MCU_TEMPERATURE_WT, new PoolEntry<int16_t>({0}));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), enableHkSets, 30.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), enableHkSets, 30.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(rawMtmNoTorque.getSid(), false, 10.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(rawMtmWithTorque.getSid(), false, 10.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(calMtmMeasurementSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(statusSet.getSid(), false, 10.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(dipoleSet.getSid(), false, 10.0));
return DeviceHandlerBase::initializeLocalDataPool(localDataPoolMap, poolManager);
}
LocalPoolDataSetBase *ImtqDummy::getDataSetHandle(sid_t sid) {
if (sid == hkDatasetNoTorque.getSid()) {
return &hkDatasetNoTorque;
} else if (sid == dipoleSet.getSid()) {
return &dipoleSet;
} else if (sid == statusSet.getSid()) {
return &statusSet;
} else if (sid == hkDatasetWithTorque.getSid()) {
return &hkDatasetWithTorque;
} else if (sid == rawMtmWithTorque.getSid()) {
return &rawMtmWithTorque;
} else if (sid == calMtmMeasurementSet.getSid()) {
return &calMtmMeasurementSet;
} else if (sid == rawMtmNoTorque.getSid()) {
return &rawMtmNoTorque;
}
return nullptr;
}

39
dummies/ImtqDummy.h
View File

@ -3,6 +3,8 @@
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include "mission/acs/imtqHelpers.h"
class ImtqDummy : public DeviceHandlerBase {
public:
static const DeviceCommandId_t SIMPLE_COMMAND = 1;
@ -11,10 +13,44 @@ class ImtqDummy : public DeviceHandlerBase {
static const uint8_t SIMPLE_COMMAND_DATA = 1;
static const uint8_t PERIODIC_REPLY_DATA = 2;
ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
power::Switch_t pwrSwitcher, bool enableHkSets);
~ImtqDummy() override;
protected:
bool enableHkSets;
imtq::StatusDataset statusSet;
imtq::DipoleActuationSet dipoleSet;
imtq::RawMtmMeasurementNoTorque rawMtmNoTorque;
imtq::HkDatasetNoTorque hkDatasetNoTorque;
imtq::RawMtmMeasurementWithTorque rawMtmWithTorque;
imtq::HkDatasetWithTorque hkDatasetWithTorque;
imtq::CalibratedMtmMeasurementSet calMtmMeasurementSet;
PoolEntry<uint8_t> statusMode = PoolEntry<uint8_t>({0});
PoolEntry<uint8_t> statusError = PoolEntry<uint8_t>({0});
PoolEntry<uint8_t> statusConfig = PoolEntry<uint8_t>({0});
PoolEntry<uint32_t> statusUptime = PoolEntry<uint32_t>({0});
PoolEntry<int32_t> mgmCalEntry = PoolEntry<int32_t>(3);
PoolEntry<int16_t> dipolesPoolEntry = PoolEntry<int16_t>({0, 0, 0}, false);
PoolEntry<uint16_t> torqueDurationEntry = PoolEntry<uint16_t>({0}, false);
PoolEntry<float> coilCurrentsMilliampsNoTorque = PoolEntry<float>(3);
PoolEntry<float> coilCurrentsMilliampsWithTorque = PoolEntry<float>(3);
PoolEntry<int16_t> coilTempsNoTorque = PoolEntry<int16_t>(3);
PoolEntry<int16_t> coilTempsWithTorque = PoolEntry<int16_t>(3);
PoolEntry<float> mtmRawNoTorque = PoolEntry<float>(3);
PoolEntry<uint8_t> actStatusNoTorque = PoolEntry<uint8_t>(1);
PoolEntry<float> mtmRawWithTorque = PoolEntry<float>(3);
PoolEntry<uint8_t> actStatusWithTorque = PoolEntry<uint8_t>(1);
power::Switch_t switcher = power::NO_SWITCH;
ReturnValue_t getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) override;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
@ -28,6 +64,7 @@ class ImtqDummy : public DeviceHandlerBase {
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
};
#endif /* DUMMIES_IMTQDUMMY_H_ */

12
dummies/Max31865Dummy.cpp
View File

@ -7,15 +7,21 @@ using namespace returnvalue;
Max31865Dummy::Max31865Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie), set(this, EiveMax31855::EXCHANGE_SET_ID) {}
void Max31865Dummy::doStartUp() { setMode(MODE_ON); }
void Max31865Dummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
void Max31865Dummy::doShutDown() {
PoolReadGuard pg(&set);
set.setValidity(false, true);
setMode(MODE_OFF);
}
ReturnValue_t Max31865Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t Max31865Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) { return OK; }
ReturnValue_t Max31865Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t Max31865Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
return 0;
return NOTHING_TO_SEND;
}
ReturnValue_t Max31865Dummy::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {

26
dummies/RwDummy.cpp
View File

@ -3,13 +3,24 @@
#include <mission/acs/rwHelpers.h>
RwDummy::RwDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie) {}
: DeviceHandlerBase(objectId, comif, comCookie),
statusSet(this),
lastResetStatusSet(this),
tmDataset(this),
rwSpeedActuationSet(*this) {}
RwDummy::~RwDummy() {}
void RwDummy::doStartUp() { setMode(MODE_ON); }
void RwDummy::doStartUp() {
statusSet.setReportingEnabled(true);
setMode(MODE_ON);
}
void RwDummy::doShutDown() { setMode(MODE_OFF); }
void RwDummy::doShutDown() {
statusSet.setReportingEnabled(false);
setMode(MODE_OFF);
}
ReturnValue_t RwDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
@ -37,6 +48,9 @@ uint32_t RwDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return
ReturnValue_t RwDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(rws::RW_SPEED, &rwSpeed);
localDataPoolMap.emplace(rws::RAMP_TIME, &rampTime);
localDataPoolMap.emplace(rws::TEMPERATURE_C, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(rws::CURR_SPEED, new PoolEntry<int32_t>({0}));
@ -71,5 +85,11 @@ ReturnValue_t RwDummy::initializeLocalDataPool(localpool::DataPool &localDataPoo
localDataPoolMap.emplace(rws::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
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, 12.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(tmDataset.getSid(), false, 30.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(lastResetStatusSet.getSid(), false, 30.0));
return returnvalue::OK;
}

9
dummies/RwDummy.h
View File

@ -2,6 +2,7 @@
#define DUMMIES_RWDUMMY_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/acs/rwHelpers.h>
class RwDummy : public DeviceHandlerBase {
public:
@ -15,6 +16,14 @@ class RwDummy : public DeviceHandlerBase {
virtual ~RwDummy();
protected:
rws::StatusSet statusSet;
rws::LastResetSatus lastResetStatusSet;
rws::TmDataset tmDataset;
rws::RwSpeedActuationSet rwSpeedActuationSet;
PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>({0});
PoolEntry<uint16_t> rampTime = PoolEntry<uint16_t>({10});
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;

56
dummies/TemperatureSensorInserter.cpp
View File

@ -7,9 +7,9 @@
#include <cstdlib>
#include <utility>
TemperatureSensorInserter::TemperatureSensorInserter(object_id_t objectId,
Max31865DummyMap tempSensorDummies_,
Tmp1075DummyMap tempTmpSensorDummies_)
TemperatureSensorInserter::TemperatureSensorInserter(
object_id_t objectId, Max31865DummyMap tempSensorDummies_,
std::optional<Tmp1075DummyMap> tempTmpSensorDummies_)
: SystemObject(objectId),
max31865DummyMap(std::move(tempSensorDummies_)),
tmp1075DummyMap(std::move(tempTmpSensorDummies_)) {}
@ -25,8 +25,10 @@ ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
for (auto& rtdDummy : max31865DummyMap) {
rtdDummy.second->setTemperature(10, true);
}
for (auto& tmpDummy : tmp1075DummyMap) {
tmpDummy.second->setTemperature(10, true);
if (tmp1075DummyMap.has_value()) {
for (auto& tmpDummy : tmp1075DummyMap.value()) {
tmpDummy.second->setTemperature(10, true);
}
}
tempsWereInitialized = true;
}
@ -96,6 +98,50 @@ ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
}
break;
}
case (TestCase::COLD_PLOC_CONSECUTIVE): {
if (cycles == 15) {
sif::debug << "Setting cold PLOC temperature" << std::endl;
max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(-15, true);
}
if (cycles == 30) {
sif::debug << "Setting warmer PLOC temperature" << std::endl;
max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(0, true);
}
if (cycles == 45) {
sif::debug << "Setting cold PLOC temperature again" << std::endl;
max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(-15, true);
}
if (cycles == 60) {
sif::debug << "Setting warmer PLOC temperature again" << std::endl;
max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(0, true);
}
break;
}
case (TestCase::COLD_CAMERA): {
if (cycles == 15) {
sif::debug << "Setting cold CAM temperature" << std::endl;
max31865DummyMap[objects::RTD_2_IC5_4K_CAMERA]->setTemperature(-40, true);
}
if (cycles == 30) {
sif::debug << "Setting CAM temperature back to normal" << std::endl;
max31865DummyMap[objects::RTD_2_IC5_4K_CAMERA]->setTemperature(0, true);
}
break;
}
case (TestCase::COLD_PLOC_STAYS_COLD): {
if (cycles == 15) {
sif::debug << "Setting cold PLOC temperature" << std::endl;
max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(-40, true);
}
break;
}
case (TestCase::COLD_CAMERA_STAYS_COLD): {
if (cycles == 15) {
sif::debug << "Setting cold PLOC temperature" << std::endl;
max31865DummyMap[objects::RTD_2_IC5_4K_CAMERA]->setTemperature(-40, true);
}
break;
}
}
cycles++;
return returnvalue::OK;

8
dummies/TemperatureSensorInserter.h
View File

@ -12,7 +12,7 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
using Max31865DummyMap = std::map<object_id_t, Max31865Dummy*>;
using Tmp1075DummyMap = std::map<object_id_t, Tmp1075Dummy*>;
explicit TemperatureSensorInserter(object_id_t objectId, Max31865DummyMap tempSensorDummies_,
Tmp1075DummyMap tempTmpSensorDummies_);
std::optional<Tmp1075DummyMap> tempTmpSensorDummies_);
ReturnValue_t initialize() override;
ReturnValue_t initializeAfterTaskCreation() override;
@ -22,7 +22,7 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
private:
Max31865DummyMap max31865DummyMap;
Tmp1075DummyMap tmp1075DummyMap;
std::optional<Tmp1075DummyMap> tmp1075DummyMap;
enum TestCase {
NONE = 0,
@ -31,6 +31,10 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
COLD_MGT = 3,
COLD_STR = 4,
COLD_STR_CONSECUTIVE = 5,
COLD_CAMERA = 6,
COLD_PLOC_CONSECUTIVE = 7,
COLD_PLOC_STAYS_COLD = 8,
COLD_CAMERA_STAYS_COLD = 9
};
int iteration = 0;
uint32_t cycles = 0;

30
dummies/Tmp1075Dummy.cpp
View File

@ -8,35 +8,57 @@ using namespace returnvalue;
Tmp1075Dummy::Tmp1075Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie), set(this) {}
void Tmp1075Dummy::doStartUp() { setMode(MODE_NORMAL); }
void Tmp1075Dummy::doShutDown() { setMode(MODE_OFF); }
void Tmp1075Dummy::doStartUp() { setMode(MODE_ON); }
void Tmp1075Dummy::doShutDown() {
PoolReadGuard pg(&set);
set.setValidity(false, true);
setMode(MODE_OFF);
}
ReturnValue_t Tmp1075Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t Tmp1075Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) { return OK; }
ReturnValue_t Tmp1075Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t Tmp1075Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
return 0;
return NOTHING_TO_SEND;
}
ReturnValue_t Tmp1075Dummy::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
return 0;
}
ReturnValue_t Tmp1075Dummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
return 0;
}
void Tmp1075Dummy::setTemperature(float temperature, bool valid) {
PoolReadGuard pg(&set);
set.temperatureCelcius.value = temperature;
set.setValidity(valid, true);
}
void Tmp1075Dummy::fillCommandAndReplyMap() {}
uint32_t Tmp1075Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 1000; }
ReturnValue_t Tmp1075Dummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(TMP1075::TEMPERATURE_C_TMP1075, new PoolEntry<float>({10.0}, true));
return OK;
}
ReturnValue_t Tmp1075Dummy::setHealth(HealthState health) {
if (health == FAULTY or health == PERMANENT_FAULTY) {
setMode(_MODE_SHUT_DOWN);
}
return DeviceHandlerBase::setHealth(health);
}
LocalPoolDataSetBase *Tmp1075Dummy::getDataSetHandle(sid_t sid) { return &set; }

1
dummies/Tmp1075Dummy.h
View File

@ -26,6 +26,7 @@ class Tmp1075Dummy : public DeviceHandlerBase {
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
ReturnValue_t setHealth(HealthState health) override;
protected:
LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;

80
dummies/helperFactory.cpp
View File

@ -42,10 +42,13 @@
#include "mission/system/tree/payloadModeTree.h"
#include "mission/tcs/defs.h"
void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF) {
void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF,
bool enableHkSets) {
new ComIFDummy(objects::DUMMY_COM_IF);
auto* comCookieDummy = new ComCookieDummy();
new BpxDummy(objects::BPX_BATT_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
if (cfg.addBpxBattDummy) {
new BpxDummy(objects::BPX_BATT_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
}
if (cfg.addCoreCtrlCfg) {
new CoreControllerDummy(objects::CORE_CONTROLLER);
}
@ -72,11 +75,15 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
}
auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
auto* imtqDummy = new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
auto* imtqDummy = new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy,
power::Switches::PDU1_CH3_MGT_5V, enableHkSets);
imtqDummy->enableThermalModule(ThermalStateCfg());
imtqDummy->setPowerSwitcher(&pwrSwitcher);
imtqDummy->connectModeTreeParent(*imtqAssy);
if (cfg.addPowerDummies) {
new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
if (cfg.addOnlyAcuDummy) {
new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy, enableHkSets);
} else if (cfg.addPowerDummies) {
new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy, enableHkSets);
new PduDummy(objects::PDU1_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
new PduDummy(objects::PDU2_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
new P60DockDummy(objects::P60DOCK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
@ -184,25 +191,36 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
objects::RTD_15_IC18_IMTQ,
new Max31865Dummy(objects::RTD_15_IC18_IMTQ, objects::DUMMY_COM_IF, comCookieDummy));
std::map<object_id_t, Tmp1075Dummy*> tmpSensorDummies;
tmpSensorDummies.emplace(
objects::TMP1075_HANDLER_TCS_0,
new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_0, objects::DUMMY_COM_IF, comCookieDummy));
tmpSensorDummies.emplace(
objects::TMP1075_HANDLER_TCS_1,
new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_1, objects::DUMMY_COM_IF, comCookieDummy));
tmpSensorDummies.emplace(
objects::TMP1075_HANDLER_PLPCDU_0,
new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_0, objects::DUMMY_COM_IF, comCookieDummy));
// damaged.
// tmpSensorDummies.emplace(
// objects::TMP1075_HANDLER_PLPCDU_1,
// new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1, objects::DUMMY_COM_IF,
// comCookieDummy));
tmpSensorDummies.emplace(
objects::TMP1075_HANDLER_IF_BOARD,
new Tmp1075Dummy(objects::TMP1075_HANDLER_IF_BOARD, objects::DUMMY_COM_IF, comCookieDummy));
std::optional<TemperatureSensorInserter::Tmp1075DummyMap> tmpSensorDummies;
if (cfg.addTmpDummies) {
TemperatureSensorInserter::Tmp1075DummyMap tmpDummyMap;
if (cfg.tmp1075Cfg.addTcsBrd0) {
tmpDummyMap.emplace(objects::TMP1075_HANDLER_TCS_0,
new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_0, objects::DUMMY_COM_IF,
comCookieDummy));
}
if (cfg.tmp1075Cfg.addTcsBrd1) {
tmpDummyMap.emplace(objects::TMP1075_HANDLER_TCS_1,
new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_1, objects::DUMMY_COM_IF,
comCookieDummy));
}
if (cfg.tmp1075Cfg.addPlPcdu0) {
tmpDummyMap.emplace(objects::TMP1075_HANDLER_PLPCDU_0,
new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_0,
objects::DUMMY_COM_IF, comCookieDummy));
}
if (cfg.tmp1075Cfg.addPlPcdu1) {
tmpDummyMap.emplace(objects::TMP1075_HANDLER_PLPCDU_1,
new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1,
objects::DUMMY_COM_IF, comCookieDummy));
}
if (cfg.tmp1075Cfg.addIfBrd) {
tmpDummyMap.emplace(objects::TMP1075_HANDLER_IF_BOARD,
new Tmp1075Dummy(objects::TMP1075_HANDLER_IF_BOARD,
objects::DUMMY_COM_IF, comCookieDummy));
}
tmpSensorDummies = std::move(tmpDummyMap);
}
new TemperatureSensorInserter(objects::THERMAL_TEMP_INSERTER, rtdSensorDummies,
tmpSensorDummies);
TcsBoardAssembly* tcsBoardAssy =
@ -210,13 +228,17 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
for (auto& rtd : rtdSensorDummies) {
rtd.second->connectModeTreeParent(*tcsBoardAssy);
}
for (auto& tmp : tmpSensorDummies) {
tmp.second->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
if (tmpSensorDummies.has_value()) {
for (auto& tmp : tmpSensorDummies.value()) {
tmp.second->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
}
}
}
auto* camSwitcher =
new CamSwitcher(objects::CAM_SWITCHER, pwrSwitcher, power::Switches::PDU2_CH8_PAYLOAD_CAMERA);
camSwitcher->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
if (cfg.addCamSwitcherDummy) {
auto* camSwitcher = new CamSwitcher(objects::CAM_SWITCHER, pwrSwitcher,
power::Switches::PDU2_CH8_PAYLOAD_CAMERA);
camSwitcher->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
}
auto* scexDummy = new ScexDummy(objects::SCEX, objects::DUMMY_COM_IF, comCookieDummy);
scexDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
auto* plPcduDummy =

17
dummies/helperFactory.h
View File

@ -6,17 +6,32 @@ class GpioIF;
namespace dummy {
struct Tmp1075Cfg {
bool addTcsBrd0 = true;
bool addTcsBrd1 = true;
bool addPlPcdu0 = true;
bool addPlPcdu1 = true;
bool addIfBrd = true;
};
// Default values targeted towards EM.
struct DummyCfg {
bool addCoreCtrlCfg = true;
// Special variant because the ACU broke. Overrides addPowerDummies, only ACU dummy will be added.
bool addOnlyAcuDummy = false;
bool addPowerDummies = true;
bool addBpxBattDummy = true;
bool addSyrlinksDummies = true;
bool addAcsBoardDummies = true;
bool addSusDummies = true;
bool addTempSensorDummies = true;
bool addRtdComIFDummy = true;
bool addPlocDummies = true;
bool addTmpDummies = true;
Tmp1075Cfg tmp1075Cfg;
bool addCamSwitcherDummy = false;
};
void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch, GpioIF* gpioIF);
void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch, GpioIF* gpioIF, bool enableHkSets);
} // namespace dummy

2
fsfw

@ -1 +1 @@
Subproject commit 5eb9ee8bc1e6f8640cbea46febd11e4b92241881
Subproject commit 88e8665280a0381c41b724ab035a8c3eff1a23c1

37
generators/bsp_hosted_events.csv
View File

@ -177,20 +177,24 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
12515;0x30e3;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/acs/StrComHandler.h
12516;0x30e4;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/acs/StrComHandler.h
12517;0x30e5;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/acs/StrComHandler.h
12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/payload/PlocMpsocHelper.h
12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/payload/PlocMpsocHelper.h
12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;No description;linux/payload/PlocMpsocHelper.h
12603;0x313b;MPSOC_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of MPSoC helper;linux/payload/PlocMpsocHelper.h
12604;0x313c;MPSOC_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of MPSoC helper;linux/payload/PlocMpsocHelper.h
12605;0x313d;MPSOC_MISSING_ACK;LOW;Did not receive acknowledgment report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/payload/PlocMpsocHelper.h
12606;0x313e;MPSOC_MISSING_EXE;LOW;Did not receive execution report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/payload/PlocMpsocHelper.h
12607;0x313f;MPSOC_ACK_FAILURE_REPORT;LOW;Received acknowledgment failure report P1: Internal state of MPSoC;linux/payload/PlocMpsocHelper.h
12608;0x3140;MPSOC_EXE_FAILURE_REPORT;LOW;Received execution failure report P1: Internal state of MPSoC;linux/payload/PlocMpsocHelper.h
12609;0x3141;MPSOC_ACK_INVALID_APID;LOW;Expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/payload/PlocMpsocHelper.h
12610;0x3142;MPSOC_EXE_INVALID_APID;LOW;Expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/payload/PlocMpsocHelper.h
12611;0x3143;MPSOC_HELPER_SEQ_CNT_MISMATCH;LOW;Received sequence count does not match expected sequence count P1: Expected sequence count P2: Received sequence count;linux/payload/PlocMpsocHelper.h
12612;0x3144;MPSOC_TM_SIZE_ERROR;LOW;No description;linux/payload/PlocMpsocHelper.h
12613;0x3145;MPSOC_TM_CRC_MISSMATCH;LOW;No description;linux/payload/PlocMpsocHelper.h
12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/payload/PlocMpsocSpecialComHelper.h
12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;INFO;Flash write successful;linux/payload/PlocMpsocSpecialComHelper.h
12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
12603;0x313b;MPSOC_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of MPSoC helper;linux/payload/PlocMpsocSpecialComHelper.h
12604;0x313c;MPSOC_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of MPSoC helper;linux/payload/PlocMpsocSpecialComHelper.h
12605;0x313d;MPSOC_MISSING_ACK;LOW;Did not receive acknowledgment report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/payload/PlocMpsocSpecialComHelper.h
12606;0x313e;MPSOC_MISSING_EXE;LOW;Did not receive execution report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/payload/PlocMpsocSpecialComHelper.h
12607;0x313f;MPSOC_ACK_FAILURE_REPORT;LOW;Received acknowledgment failure report P1: Internal state of MPSoC;linux/payload/PlocMpsocSpecialComHelper.h
12608;0x3140;MPSOC_EXE_FAILURE_REPORT;LOW;Received execution failure report P1: Internal state of MPSoC;linux/payload/PlocMpsocSpecialComHelper.h
12609;0x3141;MPSOC_ACK_INVALID_APID;LOW;Expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/payload/PlocMpsocSpecialComHelper.h
12610;0x3142;MPSOC_EXE_INVALID_APID;LOW;Expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/payload/PlocMpsocSpecialComHelper.h
12611;0x3143;MPSOC_HELPER_SEQ_CNT_MISMATCH;LOW;Received sequence count does not match expected sequence count P1: Expected sequence count P2: Received sequence count;linux/payload/PlocMpsocSpecialComHelper.h
12612;0x3144;MPSOC_TM_SIZE_ERROR;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
12613;0x3145;MPSOC_TM_CRC_MISSMATCH;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
12614;0x3146;MPSOC_FLASH_READ_PACKET_ERROR;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
12615;0x3147;MPSOC_FLASH_READ_FAILED;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
12616;0x3148;MPSOC_FLASH_READ_SUCCESSFUL;INFO;No description;linux/payload/PlocMpsocSpecialComHelper.h
12617;0x3149;MPSOC_READ_TIMEOUT;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
12700;0x319c;TRANSITION_BACK_TO_OFF;MEDIUM;Could not transition properly and went back to ALL OFF;mission/payload/PayloadPcduHandler.h
12701;0x319d;NEG_V_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/payload/PayloadPcduHandler.h
12702;0x319e;U_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/payload/PayloadPcduHandler.h
@ -267,6 +271,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
14010;0x36ba;TRYING_I2C_RECOVERY;HIGH;I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C devices.;mission/sysDefs.h
14011;0x36bb;I2C_REBOOT;HIGH;I2C is unavailable. Recovery did not work, performing full reboot.;mission/sysDefs.h
14012;0x36bc;PDEC_REBOOT;HIGH;PDEC recovery through reset was not possible, performing full reboot.;mission/sysDefs.h
14013;0x36bd;FIRMWARE_INFO;INFO;Version information of the firmware (not OBSW). P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;mission/sysDefs.h
14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/tcsDefs.h
14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/tcsDefs.h
14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
@ -274,6 +279,10 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
14105;0x3719;CAMERA_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
14106;0x371a;PCDU_SYSTEM_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
14107;0x371b;HEATER_NOT_OFF_FOR_OFF_MODE;MEDIUM;No description;mission/controller/tcsDefs.h
14108;0x371c;MGT_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
14109;0x371d;TCS_SWITCHING_HEATER_ON;INFO;P1: Module index. P2: Heater index;mission/controller/tcsDefs.h
14110;0x371e;TCS_SWITCHING_HEATER_OFF;INFO;P1: Module index. P2: Heater index;mission/controller/tcsDefs.h
14111;0x371f;TCS_HEATER_MAX_BURN_TIME_REACHED;MEDIUM;P1: Heater index. P2: Maximum burn time for heater.;mission/controller/tcsDefs.h
14201;0x3779;TX_TIMER_EXPIRED;INFO;The transmit timer to protect the Syrlinks expired P1: The current timer value;mission/system/com/ComSubsystem.h
14202;0x377a;BIT_LOCK_TX_ON;INFO;Transmitter will be turned on due to detection of bitlock;mission/system/com/ComSubsystem.h
14300;0x37dc;POSSIBLE_FILE_CORRUPTION;LOW;P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp.;mission/persistentTmStoreDefs.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
177 12515 0x30e3 STR_HELPER_FILE_NOT_EXISTS LOW Specified file does not exist P1: Internal state of str helper linux/acs/StrComHandler.h
178 12516 0x30e4 STR_HELPER_SENDING_PACKET_FAILED LOW No description linux/acs/StrComHandler.h
179 12517 0x30e5 STR_HELPER_REQUESTING_MSG_FAILED LOW No description linux/acs/StrComHandler.h
180 12600 0x3138 MPSOC_FLASH_WRITE_FAILED LOW Flash write fails linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
181 12601 0x3139 MPSOC_FLASH_WRITE_SUCCESSFUL LOW INFO Flash write successful linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
182 12602 0x313a MPSOC_SENDING_COMMAND_FAILED LOW No description linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
183 12603 0x313b MPSOC_HELPER_REQUESTING_REPLY_FAILED LOW Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of MPSoC helper linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
184 12604 0x313c MPSOC_HELPER_READING_REPLY_FAILED LOW Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of MPSoC helper linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
185 12605 0x313d MPSOC_MISSING_ACK LOW Did not receive acknowledgment report P1: Number of bytes missing P2: Internal state of MPSoC helper linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
186 12606 0x313e MPSOC_MISSING_EXE LOW Did not receive execution report P1: Number of bytes missing P2: Internal state of MPSoC helper linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
187 12607 0x313f MPSOC_ACK_FAILURE_REPORT LOW Received acknowledgment failure report P1: Internal state of MPSoC linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
188 12608 0x3140 MPSOC_EXE_FAILURE_REPORT LOW Received execution failure report P1: Internal state of MPSoC linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
189 12609 0x3141 MPSOC_ACK_INVALID_APID LOW Expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
190 12610 0x3142 MPSOC_EXE_INVALID_APID LOW Expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
191 12611 0x3143 MPSOC_HELPER_SEQ_CNT_MISMATCH LOW Received sequence count does not match expected sequence count P1: Expected sequence count P2: Received sequence count linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
192 12612 0x3144 MPSOC_TM_SIZE_ERROR LOW No description linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
193 12613 0x3145 MPSOC_TM_CRC_MISSMATCH LOW No description linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
194 12614 0x3146 MPSOC_FLASH_READ_PACKET_ERROR LOW No description linux/payload/PlocMpsocSpecialComHelper.h
195 12615 0x3147 MPSOC_FLASH_READ_FAILED LOW No description linux/payload/PlocMpsocSpecialComHelper.h
196 12616 0x3148 MPSOC_FLASH_READ_SUCCESSFUL INFO No description linux/payload/PlocMpsocSpecialComHelper.h
197 12617 0x3149 MPSOC_READ_TIMEOUT LOW No description linux/payload/PlocMpsocSpecialComHelper.h
198 12700 0x319c TRANSITION_BACK_TO_OFF MEDIUM Could not transition properly and went back to ALL OFF mission/payload/PayloadPcduHandler.h
199 12701 0x319d NEG_V_OUT_OF_BOUNDS MEDIUM P1: 0 -> too low, 1 -> too high P2: Float value mission/payload/PayloadPcduHandler.h
200 12702 0x319e U_DRO_OUT_OF_BOUNDS MEDIUM P1: 0 -> too low, 1 -> too high P2: Float value mission/payload/PayloadPcduHandler.h
271 14010 0x36ba TRYING_I2C_RECOVERY HIGH I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C devices. mission/sysDefs.h
272 14011 0x36bb I2C_REBOOT HIGH I2C is unavailable. Recovery did not work, performing full reboot. mission/sysDefs.h
273 14012 0x36bc PDEC_REBOOT HIGH PDEC recovery through reset was not possible, performing full reboot. mission/sysDefs.h
274 14013 0x36bd FIRMWARE_INFO INFO Version information of the firmware (not OBSW). P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set. mission/sysDefs.h
275 14100 0x3714 NO_VALID_SENSOR_TEMPERATURE MEDIUM No description mission/controller/tcsDefs.h
276 14101 0x3715 NO_HEALTHY_HEATER_AVAILABLE MEDIUM No description mission/controller/tcsDefs.h
277 14102 0x3716 SYRLINKS_OVERHEATING HIGH No description mission/controller/tcsDefs.h
279 14105 0x3719 CAMERA_OVERHEATING HIGH No description mission/controller/tcsDefs.h
280 14106 0x371a PCDU_SYSTEM_OVERHEATING HIGH No description mission/controller/tcsDefs.h
281 14107 0x371b HEATER_NOT_OFF_FOR_OFF_MODE MEDIUM No description mission/controller/tcsDefs.h
282 14108 0x371c MGT_OVERHEATING HIGH No description mission/controller/tcsDefs.h
283 14109 0x371d TCS_SWITCHING_HEATER_ON INFO P1: Module index. P2: Heater index mission/controller/tcsDefs.h
284 14110 0x371e TCS_SWITCHING_HEATER_OFF INFO P1: Module index. P2: Heater index mission/controller/tcsDefs.h
285 14111 0x371f TCS_HEATER_MAX_BURN_TIME_REACHED MEDIUM P1: Heater index. P2: Maximum burn time for heater. mission/controller/tcsDefs.h
286 14201 0x3779 TX_TIMER_EXPIRED INFO The transmit timer to protect the Syrlinks expired P1: The current timer value mission/system/com/ComSubsystem.h
287 14202 0x377a BIT_LOCK_TX_ON INFO Transmitter will be turned on due to detection of bitlock mission/system/com/ComSubsystem.h
288 14300 0x37dc POSSIBLE_FILE_CORRUPTION LOW P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp. mission/persistentTmStoreDefs.h

37
generators/bsp_q7s_events.csv
View File

@ -177,20 +177,24 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
12515;0x30e3;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/acs/StrComHandler.h
12516;0x30e4;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/acs/StrComHandler.h
12517;0x30e5;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/acs/StrComHandler.h
12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/payload/PlocMpsocHelper.h
12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/payload/PlocMpsocHelper.h
12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;No description;linux/payload/PlocMpsocHelper.h
12603;0x313b;MPSOC_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of MPSoC helper;linux/payload/PlocMpsocHelper.h
12604;0x313c;MPSOC_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of MPSoC helper;linux/payload/PlocMpsocHelper.h
12605;0x313d;MPSOC_MISSING_ACK;LOW;Did not receive acknowledgment report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/payload/PlocMpsocHelper.h
12606;0x313e;MPSOC_MISSING_EXE;LOW;Did not receive execution report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/payload/PlocMpsocHelper.h
12607;0x313f;MPSOC_ACK_FAILURE_REPORT;LOW;Received acknowledgment failure report P1: Internal state of MPSoC;linux/payload/PlocMpsocHelper.h
12608;0x3140;MPSOC_EXE_FAILURE_REPORT;LOW;Received execution failure report P1: Internal state of MPSoC;linux/payload/PlocMpsocHelper.h
12609;0x3141;MPSOC_ACK_INVALID_APID;LOW;Expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/payload/PlocMpsocHelper.h
12610;0x3142;MPSOC_EXE_INVALID_APID;LOW;Expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/payload/PlocMpsocHelper.h
12611;0x3143;MPSOC_HELPER_SEQ_CNT_MISMATCH;LOW;Received sequence count does not match expected sequence count P1: Expected sequence count P2: Received sequence count;linux/payload/PlocMpsocHelper.h
12612;0x3144;MPSOC_TM_SIZE_ERROR;LOW;No description;linux/payload/PlocMpsocHelper.h
12613;0x3145;MPSOC_TM_CRC_MISSMATCH;LOW;No description;linux/payload/PlocMpsocHelper.h
12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/payload/PlocMpsocSpecialComHelper.h
12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;INFO;Flash write successful;linux/payload/PlocMpsocSpecialComHelper.h
12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
12603;0x313b;MPSOC_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of MPSoC helper;linux/payload/PlocMpsocSpecialComHelper.h
12604;0x313c;MPSOC_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of MPSoC helper;linux/payload/PlocMpsocSpecialComHelper.h
12605;0x313d;MPSOC_MISSING_ACK;LOW;Did not receive acknowledgment report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/payload/PlocMpsocSpecialComHelper.h
12606;0x313e;MPSOC_MISSING_EXE;LOW;Did not receive execution report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/payload/PlocMpsocSpecialComHelper.h
12607;0x313f;MPSOC_ACK_FAILURE_REPORT;LOW;Received acknowledgment failure report P1: Internal state of MPSoC;linux/payload/PlocMpsocSpecialComHelper.h
12608;0x3140;MPSOC_EXE_FAILURE_REPORT;LOW;Received execution failure report P1: Internal state of MPSoC;linux/payload/PlocMpsocSpecialComHelper.h
12609;0x3141;MPSOC_ACK_INVALID_APID;LOW;Expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/payload/PlocMpsocSpecialComHelper.h
12610;0x3142;MPSOC_EXE_INVALID_APID;LOW;Expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/payload/PlocMpsocSpecialComHelper.h
12611;0x3143;MPSOC_HELPER_SEQ_CNT_MISMATCH;LOW;Received sequence count does not match expected sequence count P1: Expected sequence count P2: Received sequence count;linux/payload/PlocMpsocSpecialComHelper.h
12612;0x3144;MPSOC_TM_SIZE_ERROR;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
12613;0x3145;MPSOC_TM_CRC_MISSMATCH;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
12614;0x3146;MPSOC_FLASH_READ_PACKET_ERROR;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
12615;0x3147;MPSOC_FLASH_READ_FAILED;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
12616;0x3148;MPSOC_FLASH_READ_SUCCESSFUL;INFO;No description;linux/payload/PlocMpsocSpecialComHelper.h
12617;0x3149;MPSOC_READ_TIMEOUT;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
12700;0x319c;TRANSITION_BACK_TO_OFF;MEDIUM;Could not transition properly and went back to ALL OFF;mission/payload/PayloadPcduHandler.h
12701;0x319d;NEG_V_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/payload/PayloadPcduHandler.h
12702;0x319e;U_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/payload/PayloadPcduHandler.h
@ -267,6 +271,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
14010;0x36ba;TRYING_I2C_RECOVERY;HIGH;I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C devices.;mission/sysDefs.h
14011;0x36bb;I2C_REBOOT;HIGH;I2C is unavailable. Recovery did not work, performing full reboot.;mission/sysDefs.h
14012;0x36bc;PDEC_REBOOT;HIGH;PDEC recovery through reset was not possible, performing full reboot.;mission/sysDefs.h
14013;0x36bd;FIRMWARE_INFO;INFO;Version information of the firmware (not OBSW). P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;mission/sysDefs.h
14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/tcsDefs.h
14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/tcsDefs.h
14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
@ -274,6 +279,10 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
14105;0x3719;CAMERA_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
14106;0x371a;PCDU_SYSTEM_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
14107;0x371b;HEATER_NOT_OFF_FOR_OFF_MODE;MEDIUM;No description;mission/controller/tcsDefs.h
14108;0x371c;MGT_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
14109;0x371d;TCS_SWITCHING_HEATER_ON;INFO;P1: Module index. P2: Heater index;mission/controller/tcsDefs.h
14110;0x371e;TCS_SWITCHING_HEATER_OFF;INFO;P1: Module index. P2: Heater index;mission/controller/tcsDefs.h
14111;0x371f;TCS_HEATER_MAX_BURN_TIME_REACHED;MEDIUM;P1: Heater index. P2: Maximum burn time for heater.;mission/controller/tcsDefs.h
14201;0x3779;TX_TIMER_EXPIRED;INFO;The transmit timer to protect the Syrlinks expired P1: The current timer value;mission/system/com/ComSubsystem.h
14202;0x377a;BIT_LOCK_TX_ON;INFO;Transmitter will be turned on due to detection of bitlock;mission/system/com/ComSubsystem.h
14300;0x37dc;POSSIBLE_FILE_CORRUPTION;LOW;P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp.;mission/persistentTmStoreDefs.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
177 12515 0x30e3 STR_HELPER_FILE_NOT_EXISTS LOW Specified file does not exist P1: Internal state of str helper linux/acs/StrComHandler.h
178 12516 0x30e4 STR_HELPER_SENDING_PACKET_FAILED LOW No description linux/acs/StrComHandler.h
179 12517 0x30e5 STR_HELPER_REQUESTING_MSG_FAILED LOW No description linux/acs/StrComHandler.h
180 12600 0x3138 MPSOC_FLASH_WRITE_FAILED LOW Flash write fails linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
181 12601 0x3139 MPSOC_FLASH_WRITE_SUCCESSFUL LOW INFO Flash write successful linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
182 12602 0x313a MPSOC_SENDING_COMMAND_FAILED LOW No description linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
183 12603 0x313b MPSOC_HELPER_REQUESTING_REPLY_FAILED LOW Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of MPSoC helper linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
184 12604 0x313c MPSOC_HELPER_READING_REPLY_FAILED LOW Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of MPSoC helper linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
185 12605 0x313d MPSOC_MISSING_ACK LOW Did not receive acknowledgment report P1: Number of bytes missing P2: Internal state of MPSoC helper linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
186 12606 0x313e MPSOC_MISSING_EXE LOW Did not receive execution report P1: Number of bytes missing P2: Internal state of MPSoC helper linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
187 12607 0x313f MPSOC_ACK_FAILURE_REPORT LOW Received acknowledgment failure report P1: Internal state of MPSoC linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
188 12608 0x3140 MPSOC_EXE_FAILURE_REPORT LOW Received execution failure report P1: Internal state of MPSoC linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
189 12609 0x3141 MPSOC_ACK_INVALID_APID LOW Expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
190 12610 0x3142 MPSOC_EXE_INVALID_APID LOW Expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
191 12611 0x3143 MPSOC_HELPER_SEQ_CNT_MISMATCH LOW Received sequence count does not match expected sequence count P1: Expected sequence count P2: Received sequence count linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
192 12612 0x3144 MPSOC_TM_SIZE_ERROR LOW No description linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
193 12613 0x3145 MPSOC_TM_CRC_MISSMATCH LOW No description linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
194 12614 0x3146 MPSOC_FLASH_READ_PACKET_ERROR LOW No description linux/payload/PlocMpsocSpecialComHelper.h
195 12615 0x3147 MPSOC_FLASH_READ_FAILED LOW No description linux/payload/PlocMpsocSpecialComHelper.h
196 12616 0x3148 MPSOC_FLASH_READ_SUCCESSFUL INFO No description linux/payload/PlocMpsocSpecialComHelper.h
197 12617 0x3149 MPSOC_READ_TIMEOUT LOW No description linux/payload/PlocMpsocSpecialComHelper.h
198 12700 0x319c TRANSITION_BACK_TO_OFF MEDIUM Could not transition properly and went back to ALL OFF mission/payload/PayloadPcduHandler.h
199 12701 0x319d NEG_V_OUT_OF_BOUNDS MEDIUM P1: 0 -> too low, 1 -> too high P2: Float value mission/payload/PayloadPcduHandler.h
200 12702 0x319e U_DRO_OUT_OF_BOUNDS MEDIUM P1: 0 -> too low, 1 -> too high P2: Float value mission/payload/PayloadPcduHandler.h
271 14010 0x36ba TRYING_I2C_RECOVERY HIGH I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C devices. mission/sysDefs.h
272 14011 0x36bb I2C_REBOOT HIGH I2C is unavailable. Recovery did not work, performing full reboot. mission/sysDefs.h
273 14012 0x36bc PDEC_REBOOT HIGH PDEC recovery through reset was not possible, performing full reboot. mission/sysDefs.h
274 14013 0x36bd FIRMWARE_INFO INFO Version information of the firmware (not OBSW). P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set. mission/sysDefs.h
275 14100 0x3714 NO_VALID_SENSOR_TEMPERATURE MEDIUM No description mission/controller/tcsDefs.h
276 14101 0x3715 NO_HEALTHY_HEATER_AVAILABLE MEDIUM No description mission/controller/tcsDefs.h
277 14102 0x3716 SYRLINKS_OVERHEATING HIGH No description mission/controller/tcsDefs.h
279 14105 0x3719 CAMERA_OVERHEATING HIGH No description mission/controller/tcsDefs.h
280 14106 0x371a PCDU_SYSTEM_OVERHEATING HIGH No description mission/controller/tcsDefs.h
281 14107 0x371b HEATER_NOT_OFF_FOR_OFF_MODE MEDIUM No description mission/controller/tcsDefs.h
282 14108 0x371c MGT_OVERHEATING HIGH No description mission/controller/tcsDefs.h
283 14109 0x371d TCS_SWITCHING_HEATER_ON INFO P1: Module index. P2: Heater index mission/controller/tcsDefs.h
284 14110 0x371e TCS_SWITCHING_HEATER_OFF INFO P1: Module index. P2: Heater index mission/controller/tcsDefs.h
285 14111 0x371f TCS_HEATER_MAX_BURN_TIME_REACHED MEDIUM P1: Heater index. P2: Maximum burn time for heater. mission/controller/tcsDefs.h
286 14201 0x3779 TX_TIMER_EXPIRED INFO The transmit timer to protect the Syrlinks expired P1: The current timer value mission/system/com/ComSubsystem.h
287 14202 0x377a BIT_LOCK_TX_ON INFO Transmitter will be turned on due to detection of bitlock mission/system/com/ComSubsystem.h
288 14300 0x37dc POSSIBLE_FILE_CORRUPTION LOW P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp. mission/persistentTmStoreDefs.h

7
generators/bsp_q7s_returnvalues.csv
View File

@ -478,8 +478,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x53b6;STRH_StartrackerAlreadyBooted;Star tracker is already in firmware mode;182;STR_HANDLER;mission/acs/str/StarTrackerHandler.h
0x53b7;STRH_StartrackerNotRunningFirmware;Star tracker must be in firmware mode to run this command;183;STR_HANDLER;mission/acs/str/StarTrackerHandler.h
0x53b8;STRH_StartrackerNotRunningBootloader;Star tracker must be in bootloader mode to run this command;184;STR_HANDLER;mission/acs/str/StarTrackerHandler.h
0x54e0;DWLPWRON_InvalidMode;Received command has invalid JESD mode (valid modes are 0 - 5);224;DWLPWRON_CMD;linux/payload/plocMpscoDefs.h
0x54e1;DWLPWRON_InvalidLaneRate;Received command has invalid lane rate (valid lane rate are 0 - 9);225;DWLPWRON_CMD;linux/payload/plocMpscoDefs.h
0x54e0;DWLPWRON_InvalidMode;Received command has invalid JESD mode (valid modes are 0 - 5);224;DWLPWRON_CMD;linux/payload/plocMpsocHelpers.h
0x54e1;DWLPWRON_InvalidLaneRate;Received command has invalid lane rate (valid lane rate are 0 - 9);225;DWLPWRON_CMD;linux/payload/plocMpsocHelpers.h
0x5700;PLSPVhLP_RequestDone;No description;0;PLOC_SUPV_HELPER;linux/payload/PlocSupvUartMan.h
0x5701;PLSPVhLP_NoPacketFound;No description;1;PLOC_SUPV_HELPER;linux/payload/PlocSupvUartMan.h
0x5702;PLSPVhLP_DecodeBufTooSmall;No description;2;PLOC_SUPV_HELPER;linux/payload/PlocSupvUartMan.h
@ -543,7 +543,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NvmParameterBase.h
0x64a0;FSHLP_SdNotMounted;SD card specified with path string not mounted;160;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
0x64a1;FSHLP_FileNotExists;Specified file does not exist on filesystem;161;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
0x65a0;PLMPHLP_FileClosedAccidentally;File accidentally close;160;PLOC_MPSOC_HELPER;linux/payload/PlocMpsocHelper.h
0x65a0;PLMPHLP_FileWriteError;File error occured for file transfers from OBC to the MPSoC.;160;PLOC_MPSOC_HELPER;linux/payload/PlocMpsocSpecialComHelper.h
0x65a1;PLMPHLP_FileReadError;File error occured for file transfers from MPSoC to OBC.;161;PLOC_MPSOC_HELPER;linux/payload/PlocMpsocSpecialComHelper.h
0x66a0;SADPL_CommandNotSupported;No description;160;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
0x66a1;SADPL_DeploymentAlreadyExecuting;No description;161;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
0x66a2;SADPL_MainSwitchTimeoutFailure;No description;162;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h

1 Full ID (hex) Name Description Unique ID Subsytem Name File Path
478 0x53b6 STRH_StartrackerAlreadyBooted Star tracker is already in firmware mode 182 STR_HANDLER mission/acs/str/StarTrackerHandler.h
479 0x53b7 STRH_StartrackerNotRunningFirmware Star tracker must be in firmware mode to run this command 183 STR_HANDLER mission/acs/str/StarTrackerHandler.h
480 0x53b8 STRH_StartrackerNotRunningBootloader Star tracker must be in bootloader mode to run this command 184 STR_HANDLER mission/acs/str/StarTrackerHandler.h
481 0x54e0 DWLPWRON_InvalidMode Received command has invalid JESD mode (valid modes are 0 - 5) 224 DWLPWRON_CMD linux/payload/plocMpscoDefs.h linux/payload/plocMpsocHelpers.h
482 0x54e1 DWLPWRON_InvalidLaneRate Received command has invalid lane rate (valid lane rate are 0 - 9) 225 DWLPWRON_CMD linux/payload/plocMpscoDefs.h linux/payload/plocMpsocHelpers.h
483 0x5700 PLSPVhLP_RequestDone No description 0 PLOC_SUPV_HELPER linux/payload/PlocSupvUartMan.h
484 0x5701 PLSPVhLP_NoPacketFound No description 1 PLOC_SUPV_HELPER linux/payload/PlocSupvUartMan.h
485 0x5702 PLSPVhLP_DecodeBufTooSmall No description 2 PLOC_SUPV_HELPER linux/payload/PlocSupvUartMan.h
543 0x63a0 NVMB_KeyNotExists Specified key does not exist in json file 160 NVM_PARAM_BASE mission/memory/NvmParameterBase.h
544 0x64a0 FSHLP_SdNotMounted SD card specified with path string not mounted 160 FILE_SYSTEM_HELPER bsp_q7s/fs/FilesystemHelper.h
545 0x64a1 FSHLP_FileNotExists Specified file does not exist on filesystem 161 FILE_SYSTEM_HELPER bsp_q7s/fs/FilesystemHelper.h
546 0x65a0 PLMPHLP_FileClosedAccidentally PLMPHLP_FileWriteError File accidentally close File error occured for file transfers from OBC to the MPSoC. 160 PLOC_MPSOC_HELPER linux/payload/PlocMpsocHelper.h linux/payload/PlocMpsocSpecialComHelper.h
547 0x65a1 PLMPHLP_FileReadError File error occured for file transfers from MPSoC to OBC. 161 PLOC_MPSOC_HELPER linux/payload/PlocMpsocSpecialComHelper.h
548 0x66a0 SADPL_CommandNotSupported No description 160 SA_DEPL_HANDLER mission/SolarArrayDeploymentHandler.h
549 0x66a1 SADPL_DeploymentAlreadyExecuting No description 161 SA_DEPL_HANDLER mission/SolarArrayDeploymentHandler.h
550 0x66a2 SADPL_MainSwitchTimeoutFailure No description 162 SA_DEPL_HANDLER mission/SolarArrayDeploymentHandler.h

31
generators/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 290 translations.
* @brief Auto-generated event translation file. Contains 299 translations.
* @details
* Generated on: 2023-04-14 20:23:17
* Generated on: 2023-07-07 12:06:06
*/
#include "translateEvents.h"
@ -197,6 +197,10 @@ const char *MPSOC_EXE_INVALID_APID_STRING = "MPSOC_EXE_INVALID_APID";
const char *MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HELPER_SEQ_CNT_MISMATCH";
const char *MPSOC_TM_SIZE_ERROR_STRING = "MPSOC_TM_SIZE_ERROR";
const char *MPSOC_TM_CRC_MISSMATCH_STRING = "MPSOC_TM_CRC_MISSMATCH";
const char *MPSOC_FLASH_READ_PACKET_ERROR_STRING = "MPSOC_FLASH_READ_PACKET_ERROR";
const char *MPSOC_FLASH_READ_FAILED_STRING = "MPSOC_FLASH_READ_FAILED";
const char *MPSOC_FLASH_READ_SUCCESSFUL_STRING = "MPSOC_FLASH_READ_SUCCESSFUL";
const char *MPSOC_READ_TIMEOUT_STRING = "MPSOC_READ_TIMEOUT";
const char *TRANSITION_BACK_TO_OFF_STRING = "TRANSITION_BACK_TO_OFF";
const char *NEG_V_OUT_OF_BOUNDS_STRING = "NEG_V_OUT_OF_BOUNDS";
const char *U_DRO_OUT_OF_BOUNDS_STRING = "U_DRO_OUT_OF_BOUNDS";
@ -273,6 +277,7 @@ const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
const char *I2C_REBOOT_STRING = "I2C_REBOOT";
const char *PDEC_REBOOT_STRING = "PDEC_REBOOT";
const char *FIRMWARE_INFO_STRING = "FIRMWARE_INFO";
const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
@ -280,6 +285,10 @@ const char *OBC_OVERHEATING_STRING = "OBC_OVERHEATING";
const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
const char *MGT_OVERHEATING_STRING = "MGT_OVERHEATING";
const char *TCS_SWITCHING_HEATER_ON_STRING = "TCS_SWITCHING_HEATER_ON";
const char *TCS_SWITCHING_HEATER_OFF_STRING = "TCS_SWITCHING_HEATER_OFF";
const char *TCS_HEATER_MAX_BURN_TIME_REACHED_STRING = "TCS_HEATER_MAX_BURN_TIME_REACHED";
const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
@ -682,6 +691,14 @@ const char *translateEvents(Event event) {
return MPSOC_TM_SIZE_ERROR_STRING;
case (12613):
return MPSOC_TM_CRC_MISSMATCH_STRING;
case (12614):
return MPSOC_FLASH_READ_PACKET_ERROR_STRING;
case (12615):
return MPSOC_FLASH_READ_FAILED_STRING;
case (12616):
return MPSOC_FLASH_READ_SUCCESSFUL_STRING;
case (12617):
return MPSOC_READ_TIMEOUT_STRING;
case (12700):
return TRANSITION_BACK_TO_OFF_STRING;
case (12701):
@ -834,6 +851,8 @@ const char *translateEvents(Event event) {
return I2C_REBOOT_STRING;
case (14012):
return PDEC_REBOOT_STRING;
case (14013):
return FIRMWARE_INFO_STRING;
case (14100):
return NO_VALID_SENSOR_TEMPERATURE_STRING;
case (14101):
@ -848,6 +867,14 @@ const char *translateEvents(Event event) {
return PCDU_SYSTEM_OVERHEATING_STRING;
case (14107):
return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
case (14108):
return MGT_OVERHEATING_STRING;
case (14109):
return TCS_SWITCHING_HEATER_ON_STRING;
case (14110):
return TCS_SWITCHING_HEATER_OFF_STRING;
case (14111):
return TCS_HEATER_MAX_BURN_TIME_REACHED_STRING;
case (14201):
return TX_TIMER_EXPIRED_STRING;
case (14202):

2
generators/objects/translateObjects.cpp
View File

@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 175 translations.
* Generated on: 2023-04-14 20:23:17
* Generated on: 2023-07-07 12:06:06
*/
#include "translateObjects.h"

88
linux/acs/AcsBoardPolling.cpp
View File

@ -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;

3
linux/acs/AcsBoardPolling.h
View File

@ -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);
};

31
linux/fsfwconfig/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 290 translations.
* @brief Auto-generated event translation file. Contains 299 translations.
* @details
* Generated on: 2023-04-14 20:23:17
* Generated on: 2023-07-07 12:06:06
*/
#include "translateEvents.h"
@ -197,6 +197,10 @@ const char *MPSOC_EXE_INVALID_APID_STRING = "MPSOC_EXE_INVALID_APID";
const char *MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HELPER_SEQ_CNT_MISMATCH";
const char *MPSOC_TM_SIZE_ERROR_STRING = "MPSOC_TM_SIZE_ERROR";
const char *MPSOC_TM_CRC_MISSMATCH_STRING = "MPSOC_TM_CRC_MISSMATCH";
const char *MPSOC_FLASH_READ_PACKET_ERROR_STRING = "MPSOC_FLASH_READ_PACKET_ERROR";
const char *MPSOC_FLASH_READ_FAILED_STRING = "MPSOC_FLASH_READ_FAILED";
const char *MPSOC_FLASH_READ_SUCCESSFUL_STRING = "MPSOC_FLASH_READ_SUCCESSFUL";
const char *MPSOC_READ_TIMEOUT_STRING = "MPSOC_READ_TIMEOUT";
const char *TRANSITION_BACK_TO_OFF_STRING = "TRANSITION_BACK_TO_OFF";
const char *NEG_V_OUT_OF_BOUNDS_STRING = "NEG_V_OUT_OF_BOUNDS";
const char *U_DRO_OUT_OF_BOUNDS_STRING = "U_DRO_OUT_OF_BOUNDS";
@ -273,6 +277,7 @@ const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
const char *I2C_REBOOT_STRING = "I2C_REBOOT";
const char *PDEC_REBOOT_STRING = "PDEC_REBOOT";
const char *FIRMWARE_INFO_STRING = "FIRMWARE_INFO";
const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
@ -280,6 +285,10 @@ const char *OBC_OVERHEATING_STRING = "OBC_OVERHEATING";
const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
const char *MGT_OVERHEATING_STRING = "MGT_OVERHEATING";
const char *TCS_SWITCHING_HEATER_ON_STRING = "TCS_SWITCHING_HEATER_ON";
const char *TCS_SWITCHING_HEATER_OFF_STRING = "TCS_SWITCHING_HEATER_OFF";
const char *TCS_HEATER_MAX_BURN_TIME_REACHED_STRING = "TCS_HEATER_MAX_BURN_TIME_REACHED";
const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
@ -682,6 +691,14 @@ const char *translateEvents(Event event) {
return MPSOC_TM_SIZE_ERROR_STRING;
case (12613):
return MPSOC_TM_CRC_MISSMATCH_STRING;
case (12614):
return MPSOC_FLASH_READ_PACKET_ERROR_STRING;
case (12615):
return MPSOC_FLASH_READ_FAILED_STRING;
case (12616):
return MPSOC_FLASH_READ_SUCCESSFUL_STRING;
case (12617):
return MPSOC_READ_TIMEOUT_STRING;
case (12700):
return TRANSITION_BACK_TO_OFF_STRING;
case (12701):
@ -834,6 +851,8 @@ const char *translateEvents(Event event) {
return I2C_REBOOT_STRING;
case (14012):
return PDEC_REBOOT_STRING;
case (14013):
return FIRMWARE_INFO_STRING;
case (14100):
return NO_VALID_SENSOR_TEMPERATURE_STRING;
case (14101):
@ -848,6 +867,14 @@ const char *translateEvents(Event event) {
return PCDU_SYSTEM_OVERHEATING_STRING;
case (14107):
return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
case (14108):
return MGT_OVERHEATING_STRING;
case (14109):
return TCS_SWITCHING_HEATER_ON_STRING;
case (14110):
return TCS_SWITCHING_HEATER_OFF_STRING;
case (14111):
return TCS_HEATER_MAX_BURN_TIME_REACHED_STRING;
case (14201):
return TX_TIMER_EXPIRED_STRING;
case (14202):

2
linux/fsfwconfig/objects/translateObjects.cpp
View File

@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 175 translations.
* Generated on: 2023-04-14 20:23:17
* Generated on: 2023-07-07 12:06:06
*/
#include "translateObjects.h"

12
linux/ipcore/AxiPtmeConfig.cpp
View File

@ -16,9 +16,9 @@ AxiPtmeConfig::AxiPtmeConfig(object_id_t objectId, std::string axiUio, int mapNu
AxiPtmeConfig::~AxiPtmeConfig() {}
ReturnValue_t AxiPtmeConfig::initialize() {
ReturnValue_t result = returnvalue::OK;
UioMapper uioMapper(axiUio, mapNum);
result = uioMapper.getMappedAdress(&baseAddress, UioMapper::Permissions::READ_WRITE);
ReturnValue_t result =
uioMapper.getMappedAdress(&baseAddress, UioMapper::Permissions::READ_WRITE);
if (result != returnvalue::OK) {
return result;
}
@ -26,8 +26,7 @@ ReturnValue_t AxiPtmeConfig::initialize() {
}
ReturnValue_t AxiPtmeConfig::writeCaduRateReg(uint8_t rateVal) {
ReturnValue_t result = returnvalue::OK;
result = mutex->lockMutex(timeoutType, mutexTimeout);
ReturnValue_t result = mutex->lockMutex(timeoutType, mutexTimeout);
if (result != returnvalue::OK) {
sif::warning << "AxiPtmeConfig::writeCaduRateReg: Failed to lock mutex" << std::endl;
return returnvalue::FAILED;
@ -41,6 +40,11 @@ ReturnValue_t AxiPtmeConfig::writeCaduRateReg(uint8_t rateVal) {
return returnvalue::OK;
}
uint8_t AxiPtmeConfig::readCaduRateReg() {
MutexGuard mg(mutex);
return static_cast<uint8_t>(*(baseAddress + CADU_BITRATE_REG));
}
void AxiPtmeConfig::enableTxclockManipulator() {
writeBit(COMMON_CONFIG_REG, true, BitPos::EN_TX_CLK_MANIPULATOR);
}

1
linux/ipcore/AxiPtmeConfig.h
View File

@ -38,6 +38,7 @@ class AxiPtmeConfig : public SystemObject {
* frequency of the clock connected to the bit clock input of PTME.
*/
ReturnValue_t writeCaduRateReg(uint8_t rateVal);
uint8_t readCaduRateReg();
/**
* @brief Next to functions control the tx clock manipulator component

142
linux/ipcore/PapbVcInterface.cpp
View File

@ -7,20 +7,16 @@
#include "fsfw/serviceinterface/ServiceInterface.h"
PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId,
gpioId_t papbEmptyId, std::string uioFile, int mapNum)
: gpioComIF(gpioComIF),
papbBusyId(papbBusyId),
papbEmptyId(papbEmptyId),
uioFile(std::move(uioFile)),
mapNum(mapNum) {}
PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbEmptyId,
std::string uioFile, int mapNum)
: gpioComIF(gpioComIF), papbEmptyId(papbEmptyId), uioFile(std::move(uioFile)), mapNum(mapNum) {}
PapbVcInterface::~PapbVcInterface() {}
ReturnValue_t PapbVcInterface::initialize() {
UioMapper uioMapper(uioFile, mapNum);
ReturnValue_t result = uioMapper.getMappedAdress(const_cast<uint32_t**>(&vcBaseReg),
UioMapper::Permissions::WRITE_ONLY);
UioMapper::Permissions::READ_WRITE);
if (result != returnvalue::OK) {
return result;
}
@ -32,63 +28,27 @@ ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
if (size < 4) {
return returnvalue::FAILED;
}
if (pollInterfaceReadiness(0, true) == returnvalue::OK) {
if (pollReadyForPacket()) {
startPacketTransfer(ByteWidthCfg::ONE);
} else {
return DirectTmSinkIF::IS_BUSY;
}
// TODO: This should work but does not.. :(
// size_t idx = 0;
// while (idx < size) {
//
// nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
// if ((size - idx) < 4) {
// *vcBaseReg = CONFIG_DATA_INPUT | (size - idx - 1);
// usleep(1);
// }
// if (pollPapbBusySignal(2) == returnvalue::OK) {
// // vcBaseReg + DATA_REG_OFFSET + 3 = static_cast<uint8_t>(data + idx);
// // vcBaseReg + DATA_REG_OFFSET + 2 = static_cast<uint8_t>(data + idx + 1);
// // vcBaseReg + DATA_REG_OFFSET + 1 = static_cast<uint8_t>(data + idx + 2);
// // vcBaseReg + DATA_REG_OFFSET = static_cast<uint8_t>(data + idx + 3);
//
// // std::memcpy((vcBaseReg + DATA_REG_OFFSET), data + idx , nextWriteSize);
// *(vcBaseReg + DATA_REG_OFFSET) = *reinterpret_cast<const uint32_t*>(data + idx);
// //uint8_t* byteReg = reinterpret_cast<uint8_t*>(vcBaseReg + DATA_REG_OFFSET);
//
// //byteReg[0] = data[idx];
// //byteReg[1] = data[idx];
// } else {
// abortPacketTransfer();
// return returnvalue::FAILED;
// }
// // TODO: Change this after the bugfix. Right now, the PAPB ignores the content of the byte
// // width configuration.5
// // It's okay to increment by a larger amount for the last segment here, loop will be over
// // in any case.
// idx += 4;
// }
for (size_t idx = 0; idx < size; idx++) {
// This delay is super-important, DO NOT REMOVE!
// Polling the GPIO or the config register too often messes up the scheduler.
// TODO: Maybe this should not be done like this. It would be better if there was a custom
// FPGA module which can accept packets and then takes care of dumping that packet into
// the PTME. DMA would be an ideal solution for this.
nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
if (pollInterfaceReadiness(2, false) == returnvalue::OK) {
*(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(data[idx]);
} else {
abortPacketTransfer();
return returnvalue::FAILED;
}
}
nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
if (pollInterfaceReadiness(2, false) == returnvalue::OK) {
completePacketTransfer();
} else {
if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
abortPacketTransfer();
return returnvalue::FAILED;
}
for (size_t idx = 0; idx < size; idx++) {
if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
abortPacketTransfer();
return returnvalue::FAILED;
}
*(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(data[idx]);
}
if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
abortPacketTransfer();
return returnvalue::FAILED;
}
completePacketTransfer();
return returnvalue::OK;
}
@ -98,63 +58,49 @@ void PapbVcInterface::startPacketTransfer(ByteWidthCfg initWidth) {
void PapbVcInterface::completePacketTransfer() { *vcBaseReg = CONFIG_END; }
ReturnValue_t PapbVcInterface::pollInterfaceReadiness(uint32_t maxPollRetries,
bool checkReadyState) const {
uint32_t busyIdx = 0;
nextDelay.tv_nsec = FIRST_DELAY_PAPB_POLLING_NS;
while (true) {
// Check if PAPB interface is ready to receive data. Use the configuration register for this.
// Bit 5, see PTME ptme_001_01-0-7-r2 Table 31.
uint32_t reg = *vcBaseReg;
bool busy = (reg >> 5) & 0b1;
bool ready = (reg >> 6) & 0b1;
if (not busy) {
return returnvalue::OK;
}
if (checkReadyState and not ready) {
return PAPB_BUSY;
}
busyIdx++;
if (busyIdx >= maxPollRetries) {
return PAPB_BUSY;
}
// Ignore signal handling here for now.
nanosleep(&nextDelay, &remDelay);
// Adaptive delay.
if (nextDelay.tv_nsec * 2 <= MAX_DELAY_PAPB_POLLING_NS) {
nextDelay.tv_nsec *= 2;
}
}
return returnvalue::OK;
bool PapbVcInterface::pollReadyForPacket() const {
// Check if PAPB interface is ready to receive data. Use the configuration register for this.
// Bit 5, see PTME ptme_001_01-0-7-r2 Table 31.
uint32_t reg = *vcBaseReg;
return (reg >> 6) & 0b1;
}
void PapbVcInterface::isVcInterfaceBufferEmpty() {
bool PapbVcInterface::isVcInterfaceBufferEmpty() {
ReturnValue_t result = returnvalue::OK;
gpio::Levels papbEmptyState = gpio::Levels::HIGH;
result = gpioComIF->readGpio(papbEmptyId, papbEmptyState);
if (result != returnvalue::OK) {
sif::warning << "PapbVcInterface::isVcInterfaceBufferEmpty: Failed to read papb empty signal"
<< std::endl;
return;
sif::error << "PapbVcInterface::isVcInterfaceBufferEmpty: Failed to read papb empty signal"
<< std::endl;
return true;
}
if (papbEmptyState == gpio::Levels::HIGH) {
sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is empty" << std::endl;
} else {
sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is not empty" << std::endl;
return true;
}
return;
return false;
}
bool PapbVcInterface::isBusy() const { return pollInterfaceReadiness(0, true) == PAPB_BUSY; }
bool PapbVcInterface::isBusy() const { return not pollReadyForPacket(); }
void PapbVcInterface::cancelTransfer() { abortPacketTransfer(); }
inline bool PapbVcInterface::pollReadyForOctet(uint32_t maxCycles) const {
uint32_t reg;
uint32_t idx = 0;
while (idx < maxCycles) {
reg = *vcBaseReg;
// Busy bit.
if (not((reg >> 5) & 0b1)) {
return true;
}
idx++;
}
return false;
}
ReturnValue_t PapbVcInterface::sendTestFrame() {
/** Size of one complete transfer frame data field amounts to 1105 bytes */
uint8_t testPacket[1105];

13
linux/ipcore/PapbVcInterface.h
View File

@ -30,8 +30,7 @@ class PapbVcInterface : public VirtualChannelIF {
* @param uioFile UIO file providing access to the PAPB bus
* @param mapNum Map number of UIO map associated with this virtual channel
*/
PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId, gpioId_t papbEmptyId,
std::string uioFile, int mapNum);
PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbEmptyId, std::string uioFile, int mapNum);
virtual ~PapbVcInterface();
bool isBusy() const override;
@ -81,11 +80,9 @@ class PapbVcInterface : public VirtualChannelIF {
static constexpr long int FIRST_DELAY_PAPB_POLLING_NS = 10;
static constexpr long int MAX_DELAY_PAPB_POLLING_NS = 40;
static constexpr uint32_t MAX_BUSY_POLLS = 1000;
LinuxLibgpioIF* gpioComIF = nullptr;
/** Pulled to low when virtual channel not ready to receive data */
gpioId_t papbBusyId = gpio::NO_GPIO;
/** High when external buffer memory of virtual channel is empty */
gpioId_t papbEmptyId = gpio::NO_GPIO;
@ -120,13 +117,15 @@ class PapbVcInterface : public VirtualChannelIF {
*
* @return returnvalue::OK when ready to receive data else PAPB_BUSY.
*/
inline ReturnValue_t pollInterfaceReadiness(uint32_t maxPollRetries, bool checkReadyState) const;
inline bool pollReadyForPacket() const;
inline bool pollReadyForOctet(uint32_t maxCycles) const;
/**
* @brief This function can be used for debugging to check whether there are packets in
* the packet buffer of the virtual channel or not.
*/
void isVcInterfaceBufferEmpty();
bool isVcInterfaceBufferEmpty();
/**
* @brief This function sends a complete telemetry transfer frame data field (1105 bytes)

3
linux/ipcore/PdecHandler.cpp
View File

@ -435,8 +435,7 @@ ReturnValue_t PdecHandler::releasePdec() {
}
ReturnValue_t PdecHandler::pdecToReset() {
ReturnValue_t result = returnvalue::OK;
result = gpioComIF->pullLow(pdecReset);
ReturnValue_t result = gpioComIF->pullLow(pdecReset);
if (result != returnvalue::OK) {
sif::error << "PdecHandler::pdecToReset: Failed to pull PDEC reset line"
" to low"

5
linux/ipcore/PtmeConfig.cpp
View File

@ -26,6 +26,11 @@ ReturnValue_t PtmeConfig::setRate(uint32_t bitRate) {
return axiPtmeConfig->writeCaduRateReg(static_cast<uint8_t>(rateVal));
}
uint32_t PtmeConfig::getRate() {
uint8_t rateReg = axiPtmeConfig->readCaduRateReg();
return (BIT_CLK_FREQ / (rateReg + 1));
}
void PtmeConfig::invertTxClock(bool invert) {
if (invert) {
axiPtmeConfig->enableTxclockInversion();

1
linux/ipcore/PtmeConfig.h
View File

@ -32,6 +32,7 @@ class PtmeConfig : public SystemObject {
* of the CADU clock due to the convolutional code added by the s-Band transceiver.
*/
ReturnValue_t setRate(uint32_t bitRate);
uint32_t getRate();
/**
* @brief Will change the time the tx data signal is updated with respect to the tx clock

3
linux/payload/CMakeLists.txt
View File

@ -2,7 +2,8 @@ target_sources(
${OBSW_NAME}
PUBLIC PlocMemoryDumper.cpp
PlocMpsocHandler.cpp
PlocMpsocHelper.cpp
PlocMpsocSpecialComHelper.cpp
plocMpsocHelpers.cpp
PlocSupervisorHandler.cpp
PlocSupvUartMan.cpp
ScexDleParser.cpp

880
linux/payload/PlocMpsocHandler.cpp
View File

File diff suppressed because it is too large Load Diff

85
linux/payload/PlocMpsocHandler.h
View File

@ -1,9 +1,9 @@
#ifndef BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
#define BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
#include <linux/payload/PlocMpsocHelper.h>
#include <linux/payload/PlocMpsocSpecialComHelper.h>
#include <linux/payload/mpsocRetvals.h>
#include <linux/payload/plocMpscoDefs.h>
#include <linux/payload/plocMpsocHelpers.h>
#include <linux/payload/plocSupvDefs.h>
#include <string>
@ -28,9 +28,10 @@
* @note The sequence count in the space packets must be incremented with each received and sent
* packet otherwise the MPSoC will reply with an acknowledgment failure report.
*
* @author J. Meier
* NOTE: This is not an example for a good device handler, DO NOT USE THIS AS A REFERENCE HANDLER.
* @author J. Meier, R. Mueller
*/
class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
public:
/**
* @brief Constructor
@ -43,10 +44,10 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
* module in the programmable logic
* @param supervisorHandler Object ID of the supervisor handler
*/
PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
PlocMPSoCHelper* plocMPSoCHelper, Gpio uartIsolatorSwitch,
PlocMpsocHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
PlocMpsocSpecialComHelper* plocMPSoCHelper, Gpio uartIsolatorSwitch,
object_id_t supervisorHandler);
virtual ~PlocMPSoCHandler();
virtual ~PlocMpsocHandler();
virtual ReturnValue_t initialize() override;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
@ -77,7 +78,9 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
uint8_t expectedReplies = 1, bool useAlternateId = false,
DeviceCommandId_t alternateReplyID = 0) override;
size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
virtual ReturnValue_t doSendReadHook() override;
ReturnValue_t doSendReadHook() override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
bool dontCheckQueue() override;
private:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER;
@ -103,7 +106,8 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
static const uint16_t APID_MASK = 0x7FF;
static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
static const uint8_t STATUS_OFFSET = 10;
mpsoc::HkReport hkReport;
MessageQueueIF* eventQueue = nullptr;
MessageQueueIF* commandActionHelperQueue = nullptr;
@ -114,6 +118,41 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
SpacePacketCreator creator;
ploc::SpTcParams spParams = ploc::SpTcParams(creator);
PoolEntry<uint32_t> peStatus = PoolEntry<uint32_t>();
PoolEntry<uint8_t> peMode = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peDownlinkPwrOn = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peDownlinkReplyActive = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peDownlinkJesdSyncStatus = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peDownlinkDacStatus = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peCameraStatus = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peCameraSdiStatus = PoolEntry<uint8_t>();
PoolEntry<float> peCameraFpgaTemp = PoolEntry<float>();
PoolEntry<float> peCameraSocTemp = PoolEntry<float>();
PoolEntry<float> peSysmonTemp = PoolEntry<float>();
PoolEntry<float> peSysmonVccInt = PoolEntry<float>();
PoolEntry<float> peSysmonVccAux = PoolEntry<float>();
PoolEntry<float> peSysmonVccBram = PoolEntry<float>();
PoolEntry<float> peSysmonVccPaux = PoolEntry<float>();
PoolEntry<float> peSysmonVccPint = PoolEntry<float>();
PoolEntry<float> peSysmonVccPdro = PoolEntry<float>();
PoolEntry<float> peSysmonMb12V = PoolEntry<float>();
PoolEntry<float> peSysmonMb3V3 = PoolEntry<float>();
PoolEntry<float> peSysmonMb1V8 = PoolEntry<float>();
PoolEntry<float> peSysmonVcc12V = PoolEntry<float>();
PoolEntry<float> peSysmonVcc5V = PoolEntry<float>();
PoolEntry<float> peSysmonVcc3V3 = PoolEntry<float>();
PoolEntry<float> peSysmonVcc3V3VA = PoolEntry<float>();
PoolEntry<float> peSysmonVcc2V5DDR = PoolEntry<float>();
PoolEntry<float> peSysmonVcc1V2DDR = PoolEntry<float>();
PoolEntry<float> peSysmonVcc0V9 = PoolEntry<float>();
PoolEntry<float> peSysmonVcc0V6VTT = PoolEntry<float>();
PoolEntry<float> peSysmonSafeCotsCur = PoolEntry<float>();
PoolEntry<float> peSysmonNvm4XoCur = PoolEntry<float>();
PoolEntry<uint16_t> peSemUncorrectableErrs = PoolEntry<uint16_t>();
PoolEntry<uint16_t> peSemCorrectableErrs = PoolEntry<uint16_t>();
PoolEntry<uint8_t> peSemStatus = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peRebootMpsocRequired = PoolEntry<uint8_t>();
/**
* This variable is used to store the id of the next reply to receive. This is necessary
* because the PLOC sends as reply to each command at least one acknowledgment and execution
@ -123,13 +162,14 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
SerialComIF* uartComIf = nullptr;
PlocMPSoCHelper* plocMPSoCHelper = nullptr;
PlocMpsocSpecialComHelper* specialComHelper = nullptr;
Gpio uartIsolatorSwitch;
object_id_t supervisorHandler = 0;
CommandActionHelper commandActionHelper;
// Used to block incoming commands when MPSoC helper class is currently executing a command
bool plocMPSoCHelperExecuting = false;
bool specialComHelperExecuting = false;
bool commandIsPending = false;
struct TmMemReadReport {
static const uint8_t FIX_SIZE = 14;
@ -137,20 +177,18 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
};
TmMemReadReport tmMemReadReport;
struct TmCamCmdRpt {
size_t rememberSpacePacketSize = 0;
};
TmCamCmdRpt tmCamCmdRpt;
Countdown cmdCountdown = Countdown(10000);
struct TelemetryBuffer {
uint16_t length = 0;
uint8_t buffer[mpsoc::SP_MAX_SIZE];
};
size_t foundPacketLen = 0;
TelemetryBuffer tmBuffer;
uint32_t waitCycles = 0;
enum class StartupState { IDLE, HW_INIT, WAIT_CYCLES, DONE } startupState = StartupState::IDLE;
enum class PowerState { OFF, BOOTING, SHUTDOWN, ON };
PowerState powerState = PowerState::OFF;
@ -167,6 +205,8 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
ReturnValue_t prepareTcReplayStop();
ReturnValue_t prepareTcDownlinkPwrOn(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcDownlinkPwrOff();
ReturnValue_t prepareTcGetHkReport();
ReturnValue_t prepareTcGetDirContent(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcCamCmdSend(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcModeIdle();
@ -174,7 +214,7 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
ReturnValue_t prepareTcSimplexSendFile(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcDownlinkDataModulate(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcModeSnapshot();
void finishTcPrep(size_t packetLen);
ReturnValue_t finishTcPrep(mpsoc::TcBase& tcBase);
/**
* @brief This function checks the crc of the received PLOC reply.
@ -213,6 +253,7 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
*/
ReturnValue_t handleMemoryReadReport(const uint8_t* data);
ReturnValue_t handleGetHkReport(const uint8_t* data);
ReturnValue_t handleCamCmdRpt(const uint8_t* data);
/**
@ -231,7 +272,7 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
* @param dataSize Size of telemetry in bytes.
* @param replyId Id of the reply. This will be added to the ActionMessage.
*/
void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
void handleDeviceTm(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
/**
* @brief In case an acknowledgment failure reply has been received this function disables
@ -255,15 +296,11 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
*/
void disableExeReportReply();
void printStatus(const uint8_t* data);
ReturnValue_t prepareTcModeReplay();
uint16_t getStatus(const uint8_t* data);
void cmdDoneHandler(bool success, ReturnValue_t result);
void handleActionCommandFailure(ActionId_t actionId);
std::string getStatusString(uint16_t status);
};
#endif /* BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_ */

355
linux/payload/PlocMpsocHelper.cpp
View File

@ -1,355 +0,0 @@
#include <linux/payload/PlocMpsocHelper.h>
#include <filesystem>
#include <fstream>
#ifdef XIPHOS_Q7S
#include "bsp_q7s/fs/FilesystemHelper.h"
#endif
#include "mission/utility/Timestamp.h"
using namespace ploc;
PlocMPSoCHelper::PlocMPSoCHelper(object_id_t objectId) : SystemObject(objectId) {
spParams.buf = commandBuffer;
spParams.maxSize = sizeof(commandBuffer);
}
PlocMPSoCHelper::~PlocMPSoCHelper() {}
ReturnValue_t PlocMPSoCHelper::initialize() {
#ifdef XIPHOS_Q7S
sdcMan = SdCardManager::instance();
if (sdcMan == nullptr) {
sif::warning << "PlocMPSoCHelper::initialize: Invalid SD Card Manager" << std::endl;
return returnvalue::FAILED;
}
#endif
return returnvalue::OK;
}
ReturnValue_t PlocMPSoCHelper::performOperation(uint8_t operationCode) {
ReturnValue_t result = returnvalue::OK;
semaphore.acquire();
while (true) {
#if OBSW_THREAD_TRACING == 1
trace::threadTrace(opCounter, "PLOC MPSOC Helper");
#endif
switch (internalState) {
case InternalState::IDLE: {
semaphore.acquire();
break;
}
case InternalState::FLASH_WRITE: {
result = performFlashWrite();
if (result == returnvalue::OK) {
triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL);
} else {
triggerEvent(MPSOC_FLASH_WRITE_FAILED);
}
internalState = InternalState::IDLE;
break;
}
default:
sif::debug << "PlocMPSoCHelper::performOperation: Invalid state" << std::endl;
break;
}
}
}
ReturnValue_t PlocMPSoCHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
uartComIF = dynamic_cast<SerialComIF*>(communicationInterface_);
if (uartComIF == nullptr) {
sif::warning << "PlocMPSoCHelper::initialize: Invalid uart com if" << std::endl;
return returnvalue::FAILED;
}
return returnvalue::OK;
}
void PlocMPSoCHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
void PlocMPSoCHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
sequenceCount = sequenceCount_;
}
ReturnValue_t PlocMPSoCHelper::startFlashWrite(std::string obcFile, std::string mpsocFile) {
ReturnValue_t result = returnvalue::OK;
#ifdef XIPHOS_Q7S
result = FilesystemHelper::checkPath(obcFile);
if (result != returnvalue::OK) {
return result;
}
result = FilesystemHelper::fileExists(mpsocFile);
if (result != returnvalue::OK) {
return result;
}
#endif
#ifdef TE0720_1CFA
if (not std::filesystem::exists(obcFile)) {
sif::warning << "PlocMPSoCHelper::startFlashWrite: File " << obcFile << "does not exist"
<< std::endl;
return returnvalue::FAILED;
}
#endif
flashWrite.obcFile = obcFile;
flashWrite.mpsocFile = mpsocFile;
internalState = InternalState::FLASH_WRITE;
result = resetHelper();
if (result != returnvalue::OK) {
return result;
}
return result;
}
ReturnValue_t PlocMPSoCHelper::resetHelper() {
ReturnValue_t result = returnvalue::OK;
semaphore.release();
spParams.buf = commandBuffer;
terminate = false;
result = uartComIF->flushUartRxBuffer(comCookie);
return result;
}
void PlocMPSoCHelper::stopProcess() { terminate = true; }
ReturnValue_t PlocMPSoCHelper::performFlashWrite() {
ReturnValue_t result = returnvalue::OK;
result = flashfopen();
if (result != returnvalue::OK) {
return result;
}
uint8_t tempData[mpsoc::MAX_DATA_SIZE];
std::ifstream file(flashWrite.obcFile, std::ifstream::binary);
// Set position of next character to end of file input stream
file.seekg(0, file.end);
// tellg returns position of character in input stream
size_t remainingSize = file.tellg();
size_t dataLength = 0;
size_t bytesRead = 0;
while (remainingSize > 0) {
if (terminate) {
return returnvalue::OK;
}
if (remainingSize > mpsoc::MAX_DATA_SIZE) {
dataLength = mpsoc::MAX_DATA_SIZE;
} else {
dataLength = remainingSize;
}
if (file.is_open()) {
file.seekg(bytesRead, file.beg);
file.read(reinterpret_cast<char*>(tempData), dataLength);
bytesRead += dataLength;
remainingSize -= dataLength;
} else {
return FILE_CLOSED_ACCIDENTALLY;
}
(*sequenceCount)++;
mpsoc::TcFlashWrite tc(spParams, *sequenceCount);
result = tc.buildPacket(tempData, dataLength);
if (result != returnvalue::OK) {
return result;
}
result = handlePacketTransmission(tc);
if (result != returnvalue::OK) {
return result;
}
}
result = flashfclose();
if (result != returnvalue::OK) {
return result;
}
return result;
}
ReturnValue_t PlocMPSoCHelper::flashfopen() {
ReturnValue_t result = returnvalue::OK;
spParams.buf = commandBuffer;
(*sequenceCount)++;
mpsoc::FlashFopen flashFopen(spParams, *sequenceCount);
result = flashFopen.createPacket(flashWrite.mpsocFile, mpsoc::FlashFopen::APPEND);
if (result != returnvalue::OK) {
return result;
}
result = handlePacketTransmission(flashFopen);
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
}
ReturnValue_t PlocMPSoCHelper::flashfclose() {
ReturnValue_t result = returnvalue::OK;
spParams.buf = commandBuffer;
(*sequenceCount)++;
mpsoc::FlashFclose flashFclose(spParams, *sequenceCount);
result = flashFclose.createPacket(flashWrite.mpsocFile);
if (result != returnvalue::OK) {
return result;
}
result = handlePacketTransmission(flashFclose);
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
}
ReturnValue_t PlocMPSoCHelper::handlePacketTransmission(ploc::SpTcBase& tc) {
ReturnValue_t result = returnvalue::OK;
result = sendCommand(tc);
if (result != returnvalue::OK) {
return result;
}
result = handleAck();
if (result != returnvalue::OK) {
return result;
}
result = handleExe();
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
}
ReturnValue_t PlocMPSoCHelper::sendCommand(ploc::SpTcBase& tc) {
ReturnValue_t result = returnvalue::OK;
result = uartComIF->sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen());
if (result != returnvalue::OK) {
sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
triggerEvent(MPSOC_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
return result;
}
return result;
}
ReturnValue_t PlocMPSoCHelper::handleAck() {
ReturnValue_t result = returnvalue::OK;
result = handleTmReception(mpsoc::SIZE_ACK_REPORT);
if (result != returnvalue::OK) {
return result;
}
SpTmReader tmPacket(tmBuf.data(), tmBuf.size());
result = checkReceivedTm(tmPacket);
if (result != returnvalue::OK) {
return result;
}
uint16_t apid = tmPacket.getApid();
if (apid != mpsoc::apid::ACK_SUCCESS) {
handleAckApidFailure(apid);
return returnvalue::FAILED;
}
return returnvalue::OK;
}
void PlocMPSoCHelper::handleAckApidFailure(uint16_t apid) {
if (apid == mpsoc::apid::ACK_FAILURE) {
triggerEvent(MPSOC_ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState));
sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Received acknowledgement failure "
<< "report" << std::endl;
} else {
triggerEvent(MPSOC_ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected acknowledgement report "
<< "but received space packet with apid " << std::hex << apid << std::endl;
}
}
ReturnValue_t PlocMPSoCHelper::handleExe() {
ReturnValue_t result = returnvalue::OK;
result = handleTmReception(mpsoc::SIZE_EXE_REPORT);
if (result != returnvalue::OK) {
return result;
}
ploc::SpTmReader tmPacket(tmBuf.data(), tmBuf.size());
result = checkReceivedTm(tmPacket);
if (result != returnvalue::OK) {
return result;
}
uint16_t apid = tmPacket.getApid();
if (apid != mpsoc::apid::EXE_SUCCESS) {
handleExeApidFailure(apid);
return returnvalue::FAILED;
}
return returnvalue::OK;
}
void PlocMPSoCHelper::handleExeApidFailure(uint16_t apid) {
if (apid == mpsoc::apid::EXE_FAILURE) {
triggerEvent(MPSOC_EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
sif::warning << "PlocMPSoCHelper::handleExeApidFailure: Received execution failure "
<< "report" << std::endl;
} else {
triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
sif::warning << "PlocMPSoCHelper::handleExeApidFailure: Expected execution report "
<< "but received space packet with apid " << std::hex << apid << std::endl;
}
}
ReturnValue_t PlocMPSoCHelper::handleTmReception(size_t remainingBytes) {
ReturnValue_t result = returnvalue::OK;
size_t readBytes = 0;
size_t currentBytes = 0;
for (int retries = 0; retries < RETRIES; retries++) {
result = receive(tmBuf.data() + readBytes, &currentBytes, remainingBytes);
if (result != returnvalue::OK) {
return result;
}
readBytes += currentBytes;
remainingBytes = remainingBytes - currentBytes;
if (remainingBytes == 0) {
break;
}
}
if (remainingBytes != 0) {
sif::warning << "PlocMPSoCHelper::handleTmReception: Failed to receive reply" << std::endl;
triggerEvent(MPSOC_MISSING_EXE, remainingBytes, static_cast<uint32_t>(internalState));
return returnvalue::FAILED;
}
return result;
}
ReturnValue_t PlocMPSoCHelper::checkReceivedTm(SpTmReader& reader) {
ReturnValue_t result = reader.checkSize();
if (result != returnvalue::OK) {
sif::error << "PlocMPSoCHelper::handleTmReception: Size check on received TM failed"
<< std::endl;
triggerEvent(MPSOC_TM_SIZE_ERROR);
return result;
}
reader.checkCrc();
if (result != returnvalue::OK) {
sif::warning << "PlocMPSoCHelper::handleTmReception: CRC check failed" << std::endl;
triggerEvent(MPSOC_TM_CRC_MISSMATCH, *sequenceCount);
return result;
}
(*sequenceCount)++;
uint16_t recvSeqCnt = reader.getSequenceCount();
if (recvSeqCnt != *sequenceCount) {
triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
*sequenceCount = recvSeqCnt;
}
return returnvalue::OK;
}
ReturnValue_t PlocMPSoCHelper::receive(uint8_t* data, size_t* readBytes, size_t requestBytes) {
ReturnValue_t result = returnvalue::OK;
uint8_t* buffer = nullptr;
result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
if (result != returnvalue::OK) {
sif::warning << "PlocMPSoCHelper::receive: Failed to request reply" << std::endl;
triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
return returnvalue::FAILED;
}
result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
if (result != returnvalue::OK) {
sif::warning << "PlocMPSoCHelper::receive: Failed to read received message" << std::endl;
triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
return returnvalue::FAILED;
}
if (*readBytes > 0) {
std::memcpy(data, buffer, *readBytes);
}
return result;
}

544
linux/payload/PlocMpsocSpecialComHelper.cpp Normal file
View File

@ -0,0 +1,544 @@
#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/tasks/TaskFactory.h>
#include <linux/payload/PlocMpsocSpecialComHelper.h>
#include <unistd.h>
#include <filesystem>
#include <fstream>
#ifdef XIPHOS_Q7S
#include "bsp_q7s/fs/FilesystemHelper.h"
#endif
#include "mission/utility/Timestamp.h"
using namespace ploc;
PlocMpsocSpecialComHelper::PlocMpsocSpecialComHelper(object_id_t objectId)
: SystemObject(objectId) {
spParams.buf = commandBuffer;
spParams.maxSize = sizeof(commandBuffer);
}
PlocMpsocSpecialComHelper::~PlocMpsocSpecialComHelper() {}
ReturnValue_t PlocMpsocSpecialComHelper::initialize() {
#ifdef XIPHOS_Q7S
sdcMan = SdCardManager::instance();
if (sdcMan == nullptr) {
sif::warning << "PlocMPSoCHelper::initialize: Invalid SD Card Manager" << std::endl;
return returnvalue::FAILED;
}
#endif
return returnvalue::OK;
}
ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode) {
ReturnValue_t result = returnvalue::OK;
semaphore.acquire();
while (true) {
#if OBSW_THREAD_TRACING == 1
trace::threadTrace(opCounter, "PLOC MPSOC Helper");
#endif
switch (internalState) {
case InternalState::IDLE: {
semaphore.acquire();
break;
}
case InternalState::FLASH_WRITE: {
result = performFlashWrite();
if (result == returnvalue::OK) {
triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, sequenceCount->get());
} else {
triggerEvent(MPSOC_FLASH_WRITE_FAILED, sequenceCount->get());
}
internalState = InternalState::IDLE;
break;
}
case InternalState::FLASH_READ: {
result = performFlashRead();
if (result == returnvalue::OK) {
triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, sequenceCount->get());
} else {
triggerEvent(MPSOC_FLASH_READ_FAILED, sequenceCount->get());
}
internalState = InternalState::IDLE;
break;
}
default:
sif::debug << "PlocMPSoCHelper::performOperation: Invalid state" << std::endl;
break;
}
}
}
ReturnValue_t PlocMpsocSpecialComHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
uartComIF = dynamic_cast<SerialComIF*>(communicationInterface_);
if (uartComIF == nullptr) {
sif::warning << "PlocMPSoCHelper::initialize: Invalid uart com if" << std::endl;
return returnvalue::FAILED;
}
return returnvalue::OK;
}
void PlocMpsocSpecialComHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
void PlocMpsocSpecialComHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
sequenceCount = sequenceCount_;
}
ReturnValue_t PlocMpsocSpecialComHelper::startFlashWrite(std::string obcFile,
std::string mpsocFile) {
if (internalState != InternalState::IDLE) {
return returnvalue::FAILED;
}
ReturnValue_t result = startFlashReadOrWriteBase(std::move(obcFile), std::move(mpsocFile));
if (result != returnvalue::OK) {
return result;
}
internalState = InternalState::FLASH_WRITE;
return semaphore.release();
}
ReturnValue_t PlocMpsocSpecialComHelper::startFlashRead(std::string obcFile, std::string mpsocFile,
size_t readFileSize) {
if (internalState != InternalState::IDLE) {
return returnvalue::FAILED;
}
ReturnValue_t result = startFlashReadOrWriteBase(std::move(obcFile), std::move(mpsocFile));
if (result != returnvalue::OK) {
return result;
}
flashReadAndWrite.totalReadSize = readFileSize;
internalState = InternalState::FLASH_READ;
return semaphore.release();
}
void PlocMpsocSpecialComHelper::resetHelper() {
spParams.buf = commandBuffer;
terminate = false;
uartComIF->flushUartRxBuffer(comCookie);
}
void PlocMpsocSpecialComHelper::stopProcess() { terminate = true; }
ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
ReturnValue_t result = returnvalue::OK;
std::ifstream file(flashReadAndWrite.obcFile, std::ifstream::binary);
if (file.bad()) {
return returnvalue::FAILED;
}
result = flashfopen(mpsoc::FileAccessModes::WRITE | mpsoc::FileAccessModes::OPEN_ALWAYS);
if (result != returnvalue::OK) {
return result;
}
// Set position of next character to end of file input stream
file.seekg(0, file.end);
// tellg returns position of character in input stream
size_t remainingSize = file.tellg();
size_t dataLength = 0;
size_t bytesRead = 0;
while (remainingSize > 0) {
if (terminate) {
return returnvalue::OK;
}
// The minus 4 is necessary for unknown reasons. Maybe some bug in the ILH software?
if (remainingSize > mpsoc::MAX_FLASH_WRITE_DATA_SIZE - 4) {
dataLength = mpsoc::MAX_FLASH_WRITE_DATA_SIZE - 4;
} else {
dataLength = remainingSize;
}
if (file.bad() or not file.is_open()) {
return FILE_WRITE_ERROR;
}
file.seekg(bytesRead, file.beg);
file.read(reinterpret_cast<char*>(fileBuf.data()), dataLength);
bytesRead += dataLength;
remainingSize -= dataLength;
mpsoc::TcFlashWrite tc(spParams, *sequenceCount);
result = tc.setPayload(fileBuf.data(), dataLength);
if (result != returnvalue::OK) {
return result;
}
result = tc.finishPacket();
if (result != returnvalue::OK) {
return result;
}
(*sequenceCount)++;
result = handlePacketTransmissionNoReply(tc);
if (result != returnvalue::OK) {
return result;
}
}
result = flashfclose();
if (result != returnvalue::OK) {
return result;
}
return result;
}
ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
std::error_code e;
std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::trunc | std::ios::binary);
if (ofile.bad()) {
return returnvalue::FAILED;
}
ReturnValue_t result = flashfopen(mpsoc::FileAccessModes::READ);
if (result != returnvalue::OK) {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
return result;
}
size_t readSoFar = 0;
size_t nextReadSize = mpsoc::MAX_FLASH_READ_DATA_SIZE;
while (readSoFar < flashReadAndWrite.totalReadSize) {
if (terminate) {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
return returnvalue::OK;
}
nextReadSize = mpsoc::MAX_FLASH_READ_DATA_SIZE;
if (flashReadAndWrite.totalReadSize - readSoFar < mpsoc::MAX_FLASH_READ_DATA_SIZE) {
nextReadSize = flashReadAndWrite.totalReadSize - readSoFar;
}
if (ofile.bad() or not ofile.is_open()) {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
return FILE_READ_ERROR;
}
mpsoc::TcFlashRead flashReadRequest(spParams, *sequenceCount);
result = flashReadRequest.setPayload(nextReadSize);
if (result != returnvalue::OK) {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
return result;
}
result = flashReadRequest.finishPacket();
if (result != returnvalue::OK) {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
return result;
}
(*sequenceCount)++;
result = handlePacketTransmissionFlashRead(flashReadRequest, ofile, nextReadSize);
if (result != returnvalue::OK) {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
return result;
}
readSoFar += nextReadSize;
}
result = flashfclose();
if (result != returnvalue::OK) {
return result;
}
return result;
}
ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
spParams.buf = commandBuffer;
mpsoc::FlashFopen flashFopen(spParams, *sequenceCount);
ReturnValue_t result = flashFopen.setPayload(flashReadAndWrite.mpsocFile, mode);
if (result != returnvalue::OK) {
return result;
}
result = flashFopen.finishPacket();
if (result != returnvalue::OK) {
return result;
}
(*sequenceCount)++;
result = handlePacketTransmissionNoReply(flashFopen);
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
}
ReturnValue_t PlocMpsocSpecialComHelper::flashfclose() {
spParams.buf = commandBuffer;
mpsoc::FlashFclose flashFclose(spParams, *sequenceCount);
ReturnValue_t result = flashFclose.finishPacket();
if (result != returnvalue::OK) {
return result;
}
(*sequenceCount)++;
result = handlePacketTransmissionNoReply(flashFclose);
if (result != returnvalue::OK) {
return result;
}
return result;
}
ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionFlashRead(mpsoc::TcFlashRead& tc,
std::ofstream& ofile,
size_t expectedReadLen) {
ReturnValue_t result = sendCommand(tc);
if (result != returnvalue::OK) {
return result;
}
result = handleAck();
if (result != returnvalue::OK) {
return result;
}
result = handleTmReception();
if (result != returnvalue::OK) {
return result;
}
// We have the nominal case where the flash read report appears first, or the case where we
// get an EXE failure immediately.
if (spReader.getApid() == mpsoc::apid::TM_FLASH_READ_REPORT) {
result = handleFlashReadReply(ofile, expectedReadLen);
if (result != returnvalue::OK) {
return result;
}
return handleExe();
} else if (spReader.getApid() == mpsoc::apid::EXE_FAILURE) {
handleExeFailure();
} else {
triggerEvent(MPSOC_EXE_INVALID_APID, spReader.getApid(), static_cast<uint32_t>(internalState));
sif::warning << "PLOC MPSoC: Expected execution report "
<< "but received space packet with apid " << std::hex << spReader.getApid()
<< std::endl;
}
return returnvalue::FAILED;
}
ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionNoReply(ploc::SpTcBase& tc) {
ReturnValue_t result = sendCommand(tc);
if (result != returnvalue::OK) {
return result;
}
result = handleAck();
if (result != returnvalue::OK) {
return result;
}
return handleExe();
}
ReturnValue_t PlocMpsocSpecialComHelper::sendCommand(ploc::SpTcBase& tc) {
ReturnValue_t result = returnvalue::OK;
result = uartComIF->sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen());
if (result != returnvalue::OK) {
sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
triggerEvent(MPSOC_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
return result;
}
return result;
}
ReturnValue_t PlocMpsocSpecialComHelper::handleAck() {
ReturnValue_t result = returnvalue::OK;
result = handleTmReception();
if (result != returnvalue::OK) {
return result;
}
result = checkReceivedTm();
if (result != returnvalue::OK) {
return result;
}
uint16_t apid = spReader.getApid();
if (apid != mpsoc::apid::ACK_SUCCESS) {
handleAckApidFailure(spReader);
return returnvalue::FAILED;
}
return returnvalue::OK;
}
void PlocMpsocSpecialComHelper::handleAckApidFailure(const ploc::SpTmReader& reader) {
uint16_t apid = reader.getApid();
if (apid == mpsoc::apid::ACK_FAILURE) {
uint16_t status = mpsoc::getStatusFromRawData(reader.getFullData());
sif::warning << "PLOC MPSoC ACK Failure: " << mpsoc::getStatusString(status) << std::endl;
triggerEvent(MPSOC_ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState), status);
} else {
triggerEvent(MPSOC_ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected acknowledgement report "
<< "but received space packet with apid " << std::hex << apid << std::endl;
}
}
ReturnValue_t PlocMpsocSpecialComHelper::handleExe() {
ReturnValue_t result = returnvalue::OK;
result = handleTmReception();
if (result != returnvalue::OK) {
return result;
}
result = checkReceivedTm();
if (result != returnvalue::OK) {
return result;
}
uint16_t apid = spReader.getApid();
if (apid == mpsoc::apid::EXE_FAILURE) {
handleExeFailure();
return returnvalue::FAILED;
} else if (apid != mpsoc::apid::EXE_SUCCESS) {
triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
sif::warning << "PLOC MPSoC: Expected execution report "
<< "but received space packet with apid " << std::hex << apid << std::endl;
}
return returnvalue::OK;
}
void PlocMpsocSpecialComHelper::handleExeFailure() {
uint16_t status = mpsoc::getStatusFromRawData(spReader.getFullData());
sif::warning << "PLOC MPSoC EXE Failure: " << mpsoc::getStatusString(status) << std::endl;
triggerEvent(MPSOC_EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
}
ReturnValue_t PlocMpsocSpecialComHelper::handleTmReception() {
ReturnValue_t result = returnvalue::OK;
tmCountdown.resetTimer();
size_t readBytes = 0;
size_t currentBytes = 0;
uint32_t usleepDelay = 5;
size_t fullPacketLen = 0;
while (true) {
if (tmCountdown.hasTimedOut()) {
triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
return returnvalue::FAILED;
}
result = receive(tmBuf.data() + readBytes, 6, &currentBytes);
if (result != returnvalue::OK) {
return result;
}
spReader.setReadOnlyData(tmBuf.data(), tmBuf.size());
fullPacketLen = spReader.getFullPacketLen();
readBytes += currentBytes;
if (readBytes == 6) {
break;
}
usleep(usleepDelay);
if (usleepDelay < 200000) {
usleepDelay *= 4;
}
}
while (true) {
if (tmCountdown.hasTimedOut()) {
triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
return returnvalue::FAILED;
}
result = receive(tmBuf.data() + readBytes, fullPacketLen - readBytes, &currentBytes);
readBytes += currentBytes;
if (fullPacketLen == readBytes) {
break;
}
usleep(usleepDelay);
if (usleepDelay < 200000) {
usleepDelay *= 4;
}
}
// arrayprinter::print(tmBuf.data(), readBytes);
return result;
}
ReturnValue_t PlocMpsocSpecialComHelper::handleFlashReadReply(std::ofstream& ofile,
size_t expectedReadLen) {
ReturnValue_t result = checkReceivedTm();
if (result != returnvalue::OK) {
return result;
}
uint16_t apid = spReader.getApid();
if (apid != mpsoc::apid::TM_FLASH_READ_REPORT) {
triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_APID_ERROR);
sif::warning << "PLOC MPSoC Flash Read: Unexpected APID" << std::endl;
return result;
}
const uint8_t* packetData = spReader.getPacketData();
size_t deserDummy = spReader.getPacketDataLen() - mpsoc::CRC_SIZE;
uint32_t receivedReadLen = 0;
// I think this is buggy, weird stuff in the short name field.
// std::string receivedShortName = std::string(reinterpret_cast<const char*>(packetData), 12);
// if (receivedShortName != flashReadAndWrite.mpsocFile.substr(0, 11)) {
// sif::warning << "PLOC MPSoC Flash Read: Missmatch between request file name and "
// "received file name"
// << std::endl;
// triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_FILENAME_ERROR);
// return returnvalue::FAILED;
// }
packetData += 12;
result = SerializeAdapter::deSerialize(&receivedReadLen, &packetData, &deserDummy,
SerializeIF::Endianness::NETWORK);
if (result != returnvalue::OK) {
return result;
}
if (receivedReadLen != expectedReadLen) {
sif::warning << "PLOC MPSoC Flash Read: Missmatch between request read length and "
"received read length"
<< std::endl;
triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_READLEN_ERROR);
return returnvalue::FAILED;
}
ofile.write(reinterpret_cast<const char*>(packetData), receivedReadLen);
return returnvalue::OK;
}
ReturnValue_t PlocMpsocSpecialComHelper::fileCheck(std::string obcFile) {
#ifdef XIPHOS_Q7S
ReturnValue_t result = FilesystemHelper::checkPath(obcFile);
if (result != returnvalue::OK) {
return result;
}
#elif defined(TE0720_1CFA)
if (not std::filesystem::exists(obcFile)) {
sif::warning << "PlocMPSoCHelper::startFlashWrite: File " << obcFile << "does not exist"
<< std::endl;
return returnvalue::FAILED;
}
#endif
return returnvalue::OK;
}
ReturnValue_t PlocMpsocSpecialComHelper::startFlashReadOrWriteBase(std::string obcFile,
std::string mpsocFile) {
ReturnValue_t result = fileCheck(obcFile);
if (result != returnvalue::OK) {
return result;
}
flashReadAndWrite.obcFile = std::move(obcFile);
flashReadAndWrite.mpsocFile = std::move(mpsocFile);
resetHelper();
return returnvalue::OK;
}
ReturnValue_t PlocMpsocSpecialComHelper::checkReceivedTm() {
ReturnValue_t result = spReader.checkSize();
if (result != returnvalue::OK) {
sif::error << "PLOC MPSoC: Size check on received TM failed" << std::endl;
triggerEvent(MPSOC_TM_SIZE_ERROR);
return result;
}
spReader.checkCrc();
if (result != returnvalue::OK) {
sif::warning << "PLOC MPSoC: CRC check failed" << std::endl;
triggerEvent(MPSOC_TM_CRC_MISSMATCH, *sequenceCount);
return result;
}
uint16_t recvSeqCnt = spReader.getSequenceCount();
if (recvSeqCnt != *sequenceCount) {
triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
*sequenceCount = recvSeqCnt;
}
// This sequence count ping pong does not make any sense but it is how the MPSoC expects it.
(*sequenceCount)++;
return returnvalue::OK;
}
ReturnValue_t PlocMpsocSpecialComHelper::receive(uint8_t* data, size_t requestBytes,
size_t* readBytes) {
ReturnValue_t result = returnvalue::OK;
uint8_t* buffer = nullptr;
result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
if (result != returnvalue::OK) {
sif::warning << "PlocMPSoCHelper::receive: Failed to request reply" << std::endl;
triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
return returnvalue::FAILED;
}
result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
if (result != returnvalue::OK) {
sif::warning << "PlocMPSoCHelper::receive: Failed to read received message" << std::endl;
triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
return returnvalue::FAILED;
}
if (*readBytes > 0) {
std::memcpy(data, buffer, *readBytes);
}
return result;
}

70
linux/payload/PlocMpsocHelper.h → linux/payload/PlocMpsocSpecialComHelper.h
View File

@ -1,11 +1,12 @@
#ifndef BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_
#define BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_
#include <linux/payload/plocMpscoDefs.h>
#include <linux/payload/plocMpsocHelpers.h>
#include <mission/utility/trace.h>
#include <string>
#include "OBSWConfig.h"
#include "fsfw/devicehandlers/CookieIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/osal/linux/BinarySemaphore.h"
@ -22,14 +23,14 @@
* MPSoC and OBC.
* @author J. Meier
*/
class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF {
class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF {
public:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HELPER;
//! [EXPORT] : [COMMENT] Flash write fails
static const Event MPSOC_FLASH_WRITE_FAILED = MAKE_EVENT(0, severity::LOW);
//! [EXPORT] : [COMMENT] Flash write successful
static const Event MPSOC_FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(1, severity::LOW);
static const Event MPSOC_FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(1, severity::INFO);
//! [EXPORT] : [COMMENT] Communication interface returned failure when trying to send the command
//! to the MPSoC
//! P1: Return value returned by the communication interface sendMessage function
@ -71,9 +72,19 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF {
static const Event MPSOC_HELPER_SEQ_CNT_MISMATCH = MAKE_EVENT(11, severity::LOW);
static const Event MPSOC_TM_SIZE_ERROR = MAKE_EVENT(12, severity::LOW);
static const Event MPSOC_TM_CRC_MISSMATCH = MAKE_EVENT(13, severity::LOW);
static const Event MPSOC_FLASH_READ_PACKET_ERROR = MAKE_EVENT(14, severity::LOW);
static const Event MPSOC_FLASH_READ_FAILED = MAKE_EVENT(15, severity::LOW);
static const Event MPSOC_FLASH_READ_SUCCESSFUL = MAKE_EVENT(16, severity::INFO);
static const Event MPSOC_READ_TIMEOUT = MAKE_EVENT(17, severity::LOW);
PlocMPSoCHelper(object_id_t objectId);
virtual ~PlocMPSoCHelper();
enum FlashReadErrorType : uint32_t {
FLASH_READ_APID_ERROR = 0,
FLASH_READ_FILENAME_ERROR = 1,
FLASH_READ_READLEN_ERROR = 2
};
PlocMpsocSpecialComHelper(object_id_t objectId);
virtual ~PlocMpsocSpecialComHelper();
ReturnValue_t initialize() override;
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
@ -90,6 +101,14 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF {
* @return returnvalue::OK if successful, otherwise error return value
*/
ReturnValue_t startFlashWrite(std::string obcFile, std::string mpsocFile);
/**
*
* @param obcFile Full target file name on OBC
* @param mpsocFile The file on the MPSoC which should be copied ot the OBC
* @param readFileSize The size of the file on the MPSoC.
* @return
*/
ReturnValue_t startFlashRead(std::string obcFile, std::string mpsocFile, size_t readFileSize);
/**
* @brief Can be used to interrupt a running data transfer.
@ -104,20 +123,25 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF {
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HELPER;
//! [EXPORT] : [COMMENT] File accidentally close
static const ReturnValue_t FILE_CLOSED_ACCIDENTALLY = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] File error occured for file transfers from OBC to the MPSoC.
static const ReturnValue_t FILE_WRITE_ERROR = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] File error occured for file transfers from MPSoC to OBC.
static const ReturnValue_t FILE_READ_ERROR = MAKE_RETURN_CODE(0xA1);
// Maximum number of times the communication interface retries polling data from the reply
// buffer
static const int RETRIES = 10000;
struct FlashWrite {
struct FlashInfo {
std::string obcFile;
std::string mpsocFile;
};
struct FlashWrite flashWrite;
struct FlashRead : public FlashInfo {
size_t totalReadSize = 0;
};
struct FlashRead flashReadAndWrite;
#if OBSW_THREAD_TRACING == 1
uint32_t opCounter = 0;
#endif
@ -134,7 +158,10 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF {
SpacePacketCreator creator;
ploc::SpTcParams spParams = ploc::SpTcParams(creator);
std::array<uint8_t, mpsoc::MAX_REPLY_SIZE> tmBuf;
Countdown tmCountdown = Countdown(5000);
std::array<uint8_t, mpsoc::SP_MAX_DATA_SIZE> fileBuf{};
std::array<uint8_t, mpsoc::MAX_REPLY_SIZE> tmBuf{};
bool terminate = false;
@ -147,20 +174,27 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF {
CookieIF* comCookie = nullptr;
// Sequence count, must be set by Ploc MPSoC Handler
SourceSequenceCounter* sequenceCount = nullptr;
ploc::SpTmReader spReader;
ReturnValue_t resetHelper();
void resetHelper();
ReturnValue_t performFlashWrite();
ReturnValue_t flashfopen();
ReturnValue_t performFlashRead();
ReturnValue_t flashfopen(uint8_t accessMode);
ReturnValue_t flashfclose();
ReturnValue_t handlePacketTransmission(ploc::SpTcBase& tc);
ReturnValue_t handlePacketTransmissionNoReply(ploc::SpTcBase& tc);
ReturnValue_t handlePacketTransmissionFlashRead(mpsoc::TcFlashRead& tc, std::ofstream& ofile,
size_t expectedReadLen);
ReturnValue_t handleFlashReadReply(std::ofstream& ofile, size_t expectedReadLen);
ReturnValue_t sendCommand(ploc::SpTcBase& tc);
ReturnValue_t receive(uint8_t* data, size_t* readBytes, size_t requestBytes);
ReturnValue_t receive(uint8_t* data, size_t requestBytes, size_t* readBytes);
ReturnValue_t handleAck();
ReturnValue_t handleExe();
void handleAckApidFailure(uint16_t apid);
void handleExeApidFailure(uint16_t apid);
ReturnValue_t handleTmReception(size_t remainingBytes);
ReturnValue_t checkReceivedTm(ploc::SpTmReader& reader);
ReturnValue_t startFlashReadOrWriteBase(std::string obcFile, std::string mpsocFile);
ReturnValue_t fileCheck(std::string obcFile);
void handleAckApidFailure(const ploc::SpTmReader& reader);
void handleExeFailure();
ReturnValue_t handleTmReception();
ReturnValue_t checkReceivedTm();
};
#endif /* BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_ */

8
linux/payload/PlocSupervisorHandler.cpp
View File

@ -151,7 +151,7 @@ void PlocSupervisorHandler::doStartUp() {
}
}
}
if (startupState == StartupState::SET_TIME_EXECUTING) {
if (startupState == StartupState::TIME_WAS_SET) {
startupState = StartupState::ON;
}
if (startupState == StartupState::ON) {
@ -176,7 +176,7 @@ ReturnValue_t PlocSupervisorHandler::buildNormalDeviceCommand(DeviceCommandId_t*
ReturnValue_t PlocSupervisorHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
if (startupState == StartupState::SET_TIME) {
*id = supv::SET_TIME_REF;
startupState = StartupState::SET_TIME_EXECUTING;
startupState = StartupState::WAIT_FOR_TIME_REPLY;
return buildCommandFromCommand(*id, nullptr, 0);
}
return NOTHING_TO_SEND;
@ -1909,6 +1909,10 @@ ReturnValue_t PlocSupervisorHandler::handleExecutionSuccessReport(ExecutionRepor
case supv::SET_TIME_REF: {
// We could only allow proper bootup when the time was set successfully, but
// this makes debugging difficult.
if (startupState == StartupState::WAIT_FOR_TIME_REPLY) {
startupState = StartupState::TIME_WAS_SET;
}
break;
}
default:

9
linux/payload/PlocSupervisorHandler.h
View File

@ -99,7 +99,14 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
static const uint32_t MRAM_DUMP_TIMEOUT = 60000;
// 4 s
static const uint32_t BOOT_TIMEOUT = 4000;
enum class StartupState : uint8_t { OFF, BOOTING, SET_TIME, SET_TIME_EXECUTING, ON };
enum class StartupState : uint8_t {
OFF,
BOOTING,
SET_TIME,
WAIT_FOR_TIME_REPLY,
TIME_WAS_SET,
ON
};
static constexpr bool SET_TIME_DURING_BOOT = true;

95
linux/payload/plocMpsocHelpers.cpp Normal file
View File

@ -0,0 +1,95 @@
#include "plocMpsocHelpers.h"
uint16_t mpsoc::getStatusFromRawData(const uint8_t* data) {
return (*(data + STATUS_OFFSET) << 8) | *(data + STATUS_OFFSET + 1);
}
std::string mpsoc::getStatusString(uint16_t status) {
switch (status) {
case (mpsoc::status_code::UNKNOWN_APID): {
return "Unknown APID";
break;
}
case (mpsoc::status_code::INCORRECT_LENGTH): {
return "Incorrect length";
break;
}
case (mpsoc::status_code::INCORRECT_CRC): {
return "Incorrect crc";
break;
}
case (mpsoc::status_code::INCORRECT_PKT_SEQ_CNT): {
return "Incorrect packet sequence count";
break;
}
case (mpsoc::status_code::TC_NOT_ALLOWED_IN_MODE): {
return "TC not allowed in this mode";
break;
}
case (mpsoc::status_code::TC_EXEUTION_DISABLED): {
return "TC execution disabled";
break;
}
case (mpsoc::status_code::FLASH_MOUNT_FAILED): {
return "Flash mount failed";
break;
}
case (mpsoc::status_code::FLASH_FILE_ALREADY_OPEN): {
return "Flash file already open";
break;
}
case (mpsoc::status_code::FLASH_FILE_ALREADY_CLOSED): {
return "Flash file already closed";
break;
}
case (mpsoc::status_code::FLASH_FILE_OPEN_FAILED): {
return "Flash file open failed";
break;
}
case (mpsoc::status_code::FLASH_FILE_NOT_OPEN): {
return "Flash file not open";
break;
}
case (mpsoc::status_code::FLASH_UNMOUNT_FAILED): {
return "Flash unmount failed";
break;
}
case (mpsoc::status_code::HEAP_ALLOCATION_FAILED): {
return "Heap allocation failed";
break;
}
case (mpsoc::status_code::INVALID_PARAMETER): {
return "Invalid parameter";
break;
}
case (mpsoc::status_code::NOT_INITIALIZED): {
return "Not initialized";
break;
}
case (mpsoc::status_code::REBOOT_IMMINENT): {
return "Reboot imminent";
break;
}
case (mpsoc::status_code::CORRUPT_DATA): {
return "Corrupt data";
break;
}
case (mpsoc::status_code::FLASH_CORRECTABLE_MISMATCH): {
return "Flash correctable mismatch";
break;
}
case (mpsoc::status_code::FLASH_UNCORRECTABLE_MISMATCH): {
return "Flash uncorrectable mismatch";
break;
}
case (mpsoc::status_code::DEFAULT_ERROR_CODE): {
return "Default error code";
break;
}
default:
std::stringstream ss;
ss << "0x" << std::hex << status;
return ss.str().c_str();
break;
}
return "";
}

406
linux/payload/plocMpscoDefs.h → linux/payload/plocMpsocHelpers.h
View File

@ -1,6 +1,7 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <linux/payload/mpsocRetvals.h>
#include <mission/payload/plocSpBase.h>
@ -12,6 +13,61 @@
namespace mpsoc {
enum FileAccessModes : uint8_t {
// Opens a file, fails if the file does not exist.
OPEN_EXISTING = 0x00,
READ = 0x01,
WRITE = 0x02,
// Creates a new file, fails if it already exists.
CREATE_NEW = 0x04,
// Creates a new file, existing file is truncated and overwritten.
CREATE_ALWAYS = 0x08,
// Opens the file if it is existing. If not, a new file is created.
OPEN_ALWAYS = 0x10,
OPEN_APPEND = 0x30
};
static constexpr uint32_t HK_SET_ID = 0;
namespace poolid {
enum {
STATUS = 0,
MODE = 1,
DOWNLINK_PWR_ON = 2,
DOWNLINK_REPLY_ACTIIVE = 3,
DOWNLINK_JESD_SYNC_STATUS = 4,
DOWNLINK_DAC_STATUS = 5,
CAM_STATUS = 6,
CAM_SDI_STATUS = 7,
CAM_FPGA_TEMP = 8,
CAM_SOC_TEMP = 9,
SYSMON_TEMP = 10,
SYSMON_VCCINT = 11,
SYSMON_VCCAUX = 12,
SYSMON_VCCBRAM = 13,
SYSMON_VCCPAUX = 14,
SYSMON_VCCPINT = 15,
SYSMON_VCCPDRO = 16,
SYSMON_MB12V = 17,
SYSMON_MB3V3 = 18,
SYSMON_MB1V8 = 19,
SYSMON_VCC12V = 20,
SYSMON_VCC5V = 21,
SYSMON_VCC3V3 = 22,
SYSMON_VCC3V3VA = 23,
SYSMON_VCC2V5DDR = 24,
SYSMON_VCC1V2DDR = 25,
SYSMON_VCC0V9 = 26,
SYSMON_VCC0V6VTT = 27,
SYSMON_SAFE_COTS_CUR = 28,
SYSMON_NVM4_XO_CUR = 29,
SEM_UNCORRECTABLE_ERRS = 30,
SEM_CORRECTABLE_ERRS = 31,
SEM_STATUS = 32,
REBOOT_MPSOC_REQUIRED = 33,
};
}
static const DeviceCommandId_t NONE = 0;
static const DeviceCommandId_t TC_MEM_WRITE = 1;
static const DeviceCommandId_t TC_MEM_READ = 2;
@ -20,7 +76,7 @@ static const DeviceCommandId_t EXE_REPORT = 5;
static const DeviceCommandId_t TM_MEMORY_READ_REPORT = 6;
static const DeviceCommandId_t TC_FLASHFOPEN = 7;
static const DeviceCommandId_t TC_FLASHFCLOSE = 8;
static const DeviceCommandId_t TC_FLASHWRITE = 9;
static const DeviceCommandId_t TC_FLASH_WRITE_FULL_FILE = 9;
static const DeviceCommandId_t TC_FLASHDELETE = 10;
static const DeviceCommandId_t TC_REPLAY_START = 11;
static const DeviceCommandId_t TC_REPLAY_STOP = 12;
@ -37,6 +93,11 @@ static const DeviceCommandId_t TC_CAM_TAKE_PIC = 22;
static const DeviceCommandId_t TC_SIMPLEX_SEND_FILE = 23;
static const DeviceCommandId_t TC_DOWNLINK_DATA_MODULATE = 24;
static const DeviceCommandId_t TC_MODE_SNAPSHOT = 25;
static const DeviceCommandId_t TC_GET_HK_REPORT = 26;
static const DeviceCommandId_t TM_GET_HK_REPORT = 27;
static const DeviceCommandId_t TC_FLASH_GET_DIRECTORY_CONTENT = 28;
static const DeviceCommandId_t TM_FLASH_DIRECTORY_CONTENT = 29;
static constexpr DeviceCommandId_t TC_FLASH_READ_FULL_FILE = 30;
// Will reset the sequence count of the OBSW
static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT = 50;
@ -45,6 +106,7 @@ static const uint16_t SIZE_ACK_REPORT = 14;
static const uint16_t SIZE_EXE_REPORT = 14;
static const uint16_t SIZE_TM_MEM_READ_REPORT = 18;
static const uint16_t SIZE_TM_CAM_CMD_RPT = 18;
static constexpr size_t SIZE_TM_HK_REPORT = 369;
/**
* SpacePacket apids of PLOC telecommands and telemetry.
@ -57,23 +119,32 @@ static const uint16_t TC_DOWNLINK_PWR_ON = 0x113;
static const uint16_t TC_MEM_WRITE = 0x114;
static const uint16_t TC_MEM_READ = 0x115;
static const uint16_t TC_CAM_TAKE_PIC = 0x116;
static const uint16_t TC_FLASHWRITE = 0x117;
static constexpr uint16_t TC_FLASHWRITE = 0x117;
static constexpr uint16_t TC_FLASHREAD = 0x118;
static const uint16_t TC_FLASHFOPEN = 0x119;
static const uint16_t TC_FLASHFCLOSE = 0x11A;
static constexpr uint16_t TC_FLASH_GET_DIRECTORY_CONTENT = 0x11B;
static const uint16_t TC_FLASHDELETE = 0x11C;
static constexpr uint16_t TC_FLASH_CREATE_DIR = 0x11D;
static const uint16_t TC_MODE_IDLE = 0x11E;
static const uint16_t TC_MODE_REPLAY = 0x11F;
static const uint16_t TC_MODE_SNAPSHOT = 0x120;
static const uint16_t TC_DOWNLINK_DATA_MODULATE = 0x121;
static constexpr uint16_t TC_HK_GET_REPORT = 0x123;
static const uint16_t TC_DOWNLINK_PWR_OFF = 0x124;
static const uint16_t TC_CAM_CMD_SEND = 0x12C;
static constexpr uint16_t TC_FLASH_COPY_FILE = 0x12E;
static const uint16_t TC_SIMPLEX_SEND_FILE = 0x130;
static const uint16_t TM_MEMORY_READ_REPORT = 0x404;
static const uint16_t ACK_SUCCESS = 0x400;
static const uint16_t ACK_FAILURE = 0x401;
static const uint16_t EXE_SUCCESS = 0x402;
static const uint16_t EXE_FAILURE = 0x403;
static const uint16_t TM_MEMORY_READ_REPORT = 0x404;
static const uint16_t TM_FLASH_READ_REPORT = 0x405;
static constexpr uint16_t TM_FLASH_DIRECTORY_CONTENT = 0x406;
static const uint16_t TM_CAM_CMD_RPT = 0x407;
static constexpr uint16_t TM_HK_GET_REPORT = 0x408;
} // namespace apid
/** Offset from first byte in space packet to first byte of data field */
@ -83,6 +154,8 @@ static const char NULL_TERMINATOR = '\0';
static const uint8_t MIN_SPACE_PACKET_LENGTH = 7;
static const uint8_t SPACE_PACKET_HEADER_SIZE = 6;
static const uint8_t STATUS_OFFSET = 10;
static constexpr size_t CRC_SIZE = 2;
/**
@ -106,9 +179,15 @@ static const uint16_t LENGTH_TC_MEM_READ = 8;
* at sheet README
*/
static constexpr size_t SP_MAX_SIZE = 1024;
static const size_t MAX_REPLY_SIZE = SP_MAX_SIZE * 3;
static const size_t MAX_COMMAND_SIZE = SP_MAX_SIZE;
static const size_t MAX_DATA_SIZE = 1016;
static constexpr size_t MAX_REPLY_SIZE = SP_MAX_SIZE * 3;
static constexpr size_t MAX_COMMAND_SIZE = SP_MAX_SIZE;
// 1016 bytes.
static constexpr size_t SP_MAX_DATA_SIZE = SP_MAX_SIZE - ccsds::HEADER_LEN - CRC_SIZE;
static constexpr size_t FLASH_READ_MIN_OVERHEAD = 16;
// 1000 bytes.
static const size_t MAX_FLASH_READ_DATA_SIZE = SP_MAX_DATA_SIZE - FLASH_READ_MIN_OVERHEAD;
// 1012 bytes, 4 bytes for the write length.
static constexpr size_t MAX_FLASH_WRITE_DATA_SIZE = SP_MAX_DATA_SIZE - sizeof(uint32_t);
/**
* The replay write sequence command has a maximum delay for the execution report which amounts to
@ -131,7 +210,7 @@ static const uint16_t TC_EXEUTION_DISABLED = 0x5E2;
static const uint16_t FLASH_MOUNT_FAILED = 0x5E3;
static const uint16_t FLASH_FILE_ALREADY_CLOSED = 0x5E4;
static const uint16_t FLASH_FILE_OPEN_FAILED = 0x5E5;
static const uint16_t FLASH_FILE_ALREDY_OPEN = 0x5E6;
static const uint16_t FLASH_FILE_ALREADY_OPEN = 0x5E6;
static const uint16_t FLASH_FILE_NOT_OPEN = 0x5E7;
static const uint16_t FLASH_UNMOUNT_FAILED = 0x5E8;
static const uint16_t HEAP_ALLOCATION_FAILED = 0x5E9;
@ -156,7 +235,7 @@ class TcBase : public ploc::SpTcBase, public MPSoCReturnValuesIF {
virtual ~TcBase() = default;
// Initial length field of space packet. Will always be updated when packet is created.
static const uint16_t INIT_LENGTH = 2;
static const uint16_t INIT_LENGTH = CRC_SIZE;
/**
* @brief Constructor
@ -166,47 +245,23 @@ class TcBase : public ploc::SpTcBase, public MPSoCReturnValuesIF {
*/
TcBase(ploc::SpTcParams params, uint16_t apid, uint16_t sequenceCount)
: ploc::SpTcBase(params, apid, 0, sequenceCount) {
payloadStart = spParams.buf + ccsds::HEADER_LEN;
spParams.setFullPayloadLen(INIT_LENGTH);
}
ReturnValue_t buildPacket() { return buildPacket(nullptr, 0); }
/**
* @brief Function to initialize the space packet
*
* @param commandData Pointer to command specific data
* @param commandDataLen Length of command data
*
* @brief Function to finsh and write the space packet. It is expected that the user has
* set the payload fields in the child class*
* @return returnvalue::OK if packet creation was successful, otherwise error return value
*/
ReturnValue_t buildPacket(const uint8_t* commandData, size_t commandDataLen) {
payloadStart = spParams.buf + ccsds::HEADER_LEN;
ReturnValue_t res;
if (commandData != nullptr and commandDataLen > 0) {
res = initPacket(commandData, commandDataLen);
if (res != returnvalue::OK) {
return res;
}
}
ReturnValue_t finishPacket() {
updateSpFields();
res = checkSizeAndSerializeHeader();
ReturnValue_t res = checkSizeAndSerializeHeader();
if (res != returnvalue::OK) {
return res;
}
return calcAndSetCrc();
}
protected:
/**
* @brief Must be overwritten by the child class to define the command specific parameters
*
* @param commandData Pointer to received command data
* @param commandDataLen Length of received command data
*/
virtual ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
return returnvalue::OK;
}
};
/**
@ -224,8 +279,7 @@ class TcMemRead : public TcBase {
uint16_t getMemLen() const { return memLen; }
protected:
ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
ReturnValue_t result = returnvalue::OK;
result = lengthCheck(commandDataLen);
if (result != returnvalue::OK) {
@ -271,8 +325,7 @@ class TcMemWrite : public TcBase {
TcMemWrite(ploc::SpTcParams params, uint16_t sequenceCount)
: TcBase(params, apid::TC_MEM_WRITE, sequenceCount) {}
protected:
ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
ReturnValue_t result = returnvalue::OK;
result = lengthCheck(commandDataLen);
if (result != returnvalue::OK) {
@ -314,72 +367,58 @@ class TcMemWrite : public TcBase {
/**
* @brief Class to help creation of flash fopen command.
*/
class FlashFopen : public ploc::SpTcBase {
class FlashFopen : public TcBase {
public:
FlashFopen(ploc::SpTcParams params, uint16_t sequenceCount)
: ploc::SpTcBase(params, apid::TC_FLASHFOPEN, sequenceCount) {}
: TcBase(params, apid::TC_FLASHFOPEN, sequenceCount) {}
static const char APPEND = 'a';
static const char WRITE = 'w';
static const char READ = 'r';
ReturnValue_t createPacket(std::string filename, char accessMode_) {
accessMode = accessMode_;
ReturnValue_t setPayload(std::string filename, uint8_t mode) {
accessMode = mode;
size_t nameSize = filename.size();
spParams.setFullPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + sizeof(accessMode) + CRC_SIZE);
spParams.setFullPayloadLen(256 + sizeof(uint8_t) + CRC_SIZE);
ReturnValue_t result = checkPayloadLen();
if (result != returnvalue::OK) {
return result;
}
std::memcpy(payloadStart, filename.c_str(), nameSize);
*(spParams.buf + nameSize) = NULL_TERMINATOR;
std::memcpy(payloadStart + nameSize + sizeof(NULL_TERMINATOR), &accessMode, sizeof(accessMode));
updateSpFields();
return calcAndSetCrc();
// payloadStart[nameSize] = NULL_TERMINATOR;
std::memset(payloadStart + nameSize, 0, 256 - nameSize);
// payloadStart[255] = NULL_TERMINATOR;
payloadStart[256] = accessMode;
return returnvalue::OK;
}
private:
char accessMode = APPEND;
uint8_t accessMode = FileAccessModes::OPEN_EXISTING;
};
/**
* @brief Class to help creation of flash fclose command.
*/
class FlashFclose : public ploc::SpTcBase {
class FlashFclose : public TcBase {
public:
FlashFclose(ploc::SpTcParams params, uint16_t sequenceCount)
: ploc::SpTcBase(params, apid::TC_FLASHFCLOSE, sequenceCount) {}
ReturnValue_t createPacket(std::string filename) {
size_t nameSize = filename.size();
spParams.setFullPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE);
ReturnValue_t result = checkPayloadLen();
if (result != returnvalue::OK) {
return result;
}
std::memcpy(payloadStart, filename.c_str(), nameSize);
*(payloadStart + nameSize) = NULL_TERMINATOR;
return calcAndSetCrc();
: TcBase(params, apid::TC_FLASHFCLOSE, sequenceCount) {
spParams.setFullPayloadLen(CRC_SIZE);
}
};
/**
* @brief Class to build flash write space packet.
*/
class TcFlashWrite : public ploc::SpTcBase {
class TcFlashWrite : public TcBase {
public:
TcFlashWrite(ploc::SpTcParams params, uint16_t sequenceCount)
: ploc::SpTcBase(params, apid::TC_FLASHWRITE, sequenceCount) {}
: TcBase(params, apid::TC_FLASHWRITE, sequenceCount) {}
ReturnValue_t buildPacket(const uint8_t* writeData, uint32_t writeLen_) {
ReturnValue_t result = returnvalue::OK;
ReturnValue_t setPayload(const uint8_t* writeData, uint32_t writeLen_) {
writeLen = writeLen_;
if (writeLen > MAX_DATA_SIZE) {
sif::debug << "FlashWrite::createPacket: Command data too big" << std::endl;
if (writeLen > MAX_FLASH_WRITE_DATA_SIZE) {
sif::error << "TcFlashWrite: Command data too big" << std::endl;
return returnvalue::FAILED;
}
spParams.setFullPayloadLen(static_cast<uint16_t>(writeLen) + 4 + CRC_SIZE);
result = checkPayloadLen();
spParams.setFullPayloadLen(sizeof(uint32_t) + static_cast<uint16_t>(writeLen) + CRC_SIZE);
ReturnValue_t result = checkPayloadLen();
if (result != returnvalue::OK) {
return result;
}
@ -389,11 +428,11 @@ class TcFlashWrite : public ploc::SpTcBase {
if (result != returnvalue::OK) {
return result;
}
std::memcpy(payloadStart + sizeof(writeLen), writeData, writeLen);
std::memcpy(payloadStart + sizeof(uint32_t), writeData, writeLen);
updateSpFields();
auto res = checkSizeAndSerializeHeader();
if (res != returnvalue::OK) {
return res;
result = checkSizeAndSerializeHeader();
if (result != returnvalue::OK) {
return result;
}
return calcAndSetCrc();
}
@ -402,15 +441,52 @@ class TcFlashWrite : public ploc::SpTcBase {
uint32_t writeLen = 0;
};
class TcFlashRead : public TcBase {
public:
TcFlashRead(ploc::SpTcParams params, uint16_t sequenceCount)
: TcBase(params, apid::TC_FLASHREAD, sequenceCount) {}
ReturnValue_t setPayload(uint32_t readLen) {
if (readLen > MAX_FLASH_READ_DATA_SIZE) {
sif::error << "TcFlashRead: Read length " << readLen << " too large" << std::endl;
return returnvalue::FAILED;
}
spParams.setFullPayloadLen(sizeof(uint32_t) + CRC_SIZE);
ReturnValue_t result = checkPayloadLen();
if (result != returnvalue::OK) {
return result;
}
size_t serializedSize = ccsds::HEADER_LEN;
result = SerializeAdapter::serialize(&readLen, payloadStart, &serializedSize, spParams.maxSize,
SerializeIF::Endianness::NETWORK);
if (result != returnvalue::OK) {
return result;
}
updateSpFields();
result = checkSizeAndSerializeHeader();
if (result != returnvalue::OK) {
return result;
}
result = calcAndSetCrc();
if (result != returnvalue::OK) {
return result;
}
readSize = readLen;
return result;
}
uint32_t readSize = 0;
};
/**
* @brief Class to help creation of flash delete command.
*/
class TcFlashDelete : public ploc::SpTcBase {
class TcFlashDelete : public TcBase {
public:
TcFlashDelete(ploc::SpTcParams params, uint16_t sequenceCount)
: ploc::SpTcBase(params, apid::TC_FLASHDELETE, sequenceCount) {}
: TcBase(params, apid::TC_FLASHDELETE, sequenceCount) {}
ReturnValue_t buildPacket(std::string filename) {
ReturnValue_t setPayload(std::string filename) {
size_t nameSize = filename.size();
spParams.setFullPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE);
auto res = checkPayloadLen();
@ -449,8 +525,7 @@ class TcReplayStart : public TcBase {
TcReplayStart(ploc::SpTcParams params, uint16_t sequenceCount)
: TcBase(params, apid::TC_REPLAY_START, sequenceCount) {}
protected:
ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
ReturnValue_t result = returnvalue::OK;
spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
result = lengthCheck(commandDataLen);
@ -498,8 +573,7 @@ class TcDownlinkPwrOn : public TcBase {
TcDownlinkPwrOn(ploc::SpTcParams params, uint16_t sequenceCount)
: TcBase(params, apid::TC_DOWNLINK_PWR_ON, sequenceCount) {}
protected:
ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
ReturnValue_t result = returnvalue::OK;
result = lengthCheck(commandDataLen);
if (result != returnvalue::OK) {
@ -561,6 +635,30 @@ class TcDownlinkPwrOn : public TcBase {
}
};
class TcGetHkReport : public TcBase {
public:
TcGetHkReport(ploc::SpTcParams params, uint16_t sequenceCount)
: TcBase(params, apid::TC_HK_GET_REPORT, sequenceCount) {}
};
class TcGetDirContent : public TcBase {
public:
TcGetDirContent(ploc::SpTcParams params, uint16_t sequenceCount)
: TcBase(params, apid::TC_FLASH_GET_DIRECTORY_CONTENT, sequenceCount) {}
ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
ReturnValue_t result = returnvalue::OK;
// Yeah it needs to be 256.. even if the path is shorter.
spParams.setFullPayloadLen(256 + CRC_SIZE);
if (result != returnvalue::OK) {
return result;
}
std::memcpy(payloadStart, commandData, commandDataLen);
payloadStart[255] = '\0';
return result;
}
};
/**
* @brief Class to build replay stop space packet.
*/
@ -581,8 +679,7 @@ class TcReplayWriteSeq : public TcBase {
TcReplayWriteSeq(ploc::SpTcParams params, uint16_t sequenceCount)
: TcBase(params, apid::TC_REPLAY_WRITE_SEQUENCE, sequenceCount) {}
protected:
ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
ReturnValue_t result = returnvalue::OK;
spParams.setFullPayloadLen(commandDataLen + sizeof(NULL_TERMINATOR) + CRC_SIZE);
result = lengthCheck(commandDataLen);
@ -611,36 +708,69 @@ class TcReplayWriteSeq : public TcBase {
/**
* @brief Helps to extract the fields of the flash write command from the PUS packet.
*/
class FlashWritePusCmd : public MPSoCReturnValuesIF {
class FlashBasePusCmd : public MPSoCReturnValuesIF {
public:
FlashWritePusCmd(){};
FlashBasePusCmd() = default;
virtual ~FlashBasePusCmd() = default;
ReturnValue_t extractFields(const uint8_t* commandData, size_t commandDataLen) {
virtual ReturnValue_t extractFields(const uint8_t* commandData, size_t commandDataLen) {
if (commandDataLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE + MAX_FILENAME_SIZE)) {
return INVALID_LENGTH;
}
obcFile = std::string(reinterpret_cast<const char*>(commandData));
if (obcFile.size() > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE)) {
size_t fileLen = strnlen(reinterpret_cast<const char*>(commandData), commandDataLen);
if (fileLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE)) {
return FILENAME_TOO_LONG;
}
mpsocFile = std::string(
reinterpret_cast<const char*>(commandData + obcFile.size() + SIZE_NULL_TERMINATOR));
if (mpsocFile.size() > MAX_FILENAME_SIZE) {
obcFile = std::string(reinterpret_cast<const char*>(commandData), fileLen);
fileLen =
strnlen(reinterpret_cast<const char*>(commandData + obcFile.size() + SIZE_NULL_TERMINATOR),
commandDataLen - obcFile.size() - 1);
if (fileLen > MAX_FILENAME_SIZE) {
return MPSOC_FILENAME_TOO_LONG;
}
mpsocFile = std::string(
reinterpret_cast<const char*>(commandData + obcFile.size() + SIZE_NULL_TERMINATOR),
fileLen);
return returnvalue::OK;
}
std::string getObcFile() { return obcFile; }
const std::string& getObcFile() const { return obcFile; }
std::string getMPSoCFile() { return mpsocFile; }
const std::string& getMPSoCFile() const { return mpsocFile; }
protected:
size_t getParsedSize() const {
return getObcFile().size() + getMPSoCFile().size() + 2 * SIZE_NULL_TERMINATOR;
}
static const size_t SIZE_NULL_TERMINATOR = 1;
private:
static const size_t SIZE_NULL_TERMINATOR = 1;
std::string obcFile = "";
std::string mpsocFile = "";
std::string obcFile;
std::string mpsocFile;
};
class FlashReadPusCmd : public FlashBasePusCmd {
public:
FlashReadPusCmd(){};
ReturnValue_t extractFields(const uint8_t* commandData, size_t commandDataLen) override {
ReturnValue_t result = FlashBasePusCmd::extractFields(commandData, commandDataLen);
if (result != returnvalue::OK) {
return result;
}
if (commandDataLen < (getParsedSize() + 4)) {
return returnvalue::FAILED;
}
size_t deserDummy = 4;
return SerializeAdapter::deSerialize(&readSize, commandData + getParsedSize(), &deserDummy,
SerializeIF::Endianness::NETWORK);
}
size_t getReadSize() const { return readSize; }
private:
size_t readSize = 0;
};
/**
* @brief Class to build replay stop space packet.
*/
@ -676,7 +806,7 @@ class TcCamTakePic : public TcBase {
TcCamTakePic(ploc::SpTcParams params, uint16_t sequenceCount)
: TcBase(params, apid::TC_CAM_TAKE_PIC, sequenceCount) {}
ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
if (commandDataLen > MAX_DATA_LENGTH) {
return INVALID_LENGTH;
}
@ -705,7 +835,7 @@ class TcSimplexSendFile : public TcBase {
TcSimplexSendFile(ploc::SpTcParams params, uint16_t sequenceCount)
: TcBase(params, apid::TC_SIMPLEX_SEND_FILE, sequenceCount) {}
ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
if (commandDataLen > MAX_DATA_LENGTH) {
return INVALID_LENGTH;
}
@ -730,7 +860,7 @@ class TcDownlinkDataModulate : public TcBase {
TcDownlinkDataModulate(ploc::SpTcParams params, uint16_t sequenceCount)
: TcBase(params, apid::TC_DOWNLINK_DATA_MODULATE, sequenceCount) {}
ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
if (commandDataLen > MAX_DATA_LENGTH) {
return INVALID_LENGTH;
}
@ -748,8 +878,7 @@ class TcCamcmdSend : public TcBase {
TcCamcmdSend(ploc::SpTcParams params, uint16_t sequenceCount)
: TcBase(params, apid::TC_CAM_CMD_SEND, sequenceCount) {}
protected:
ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
if (commandDataLen > MAX_DATA_LENGTH) {
return INVALID_LENGTH;
}
@ -774,6 +903,69 @@ class TcCamcmdSend : public TcBase {
static const uint8_t CARRIAGE_RETURN = 0xD;
};
class HkReport : public StaticLocalDataSet<36> {
public:
HkReport(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, HK_SET_ID) {}
HkReport(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, HK_SET_ID)) {}
lp_var_t<uint32_t> status = lp_var_t<uint32_t>(sid.objectId, mpsoc::poolid::STATUS, this);
lp_var_t<uint8_t> mode = lp_var_t<uint8_t>(sid.objectId, mpsoc::poolid::MODE, this);
lp_var_t<uint8_t> downlinkPwrOn =
lp_var_t<uint8_t>(sid.objectId, mpsoc::poolid::DOWNLINK_PWR_ON, this);
lp_var_t<uint8_t> downlinkReplyActive =
lp_var_t<uint8_t>(sid.objectId, mpsoc::poolid::DOWNLINK_REPLY_ACTIIVE, this);
lp_var_t<uint8_t> downlinkJesdSyncStatus =
lp_var_t<uint8_t>(sid.objectId, mpsoc::poolid::DOWNLINK_JESD_SYNC_STATUS, this);
lp_var_t<uint8_t> downlinkDacStatus =
lp_var_t<uint8_t>(sid.objectId, mpsoc::poolid::DOWNLINK_DAC_STATUS, this);
lp_var_t<uint8_t> camStatus = lp_var_t<uint8_t>(sid.objectId, mpsoc::poolid::CAM_STATUS, this);
lp_var_t<uint8_t> camSdiStatus =
lp_var_t<uint8_t>(sid.objectId, mpsoc::poolid::CAM_SDI_STATUS, this);
lp_var_t<float> camFpgaTemp = lp_var_t<float>(sid.objectId, mpsoc::poolid::CAM_FPGA_TEMP, this);
lp_var_t<float> camSocTemp = lp_var_t<float>(sid.objectId, mpsoc::poolid::CAM_SOC_TEMP, this);
lp_var_t<float> sysmonTemp = lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_TEMP, this);
lp_var_t<float> sysmonVccInt = lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCCINT, this);
lp_var_t<float> sysmonVccAux = lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCCAUX, this);
lp_var_t<float> sysmonVccBram =
lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCCBRAM, this);
lp_var_t<float> sysmonVccPaux =
lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCCPAUX, this);
lp_var_t<float> sysmonVccPint =
lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCCPINT, this);
lp_var_t<float> sysmonVccPdro =
lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCCPDRO, this);
lp_var_t<float> sysmonMb12V = lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_MB12V, this);
lp_var_t<float> sysmonMb3V3 = lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_MB3V3, this);
lp_var_t<float> sysmonMb1V8 = lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_MB1V8, this);
lp_var_t<float> sysmonVcc12V = lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCC12V, this);
lp_var_t<float> sysmonVcc5V = lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCC5V, this);
lp_var_t<float> sysmonVcc3V3 = lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCC3V3, this);
lp_var_t<float> sysmonVcc3V3VA =
lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCC3V3VA, this);
lp_var_t<float> sysmonVcc2V5DDR =
lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCC2V5DDR, this);
lp_var_t<float> sysmonVcc1V2DDR =
lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCC1V2DDR, this);
lp_var_t<float> sysmonVcc0V9 = lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCC0V9, this);
lp_var_t<float> sysmonVcc0V6VTT =
lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCC0V6VTT, this);
lp_var_t<float> sysmonSafeCotsCur =
lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_SAFE_COTS_CUR, this);
lp_var_t<float> sysmonNvm4XoCur =
lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_NVM4_XO_CUR, this);
lp_var_t<uint16_t> semUncorrectableErrs =
lp_var_t<uint16_t>(sid.objectId, mpsoc::poolid::SEM_UNCORRECTABLE_ERRS, this);
lp_var_t<uint16_t> semCorrectableErrs =
lp_var_t<uint16_t>(sid.objectId, mpsoc::poolid::SEM_CORRECTABLE_ERRS, this);
lp_var_t<uint8_t> semStatus = lp_var_t<uint8_t>(sid.objectId, mpsoc::poolid::SEM_STATUS, this);
lp_var_t<uint8_t> rebootMpsocRequired =
lp_var_t<uint8_t>(sid.objectId, mpsoc::poolid::REBOOT_MPSOC_REQUIRED, this);
};
uint16_t getStatusFromRawData(const uint8_t* data);
std::string getStatusString(uint16_t status);
} // namespace mpsoc
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_ */

39
misc/eclipse/.cproject
View File

@ -57,7 +57,8 @@
</toolChain>
</folderInfo>
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<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="thirdparty/json/include"/>
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@ -1084,7 +1092,8 @@
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<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="thirdparty/json/include"/>
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</configuration>
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@ -1149,7 +1158,8 @@
</toolChain>
</folderInfo>
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<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="thirdparty/json/include"/>
</sourceEntries>
</configuration>
</storageModule>
@ -1172,7 +1182,7 @@
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561" name="eive-q7s-debug-em" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561" name="eive-q7s-debug-em" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.dockerdpath=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=unix:///var/run/docker.sock,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null" parent="org.eclipse.cdt.build.core.emptycfg">
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561." name="/" resourcePath="">
<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1640701365" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.564607779" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
@ -1317,7 +1327,9 @@
</toolChain>
</folderInfo>
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@ -1386,7 +1398,8 @@
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<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="thirdparty/json/include"/>
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</storageModule>

18
mission/acs/GyrAdis1650XHandler.cpp
View File

@ -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;
}
@ -24,19 +24,21 @@ 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;
}
}
void GyrAdis1650XHandler::doShutDown() {
if (internalState != InternalState::SHUTDOWN) {
commandExecuted = false;
PoolReadGuard pg(&primaryDataset);
primaryDataset.setValidity(false, true);
internalState = InternalState::SHUTDOWN;
}
@ -60,6 +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): {
@ -90,6 +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;

2
mission/acs/GyrAdis1650XHandler.h
View File

@ -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;

1
mission/acs/GyrL3gCustomHandler.cpp
View File

@ -33,6 +33,7 @@ void GyrL3gCustomHandler::doStartUp() {
void GyrL3gCustomHandler::doShutDown() {
if (internalState != InternalState::SHUTDOWN) {
internalState = InternalState::SHUTDOWN;
PoolReadGuard pg(&dataset);
dataset.setValidity(false, true);
commandExecuted = false;
}

1
mission/acs/MgmLis3CustomHandler.cpp
View File

@ -29,6 +29,7 @@ void MgmLis3CustomHandler::doStartUp() {
void MgmLis3CustomHandler::doShutDown() {
if (internalState != InternalState::SHUTDOWN) {
PoolReadGuard pg(&dataset);
dataset.setValidity(false, true);
internalState = InternalState::SHUTDOWN;
commandExecuted = false;

1
mission/acs/MgmRm3100CustomHandler.cpp
View File

@ -33,6 +33,7 @@ void MgmRm3100CustomHandler::doStartUp() {
void MgmRm3100CustomHandler::doShutDown() {
if (internalState != InternalState::SHUTDOWN) {
commandExecuted = false;
PoolReadGuard pg(&primaryDataset);
primaryDataset.setValidity(false, true);
internalState = InternalState::SHUTDOWN;
}

2
mission/acs/SusHandler.cpp
View File

@ -29,6 +29,8 @@ void SusHandler::doStartUp() {
void SusHandler::doShutDown() {
if (internalState != InternalState::SHUTDOWN) {
PoolReadGuard pg(&dataset);
dataset.tempC = thermal::INVALID_TEMPERATURE;
dataset.setValidity(false, true);
internalState = InternalState::SHUTDOWN;
commandExecuted = false;

11
mission/acs/acsBoardPolling.h
View File

@ -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)

13
mission/acs/defs.h
View File

@ -3,6 +3,7 @@
#include <eive/eventSubsystemIds.h>
#include <fsfw/modes/HasModesIF.h>
#include <mission/sysDefs.h>
namespace acs {
@ -11,12 +12,12 @@ enum class SimpleSensorMode { NORMAL = 0, OFF = 1 };
// These modes are the modes of the ACS controller and of the ACS subsystem.
enum AcsMode : Mode_t {
OFF = HasModesIF::MODE_OFF,
SAFE = 10,
PTG_IDLE = 11,
PTG_NADIR = 12,
PTG_TARGET = 13,
PTG_TARGET_GS = 14,
PTG_INERTIAL = 15,
SAFE = satsystem::Mode::SAFE,
PTG_IDLE = satsystem::Mode::PTG_IDLE,
PTG_NADIR = satsystem::Mode::PTG_NADIR,
PTG_TARGET = satsystem::Mode::PTG_TARGET,
PTG_TARGET_GS = satsystem::Mode::PTG_TARGET_GS,
PTG_INERTIAL = satsystem::Mode::PTG_INERTIAL,
};
enum SafeSubmode : Submode_t { DEFAULT = 0, DETUMBLE = 1 };

11
mission/acs/gyroAdisHelpers.cpp
View File

@ -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;
}

5
mission/acs/gyroAdisHelpers.h
View File

@ -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,

34
mission/acs/str/StarTrackerHandler.cpp
View File

@ -17,6 +17,8 @@ extern "C" {
#include <thread>
#include "OBSWConfig.h"
#include "eive/definitions.h"
#include "fsfw/thermal/tcsDefinitions.h"
std::atomic_bool JCFG_DONE(false);
@ -99,6 +101,22 @@ void StarTrackerHandler::doShutDown() {
startupState = StartupState::IDLE;
bootState = FwBootState::NONE;
solutionSet.setReportingEnabled(false);
{
PoolReadGuard pg(&solutionSet);
solutionSet.caliQw.value = 0.0;
solutionSet.caliQx.value = 0.0;
solutionSet.caliQy.value = 0.0;
solutionSet.caliQz.value = 0.0;
solutionSet.isTrustWorthy.value = 0;
solutionSet.setValidity(false, true);
}
{
PoolReadGuard pg(&temperatureSet);
temperatureSet.fpgaTemperature = thermal::INVALID_TEMPERATURE;
temperatureSet.cmosTemperature = thermal::INVALID_TEMPERATURE;
temperatureSet.mcuTemperature = thermal::INVALID_TEMPERATURE;
temperatureSet.setValidity(false, true);
}
reinitNextSetParam = false;
setMode(_MODE_POWER_DOWN);
}
@ -152,7 +170,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
return EXECUTION_FINISHED;
}
case (startracker::SET_JSON_FILE_NAME): {
if (size > MAX_PATH_SIZE) {
if (size > config::MAX_PATH_SIZE) {
return FILE_PATH_TOO_LONG;
}
paramJsonFile = std::string(reinterpret_cast<const char*>(data), size);
@ -189,7 +207,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
if (result != returnvalue::OK) {
return result;
}
if (size > MAX_PATH_SIZE + MAX_FILE_NAME) {
if (size > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
return FILE_PATH_TOO_LONG;
}
result = strHelper->startImageUpload(std::string(reinterpret_cast<const char*>(data), size));
@ -204,7 +222,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
if (result != returnvalue::OK) {
return result;
}
if (size > MAX_PATH_SIZE) {
if (size > config::MAX_PATH_SIZE) {
return FILE_PATH_TOO_LONG;
}
result =
@ -228,14 +246,14 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
return EXECUTION_FINISHED;
}
case (startracker::CHANGE_IMAGE_DOWNLOAD_FILE): {
if (size > MAX_FILE_NAME) {
if (size > config::MAX_FILENAME_SIZE) {
return FILENAME_TOO_LONG;
}
strHelper->setDownloadImageName(std::string(reinterpret_cast<const char*>(data), size));
return EXECUTION_FINISHED;
}
case (startracker::SET_FLASH_READ_FILENAME): {
if (size > MAX_FILE_NAME) {
if (size > config::MAX_FILENAME_SIZE) {
return FILENAME_TOO_LONG;
}
strHelper->setFlashReadFilename(std::string(reinterpret_cast<const char*>(data), size));
@ -246,7 +264,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
if (result != returnvalue::OK) {
return result;
}
if (size > MAX_PATH_SIZE + MAX_FILE_NAME) {
if (size > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
return FILE_PATH_TOO_LONG;
}
result =
@ -1589,7 +1607,7 @@ ReturnValue_t StarTrackerHandler::executeFlashReadCommand(const uint8_t* command
<< std::endl;
return result;
}
if (commandDataLen - sizeof(startRegion) - sizeof(length) > MAX_PATH_SIZE) {
if (commandDataLen - sizeof(startRegion) - sizeof(length) > config::MAX_PATH_SIZE) {
sif::warning << "StarTrackerHandler::executeFlashReadCommand: Received command with invalid"
<< " path and filename" << std::endl;
return FILE_PATH_TOO_LONG;
@ -1729,7 +1747,7 @@ ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData
bool reinitSet) {
// Stopwatch watch;
ReturnValue_t result = returnvalue::OK;
if (commandDataLen > MAX_PATH_SIZE) {
if (commandDataLen > config::MAX_PATH_SIZE) {
return FILE_PATH_TOO_LONG;
}
if (reinitSet) {

3
mission/acs/str/StarTrackerHandler.h
View File

@ -145,9 +145,6 @@ class StarTrackerHandler : public DeviceHandlerBase {
//! [EXPORT] : [COMMENT] Failed to boot star tracker into bootloader mode
static const Event BOOTING_BOOTLOADER_FAILED_EVENT = MAKE_EVENT(2, severity::LOW);
static const size_t MAX_PATH_SIZE = 50;
static const size_t MAX_FILE_NAME = 30;
static const uint8_t STATUS_OFFSET = 2;
static const uint8_t PARAMS_OFFSET = 2;
static const uint8_t TICKS_OFFSET = 3;

2
mission/cfdp/CfdpHandler.cpp
View File

@ -93,6 +93,8 @@ ReturnValue_t CfdpHandler::handleCfdpPacket(TmTcMessage& msg) {
return INVALID_PDU_FORMAT;
}
if (not FileDirectiveReader::checkFileDirective(pduDataField[0])) {
sif::error << "CfdpHandler: Invalid PDU directive field " << static_cast<int>(pduDataField[0])
<< std::endl;
return INVALID_DIRECTIVE_FIELD;
}
auto directive = static_cast<FileDirective>(pduDataField[0]);

8
mission/com/CcsdsIpCoreHandler.cpp
View File

@ -246,7 +246,13 @@ ReturnValue_t CcsdsIpCoreHandler::checkModeCommand(Mode_t mode, Submode_t submod
void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
triggerEvent(CHANGING_MODE, mode, submode);
if (mode == HasModesIF::MODE_ON) {
if (this->submode != submode) {
uint32_t currentRate = ptmeConfig.getRate();
// Check whether the rate actually changes.
if ((this->submode != submode) and
(((submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW) and
(currentRate != RATE_100KBPS))) or
((submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH) and
(currentRate != RATE_500KBPS))))) {
initPtmeUpdateAfterXCycles();
updateContext.enableTransmitAfterPtmeUpdate = true;
updateContext.updateClockRate = true;

7
mission/com/LiveTmTask.cpp
View File

@ -19,13 +19,8 @@ LiveTmTask::LiveTmTask(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunne
ReturnValue_t LiveTmTask::performOperation(uint8_t opCode) {
readCommandQueue();
while (true) {
bool performWriteOp = true;
if (mode == MODE_OFF or ptmeLocked) {
performWriteOp = false;
}
// The funnel tasks are scheduled here directly as well.
ReturnValue_t result = channel.handleNextTm(performWriteOp);
ReturnValue_t result = channel.handleNextTm(!ptmeLocked);
if (result == DirectTmSinkIF::IS_BUSY) {
sif::error << "Lost live TM, PAPB busy" << std::endl;
}

6
mission/com/PersistentLogTmStoreTask.cpp
View File

@ -42,13 +42,7 @@ ReturnValue_t PersistentLogTmStoreTask::performOperation(uint8_t opCode) {
if (not someonesBusy) {
TaskFactory::delayTask(100);
} else if (vcBusyDuringDump) {
// TODO: Might not be necessary
sif::debug << "VC busy, delaying" << std::endl;
TaskFactory::delayTask(10);
} else {
// TODO: Would be best to remove this, but not delaying here can lead to evil issues.
// Polling the PAPB of the PTME core too often leads to scheuduling issues.
TaskFactory::delayTask(2);
}
}
}

6
mission/com/PersistentSingleTmStoreTask.cpp
View File

@ -24,13 +24,7 @@ ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) {
if (not busy) {
TaskFactory::delayTask(100);
} else if (dumpContext.vcBusyDuringDump) {
sif::debug << "VC busy, delaying" << std::endl;
// TODO: Might not be necessary
TaskFactory::delayTask(10);
} else {
// TODO: Would be best to remove this, but not delaying here can lead to evil issues.
// Polling the PAPB of the PTME core too often leads to scheuduling issues.
TaskFactory::delayTask(2);
}
}
}

2
mission/com/SyrlinksHandler.cpp
View File

@ -773,11 +773,13 @@ void SyrlinksHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
auto txStandbyHandler = [&]() {
txDataset.setReportingEnabled(false);
poolManager.changeCollectionInterval(temperatureSet.getSid(), 60.0);
poolManager.changeCollectionInterval(rxDataset.getSid(), 60.0);
transState = TransitionState::SET_TX_STANDBY;
internalState = InternalState::TX_TRANSITION;
};
auto txOnHandler = [&](TransitionState tgtTransitionState) {
txDataset.setReportingEnabled(true);
poolManager.changeCollectionInterval(rxDataset.getSid(), 5.0);
poolManager.changeCollectionInterval(txDataset.getSid(), 10.0);
poolManager.changeCollectionInterval(temperatureSet.getSid(), 5.0);
transState = tgtTransitionState;

60
mission/com/TmStoreTaskBase.cpp
View File

@ -45,13 +45,19 @@ bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store,
} else {
Command_t execCmd;
// Handle TC requests, for example deletion or retrieval requests.
// TODO: Not really clean here.. would be better if the executed command is returns as an
// enumeration.
result = store.handleCommandQueue(ipcStore, execCmd);
if (result == returnvalue::OK) {
if (execCmd == TmStoreMessage::DOWNLINK_STORE_CONTENT_TIME) {
if (execCmd == TmStoreMessage::DOWNLINK_STORE_CONTENT_TIME) {
if (result == PersistentTmStore::DUMP_DONE) {
dumpDoneHandler(store, dumpContext);
} else if (result == returnvalue::OK) {
cancelDumpCd.resetTimer();
tmSinkBusyCd.resetTimer();
dumpContext.reset();
}
}
if (execCmd != CommandMessageIF::CMD_NONE) {
tcRequestReceived = true;
}
}
@ -94,13 +100,6 @@ void TmStoreTaskBase::cancelDump(DumpContext& ctx, PersistentTmStore& store, boo
ReturnValue_t TmStoreTaskBase::handleOneDump(PersistentTmStoreWithTmQueue& store,
DumpContext& dumpContext, bool& dumpPerformed) {
ReturnValue_t result = returnvalue::OK;
// The PTME might have been reset an transmitter state change, so there is no point in continuing
// the dump.
// TODO: Will be solved in a cleaner way, this is kind of a hack.
if (not channel.isTxOn()) {
cancelDump(dumpContext, store, false);
return returnvalue::FAILED;
}
// It is assumed that the PTME will only be locked for a short period (e.g. to change datarate).
if (not channel.isBusy() and not ptmeLocked) {
performDump(store, dumpContext, dumpPerformed);
@ -126,37 +125,26 @@ ReturnValue_t TmStoreTaskBase::performDump(PersistentTmStoreWithTmQueue& store,
DumpContext& dumpContext, bool& dumpPerformed) {
size_t dumpedLen = 0;
auto dumpDoneHandler = [&]() {
uint32_t startTime;
uint32_t endTime;
store.getStartAndEndTimeCurrentOrLastDump(startTime, endTime);
triggerEvent(dumpContext.eventIfDone, dumpContext.numberOfDumpedPackets,
dumpContext.dumpedBytes);
dumpContext.reset();
};
// Dump the next packet into the PTME.
dumpContext.ptmeBusyCounter = 0;
tmSinkBusyCd.resetTimer();
ReturnValue_t result = store.getNextDumpPacket(tmReader, fileHasSwapped);
if (result != returnvalue::OK) {
sif::error << "PersistentTmStore: Getting next dump packet failed" << std::endl;
} else if (fileHasSwapped or result == PersistentTmStore::DUMP_DONE) {
if (fileHasSwapped and result == PersistentTmStore::DUMP_DONE) {
// This can happen if a file is corrupted and the next file swap completes the dump.
dumpDoneHandler();
dumpDoneHandler(store, dumpContext);
return returnvalue::OK;
} else if (result != returnvalue::OK) {
sif::error << "PersistentTmStore: Getting next dump packet failed" << std::endl;
return result;
}
dumpedLen = tmReader.getFullPacketLen();
// Only write to VC if mode is on, but always confirm the dump.
// If the mode is OFF, it is assumed the PTME is not usable and is not allowed to be written
// (e.g. to confirm a reset or the transmitter is off anyway).
if (mode == MODE_ON) {
result = channel.write(tmReader.getFullData(), dumpedLen);
if (result == DirectTmSinkIF::IS_BUSY) {
sif::warning << "PersistentTmStore: Unexpected VC channel busy" << std::endl;
} else if (result != returnvalue::OK) {
sif::warning << "PersistentTmStore: Unexpected VC channel write failure" << std::endl;
}
result = channel.write(tmReader.getFullData(), dumpedLen);
if (result == DirectTmSinkIF::IS_BUSY) {
sif::warning << "PersistentTmStore: Unexpected VC channel busy" << std::endl;
} else if (result != returnvalue::OK) {
sif::warning << "PersistentTmStore: Unexpected VC channel write failure" << std::endl;
}
result = store.confirmDump(tmReader, fileHasSwapped);
if ((result == PersistentTmStore::DUMP_DONE or result == returnvalue::OK)) {
dumpPerformed = true;
@ -167,7 +155,7 @@ ReturnValue_t TmStoreTaskBase::performDump(PersistentTmStoreWithTmQueue& store,
}
}
if (result == PersistentTmStore::DUMP_DONE) {
dumpDoneHandler();
dumpDoneHandler(store, dumpContext);
}
return returnvalue::OK;
}
@ -208,6 +196,14 @@ ReturnValue_t TmStoreTaskBase::connectModeTreeParent(HasModeTreeChildrenIF& pare
return modetree::connectModeTreeParent(parent, *this, nullptr, modeHelper);
}
void TmStoreTaskBase::dumpDoneHandler(PersistentTmStore& store, DumpContext& dumpContext) {
uint32_t startTime;
uint32_t endTime;
store.getStartAndEndTimeCurrentOrLastDump(startTime, endTime);
triggerEvent(dumpContext.eventIfDone, dumpContext.numberOfDumpedPackets, dumpContext.dumpedBytes);
dumpContext.reset();
}
ModeTreeChildIF& TmStoreTaskBase::getModeTreeChildIF() { return *this; }
void TmStoreTaskBase::readCommandQueue(void) {

2
mission/com/TmStoreTaskBase.h
View File

@ -96,6 +96,8 @@ class TmStoreTaskBase : public SystemObject,
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
void dumpDoneHandler(PersistentTmStore& store, DumpContext& dumpContext);
void announceMode(bool recursive) override;
object_id_t getObjectId() const override;
const HasHealthIF* getOptHealthIF() const override;

13
mission/com/VirtualChannel.cpp
View File

@ -11,23 +11,14 @@ ReturnValue_t VirtualChannel::sendNextTm(const uint8_t* data, size_t size) {
}
ReturnValue_t VirtualChannel::write(const uint8_t* data, size_t size) {
if (txOn) {
return ptme.writeToVc(vcId, data, size);
}
return returnvalue::OK;
return ptme.writeToVc(vcId, data, size);
}
uint8_t VirtualChannel::getVcid() const { return vcId; }
const char* VirtualChannel::getName() const { return vcName.c_str(); }
bool VirtualChannel::isBusy() const {
// Data is discarded, so channel is not busy.
if (not txOn) {
return false;
}
return ptme.isBusy(vcId);
}
bool VirtualChannel::isBusy() const { return ptme.isBusy(vcId); }
void VirtualChannel::cancelTransfer() { ptme.cancelTransfer(vcId); }

116
mission/controller/AcsController.cpp
View File

@ -169,7 +169,7 @@ void AcsController::performSafe() {
guidance.getTargetParamsSafe(sunTargetDir);
double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
uint8_t safeCtrlStrat = safeCtrl.safeCtrlStrategy(
acs::SafeModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy(
mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag,
gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(),
acsParameters.safeModeControllerParameters.useMekf,
@ -205,11 +205,13 @@ void AcsController::performSafe() {
case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL):
safeCtrlFailure(0, 1);
break;
default:
sif::error << "AcsController: Invalid safe mode strategy for performSafe" << std::endl;
break;
}
actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,
*acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipolMax);
actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
// detumble check and switch
if (mekfData.satRotRateMekf.isValid() && acsParameters.safeModeControllerParameters.useMekf &&
@ -231,8 +233,8 @@ void AcsController::performSafe() {
}
updateCtrlValData(errAng, safeCtrlStrat);
updateActuatorCmdData(cmdDipolMtqs);
commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
updateActuatorCmdData(cmdDipoleMtqs);
commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
acsParameters.magnetorquerParameter.torqueDuration);
}
@ -259,7 +261,7 @@ void AcsController::performDetumble() {
triggerEvent(acs::MEKF_RECOVERY);
mekfInvalidFlag = false;
}
uint8_t safeCtrlStrat = detumble.detumbleStrategy(
acs::SafeModeStrategy safeCtrlStrat = detumble.detumbleStrategy(
mgmDataProcessed.mgmVecTot.isValid(), gyrDataProcessed.gyrVecTot.isValid(),
mgmDataProcessed.mgmVecTotDerivative.isValid(),
acsParameters.detumbleParameter.useFullDetumbleLaw);
@ -279,11 +281,13 @@ void AcsController::performDetumble() {
case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL):
safeCtrlFailure(0, 1);
break;
default:
sif::error << "AcsController: Invalid safe mode strategy for performDetumble" << std::endl;
break;
}
actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,
*acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipolMax);
actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
if (mekfData.satRotRateMekf.isValid() &&
VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
@ -304,8 +308,8 @@ void AcsController::performDetumble() {
}
disableCtrlValData();
updateActuatorCmdData(cmdDipolMtqs);
commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
updateActuatorCmdData(cmdDipoleMtqs);
commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
acsParameters.magnetorquerParameter.torqueDuration);
}
@ -349,8 +353,10 @@ void AcsController::performPointingCtrl() {
double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
if (result == returnvalue::FAILED) {
if (multipleRwUnavailableCounter == 5) {
if (multipleRwUnavailableCounter >=
acsParameters.rwHandlingParameters.multipleRwInvalidTimeout) {
triggerEvent(acs::MULTIPLE_RW_INVALID);
multipleRwUnavailableCounter = 0;
}
multipleRwUnavailableCounter++;
return;
@ -364,24 +370,26 @@ void AcsController::performPointingCtrl() {
// Variables required for setting actuators
double torquePtgRws[4] = {0, 0, 0, 0}, rwTrqNs[4] = {0, 0, 0, 0}, torqueRws[4] = {0, 0, 0, 0},
mgtDpDes[3] = {0, 0, 0};
switch (mode) {
case acs::PTG_IDLE:
guidance.targetQuatPtgSun(susDataProcessed.sunIjkModel.value, targetQuat, targetSatRotRate);
guidance.targetQuatPtgSun(now, susDataProcessed.sunIjkModel.value, targetQuat,
targetSatRotRate);
guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
targetSatRotRate, errorQuat, errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.idleModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(
&acsParameters.idleModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
&(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
&(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
ptgCtrl.ptgNullspace(&acsParameters.idleModeControllerParameters,
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
rwTrqNs);
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
ptgCtrl.ptgDesaturation(
&acsParameters.idleModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.idleModeControllerParameters.enableAntiStiction;
break;
@ -395,17 +403,17 @@ void AcsController::performPointingCtrl() {
errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(
&acsParameters.targetModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
&(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
&(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
ptgCtrl.ptgNullspace(&acsParameters.targetModeControllerParameters,
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
rwTrqNs);
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
ptgCtrl.ptgDesaturation(
&acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
break;
@ -416,17 +424,17 @@ void AcsController::performPointingCtrl() {
targetSatRotRate, errorQuat, errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.gsTargetModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(
&acsParameters.gsTargetModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
&(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
&(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
ptgCtrl.ptgNullspace(&acsParameters.gsTargetModeControllerParameters,
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
rwTrqNs);
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
ptgCtrl.ptgDesaturation(
&acsParameters.gsTargetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.gsTargetModeControllerParameters.enableAntiStiction;
break;
@ -440,63 +448,61 @@ void AcsController::performPointingCtrl() {
errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.nadirModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(
&acsParameters.nadirModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
&(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
&(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
ptgCtrl.ptgNullspace(&acsParameters.nadirModeControllerParameters,
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
rwTrqNs);
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
ptgCtrl.ptgDesaturation(
&acsParameters.nadirModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction;
break;
case acs::PTG_INERTIAL:
std::memcpy(targetQuat, acsParameters.inertialModeControllerParameters.tgtQuat,
4 * sizeof(double));
sizeof(targetQuat));
guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
targetSatRotRate, acsParameters.inertialModeControllerParameters.quatRef,
acsParameters.inertialModeControllerParameters.refRotRate, errorQuat,
errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.inertialModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(
&acsParameters.inertialModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
&(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
&(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
ptgCtrl.ptgNullspace(&acsParameters.inertialModeControllerParameters,
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
rwTrqNs);
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
ptgCtrl.ptgDesaturation(
&acsParameters.inertialModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
break;
default:
sif::error << "AcsController: Invalid mode for performPointingCtrl";
sif::error << "AcsController: Invalid mode for performPointingCtrl" << std::endl;
break;
}
actuatorCmd.cmdSpeedToRws(
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, torqueRws,
cmdSpeedRws, acsParameters.onBoardParams.sampleTime,
acsParameters.rwHandlingParameters.maxRwSpeed,
acsParameters.rwHandlingParameters.inertiaWheel);
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
acsParameters.onBoardParams.sampleTime, acsParameters.rwHandlingParameters.inertiaWheel,
acsParameters.rwHandlingParameters.maxRwSpeed, torqueRws, cmdSpeedRws);
if (enableAntiStiction) {
ptgCtrl.rwAntistiction(&sensorValues, cmdSpeedRws);
}
actuatorCmd.cmdDipolMtq(mgtDpDes, cmdDipolMtqs,
*acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipolMax);
actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipoleMax, mgtDpDes, cmdDipoleMtqs);
updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate);
updateActuatorCmdData(torqueRws, cmdSpeedRws, cmdDipolMtqs);
commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
updateActuatorCmdData(torqueRws, cmdSpeedRws, cmdDipoleMtqs);
commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0],
cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
acsParameters.rwHandlingParameters.rampTime);

2
mission/controller/AcsController.h
View File

@ -69,7 +69,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
bool mekfLost = false;
int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
int16_t cmdDipolMtqs[3] = {0, 0, 0};
int16_t cmdDipoleMtqs[3] = {0, 0, 0};
#if OBSW_THREAD_TRACING == 1
uint32_t opCounter = 0;

538
mission/controller/ThermalController.cpp
View File

File diff suppressed because it is too large Load Diff

226
mission/controller/ThermalController.h
View File

@ -1,7 +1,7 @@
#ifndef MISSION_CONTROLLER_THERMALCONTROLLER_H_
#define MISSION_CONTROLLER_THERMALCONTROLLER_H_
#include <bsp_q7s/core/CoreDefinitions.h>
#include <bsp_q7s/core/defs.h>
#include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/devicehandlers/DeviceHandlerThermalSet.h>
#include <fsfw/timemanager/Countdown.h>
@ -24,74 +24,7 @@
#include <atomic>
#include <list>
/**
* NOP Limit: Hard limit for device, usually from datasheet. Device damage is possible lif NOP limit
* is exceeded.
* OP Limit: Soft limit. Device should be switched off or TCS controller should take action if the
* limit is exceeded to avoid reaching NOP limit
*/
struct TempLimits {
TempLimits(float nopLowerLimit, float opLowerLimit, float cutOffLimit, float opUpperLimit,
float nopUpperLimit)
: opLowerLimit(opLowerLimit),
opUpperLimit(opUpperLimit),
cutOffLimit(cutOffLimit),
nopLowerLimit(nopLowerLimit),
nopUpperLimit(nopUpperLimit) {}
float opLowerLimit;
float opUpperLimit;
float cutOffLimit;
float nopLowerLimit;
float nopUpperLimit;
};
struct ThermalState {
uint8_t errorCounter;
// Is heating on for that thermal module?
bool heating = false;
heater::Switch heaterSwitch = heater::Switch::NUMBER_OF_SWITCHES;
// Heater start time and end times as UNIX seconds. Please note that these times will be updated
// when a switch command is sent, with no guarantess that the heater actually went on.
uint32_t heaterStartTime = 0;
uint32_t heaterEndTime = 0;
};
struct HeaterState {
bool switchTransition;
HeaterHandler::SwitchState target;
uint8_t heaterSwitchControlCycles;
};
using HeaterSwitchStates = std::array<HeaterHandler::SwitchState, heater::NUMBER_OF_SWITCHES>;
enum ThermalComponents : uint8_t {
NONE = 0,
ACS_BOARD = 1,
MGT = 2,
RW = 3,
STR = 4,
IF_BOARD = 5,
TCS_BOARD = 6,
OBC = 7,
OBCIF_BOARD = 8,
SBAND_TRANSCEIVER = 9,
PCDUP60_BOARD = 10,
PCDUACU = 11,
PCDUPDU = 12,
PLPCDU_BOARD = 13,
PLOCMISSION_BOARD = 14,
PLOCPROCESSING_BOARD = 15,
DAC = 16,
CAMERA = 17,
DRO = 18,
X8 = 19,
HPA = 20,
TX = 21,
MPA = 22,
SCEX_BOARD = 23,
NUM_ENTRIES
};
#include <optional>
class ThermalController : public ExtendedControllerBase {
public:
@ -102,8 +35,28 @@ class ThermalController : public ExtendedControllerBase {
static constexpr int16_t SANITY_LIMIT_LOWER_TEMP = -80;
static constexpr int16_t SANITY_LIMIT_UPPER_TEMP = 160;
// 1 hour
static constexpr uint32_t DEFAULT_MAX_HEATER_ON_DURATION_MS = 60 * 60 * 1000;
static constexpr uint32_t MAX_HEATER_ON_DURATIONS_MS[8] = {// PLOC PROC board
DEFAULT_MAX_HEATER_ON_DURATION_MS,
// PCDU PDU
DEFAULT_MAX_HEATER_ON_DURATION_MS,
// ACS Board
DEFAULT_MAX_HEATER_ON_DURATION_MS,
// OBC Board
DEFAULT_MAX_HEATER_ON_DURATION_MS,
// Camera
DEFAULT_MAX_HEATER_ON_DURATION_MS,
// STR
DEFAULT_MAX_HEATER_ON_DURATION_MS,
// DRO
DEFAULT_MAX_HEATER_ON_DURATION_MS,
// S-Band
DEFAULT_MAX_HEATER_ON_DURATION_MS};
ThermalController(object_id_t objectId, HeaterHandler& heater,
const std::atomic_bool& tcsBoardShortUnavailable);
const std::atomic_bool& tcsBoardShortUnavailable, bool pollPcdu1Tmp);
virtual ~ThermalController();
ReturnValue_t initialize() override;
@ -111,16 +64,16 @@ class ThermalController : public ExtendedControllerBase {
struct HeaterContext {
public:
HeaterContext(heater::Switch switchNr, heater::Switch redundantSwitchNr,
const TempLimits& tempLimit)
const tcsCtrl::TempLimits& tempLimit)
: switchNr(switchNr), redSwitchNr(redundantSwitchNr), tempLimit(tempLimit) {}
bool doHeaterHandling = true;
heater::Switch switchNr;
HeaterHandler::SwitchState switchState = HeaterHandler::SwitchState::OFF;
heater::SwitchState switchState = heater::SwitchState::OFF;
heater::Switch redSwitchNr;
const TempLimits& tempLimit;
const tcsCtrl::TempLimits& tempLimit;
};
void performThermalModuleCtrl(const HeaterSwitchStates& heaterSwitchStates);
void performThermalModuleCtrl(const tcsCtrl::HeaterSwitchStates& heaterSwitchStates);
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -142,12 +95,12 @@ class ThermalController : public ExtendedControllerBase {
HeaterHandler& heaterHandler;
bool pollPcdu1Tmp;
tcsCtrl::SensorTemperatures sensorTemperatures;
tcsCtrl::SusTemperatures susTemperatures;
tcsCtrl::DeviceTemperatures deviceTemperatures;
tcsCtrl::HeaterInfo heaterInfo;
lp_vec_t<int16_t, 9> currentVecPdu2 =
lp_vec_t<int16_t, 9>(gp_id_t(objects::PDU2_HANDLER, PDU::pool::PDU_CURRENTS));
tcsCtrl::TcsCtrlInfo tcsCtrlInfo;
DeviceHandlerThermalSet imtqThermalSet;
@ -173,7 +126,7 @@ class ThermalController : public ExtendedControllerBase {
TMP1075::Tmp1075Dataset tmp1075SetTcs1;
TMP1075::Tmp1075Dataset tmp1075SetPlPcdu0;
// damaged
// TMP1075::Tmp1075Dataset tmp1075SetPlPcdu1;
TMP1075::Tmp1075Dataset* tmp1075SetPlPcdu1;
TMP1075::Tmp1075Dataset tmp1075SetIfBoard;
// SUS
@ -227,56 +180,67 @@ class ThermalController : public ExtendedControllerBase {
lp_var_t<float> tempMgm2 =
lp_var_t<float>(objects::MGM_2_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
lp_var_t<float> tempAdcPayloadPcdu = lp_var_t<float>(objects::PLPCDU_HANDLER, plpcdu::TEMP);
lp_vec_t<int16_t, 9> currentVecPdu2 =
lp_vec_t<int16_t, 9>(gp_id_t(objects::PDU2_HANDLER, PDU::pool::PDU_CURRENTS));
// TempLimits
TempLimits acsBoardLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
TempLimits mgtLimits = TempLimits(-40.0, -40.0, 65.0, 70.0, 70.0);
TempLimits rwLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
TempLimits strLimits = TempLimits(-30.0, -20.0, 65.0, 70.0, 80.0);
TempLimits ifBoardLimits = TempLimits(-65.0, -40.0, 80.0, 85.0, 150.0);
TempLimits tcsBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 130.0);
TempLimits obcLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
TempLimits obcIfBoardLimits = TempLimits(-65.0, -40.0, 80.0, 85.0, 125.0);
TempLimits sBandTransceiverLimits = TempLimits(-40.0, -25.0, 35.0, 40.0, 65.0);
TempLimits pcduP60BoardLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
TempLimits pcduAcuLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
TempLimits pcduPduLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
TempLimits plPcduBoardLimits = TempLimits(-55.0, -40.0, 80.0, 85.0, 125.0);
TempLimits plocMissionBoardLimits = TempLimits(-30.0, -10.0, 40.0, 45.0, 60);
TempLimits plocProcessingBoardLimits = TempLimits(-30.0, -10.0, 40.0, 45.0, 60.0);
TempLimits dacLimits = TempLimits(-65.0, -40.0, 113.0, 118.0, 150.0);
TempLimits cameraLimits = TempLimits(-40.0, -30.0, 60.0, 65.0, 85.0);
TempLimits droLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
TempLimits x8Limits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
TempLimits hpaLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
TempLimits txLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
TempLimits mpaLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
TempLimits scexBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 150.0);
tcsCtrl::TempLimits acsBoardLimits = tcsCtrl::TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
tcsCtrl::TempLimits mgtLimits = tcsCtrl::TempLimits(-40.0, -40.0, 65.0, 70.0, 70.0);
tcsCtrl::TempLimits rwLimits = tcsCtrl::TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
tcsCtrl::TempLimits strLimits = tcsCtrl::TempLimits(-30.0, -20.0, 65.0, 70.0, 80.0);
tcsCtrl::TempLimits ifBoardLimits = tcsCtrl::TempLimits(-65.0, -40.0, 80.0, 85.0, 150.0);
tcsCtrl::TempLimits tcsBoardLimits = tcsCtrl::TempLimits(-60.0, -40.0, 80.0, 85.0, 130.0);
tcsCtrl::TempLimits obcLimits = tcsCtrl::TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
tcsCtrl::TempLimits obcIfBoardLimits = tcsCtrl::TempLimits(-65.0, -40.0, 80.0, 85.0, 125.0);
tcsCtrl::TempLimits sBandTransceiverLimits = tcsCtrl::TempLimits(-40.0, -25.0, 35.0, 40.0, 65.0);
tcsCtrl::TempLimits pcduP60BoardLimits = tcsCtrl::TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
tcsCtrl::TempLimits pcduAcuLimits = tcsCtrl::TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
tcsCtrl::TempLimits pcduPduLimits = tcsCtrl::TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
tcsCtrl::TempLimits plPcduBoardLimits = tcsCtrl::TempLimits(-55.0, -40.0, 80.0, 85.0, 125.0);
tcsCtrl::TempLimits plocMissionBoardLimits = tcsCtrl::TempLimits(-30.0, -10.0, 40.0, 45.0, 60);
tcsCtrl::TempLimits plocProcessingBoardLimits =
tcsCtrl::TempLimits(-30.0, -10.0, 40.0, 45.0, 60.0);
tcsCtrl::TempLimits dacLimits = tcsCtrl::TempLimits(-65.0, -40.0, 113.0, 118.0, 150.0);
tcsCtrl::TempLimits cameraLimits = tcsCtrl::TempLimits(-40.0, -30.0, 60.0, 65.0, 85.0);
tcsCtrl::TempLimits droLimits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
tcsCtrl::TempLimits x8Limits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
tcsCtrl::TempLimits hpaLimits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
tcsCtrl::TempLimits txLimits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
tcsCtrl::TempLimits mpaLimits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
tcsCtrl::TempLimits scexBoardLimits = tcsCtrl::TempLimits(-60.0, -40.0, 80.0, 85.0, 150.0);
struct CtrlContext {
double sensorTemp = INVALID_TEMPERATURE;
uint8_t currentSensorIndex = 0;
tcsCtrl::ThermalComponents thermalComponent = tcsCtrl::NONE;
bool redSwitchNrInUse = false;
bool componentAboveCutOffLimit = false;
bool componentAboveUpperLimit = false;
Event overHeatEventToTrigger;
} ctrlCtx;
double sensorTemp = INVALID_TEMPERATURE;
ThermalComponents thermalComponent = NONE;
bool redSwitchNrInUse = false;
MessageQueueId_t camId = MessageQueueIF::NO_QUEUE;
bool componentAboveCutOffLimit = false;
bool componentAboveUpperLimit = false;
Event overHeatEventToTrigger;
bool eBandTooHotFlag = false;
bool camTooHotOneShotFlag = false;
bool scexTooHotFlag = false;
bool plocTooHotFlag = false;
bool pcduSystemTooHotFlag = false;
bool syrlinksTooHotFlag = false;
bool obcTooHotFlag = false;
bool strTooHotFlag = false;
bool rwTooHotFlag = false;
struct TooHotFlags {
bool eBandTooHotFlag = false;
bool camTooHotOneShotFlag = false;
bool scexTooHotFlag = false;
bool plocTooHotFlag = false;
bool pcduSystemTooHotFlag = false;
bool syrlinksTooHotFlag = false;
bool obcTooHotFlag = false;
bool mgtTooHotFlag = false;
bool strTooHotFlag = false;
bool rwTooHotFlag = false;
} tooHotFlags;
bool transitionWhenHeatersOff = false;
uint32_t transitionWhenHeatersOffCycles = 0;
Mode_t targetMode = MODE_OFF;
Submode_t targetSubmode = SUBMODE_NONE;
uint32_t cycles = 0;
std::array<ThermalState, ThermalComponents::NUM_ENTRIES> thermalStates{};
std::array<HeaterState, heater::NUMBER_OF_SWITCHES> heaterStates{};
std::array<tcsCtrl::ThermalState, tcsCtrl::NUM_THERMAL_COMPONENTS> thermalStates{};
std::array<tcsCtrl::HeaterState, heater::NUMBER_OF_SWITCHES> heaterStates{};
// Initial delay to make sure all pool variables have been initialized their owners.
// Also, wait for system initialization to complete.
@ -297,6 +261,12 @@ class ThermalController : public ExtendedControllerBase {
PoolEntry<uint8_t> heaterSwitchStates = PoolEntry<uint8_t>(heater::NUMBER_OF_SWITCHES);
PoolEntry<int16_t> heaterCurrent = PoolEntry<int16_t>();
PoolEntry<uint8_t> tcsCtrlHeaterOn = PoolEntry<uint8_t>(tcsCtrl::NUM_THERMAL_COMPONENTS);
PoolEntry<uint8_t> tcsCtrlSensorIdx = PoolEntry<uint8_t>(tcsCtrl::NUM_THERMAL_COMPONENTS);
PoolEntry<uint8_t> tcsCtrlHeaterIdx = PoolEntry<uint8_t>(tcsCtrl::NUM_THERMAL_COMPONENTS);
PoolEntry<uint32_t> tcsCtrlStartTimes = PoolEntry<uint32_t>(tcsCtrl::NUM_THERMAL_COMPONENTS);
PoolEntry<uint32_t> tcsCtrlEndTimes = PoolEntry<uint32_t>(tcsCtrl::NUM_THERMAL_COMPONENTS);
static constexpr dur_millis_t MUTEX_TIMEOUT = 50;
void startTransition(Mode_t mode, Submode_t submode) override;
@ -318,8 +288,8 @@ class ThermalController : public ExtendedControllerBase {
bool selectAndReadSensorTemp(HeaterContext& htrCtx);
void heaterSwitchHelperAllOff();
void heaterSwitchHelper(heater::Switch switchNr, HeaterHandler::SwitchState state,
unsigned componentIdx);
void heaterSwitchHelper(heater::Switch switchNr, heater::SwitchState state,
std::optional<unsigned> componentIdx);
void ctrlAcsBoard();
void ctrlMgt();
@ -328,7 +298,6 @@ class ThermalController : public ExtendedControllerBase {
void ctrlIfBoard();
void ctrlTcsBoard();
void ctrlObc();
void ctrlObcIfBoard();
void ctrlSBandTransceiver();
void ctrlPcduP60Board();
void ctrlPcduAcu();
@ -344,7 +313,22 @@ class ThermalController : public ExtendedControllerBase {
void ctrlTx();
void ctrlMpa();
void ctrlScexBoard();
void heaterTransitionControl(const HeaterSwitchStates& currentHeaterStates);
/**
* The transition of heaters might take some time. As long as a transition is
* going on, the TCS controller works in a reduced form. This function takes care
* of tracking transition and capturing their completion.
* @param currentHeaterStates
*/
void heaterTransitionControl(const tcsCtrl::HeaterSwitchStates& currentHeaterStates);
/**
* Control tasks to prevent heaters being on for prolonged periods. Ideally, this
* should never happen, but this task prevents bugs from causing heaters to stay on
* for a long time, which draws a lot of power.
* @param currentHeaterStates
*/
void heaterMaxDurationControl(const tcsCtrl::HeaterSwitchStates& currentHeaterStates);
void crossCheckHeaterStateOfComponentsWhenHeaterGoesOff(heater::Switch switchIdx);
void setMode(Mode_t mode, Submode_t submode);
uint32_t tempFloatToU32() const;
bool tooHotHandler(object_id_t object, bool& oneShotFlag);

98
mission/controller/acs/AcsParameters.cpp
View File

@ -221,6 +221,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x23:
parameterWrapper->setMatrix(susHandlingParameters.sus11coeffBeta);
break;
case 0x24:
parameterWrapper->set(susHandlingParameters.susBrightnessThreshold);
break;
default:
return INVALID_IDENTIFIER_ID;
}
@ -290,6 +293,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x6:
parameterWrapper->set(rwHandlingParameters.rampTime);
break;
case 0x7:
parameterWrapper->set(rwHandlingParameters.multipleRwInvalidTimeout);
break;
default:
return INVALID_IDENTIFIER_ID;
}
@ -315,7 +321,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->setMatrix(rwMatrices.without4);
break;
case 0x6:
parameterWrapper->setVector(rwMatrices.nullspace);
parameterWrapper->setVector(rwMatrices.nullspaceVector);
break;
default:
return INVALID_IDENTIFIER_ID;
@ -375,15 +381,18 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(idleModeControllerParameters.gainNullspace);
break;
case 0x5:
parameterWrapper->setVector(idleModeControllerParameters.desatMomentumRef);
parameterWrapper->set(idleModeControllerParameters.nullspaceSpeed);
break;
case 0x6:
parameterWrapper->set(idleModeControllerParameters.deSatGainFactor);
parameterWrapper->setVector(idleModeControllerParameters.desatMomentumRef);
break;
case 0x7:
parameterWrapper->set(idleModeControllerParameters.desatOn);
parameterWrapper->set(idleModeControllerParameters.deSatGainFactor);
break;
case 0x8:
parameterWrapper->set(idleModeControllerParameters.desatOn);
break;
case 0x9:
parameterWrapper->set(idleModeControllerParameters.enableAntiStiction);
break;
default:
@ -408,48 +417,51 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(targetModeControllerParameters.gainNullspace);
break;
case 0x5:
parameterWrapper->setVector(targetModeControllerParameters.desatMomentumRef);
parameterWrapper->set(targetModeControllerParameters.nullspaceSpeed);
break;
case 0x6:
parameterWrapper->set(targetModeControllerParameters.deSatGainFactor);
parameterWrapper->setVector(targetModeControllerParameters.desatMomentumRef);
break;
case 0x7:
parameterWrapper->set(targetModeControllerParameters.desatOn);
parameterWrapper->set(targetModeControllerParameters.deSatGainFactor);
break;
case 0x8:
parameterWrapper->set(targetModeControllerParameters.enableAntiStiction);
parameterWrapper->set(targetModeControllerParameters.desatOn);
break;
case 0x9:
parameterWrapper->setVector(targetModeControllerParameters.refDirection);
parameterWrapper->set(targetModeControllerParameters.enableAntiStiction);
break;
case 0xA:
parameterWrapper->setVector(targetModeControllerParameters.refRotRate);
parameterWrapper->setVector(targetModeControllerParameters.refDirection);
break;
case 0xB:
parameterWrapper->setVector(targetModeControllerParameters.quatRef);
parameterWrapper->setVector(targetModeControllerParameters.refRotRate);
break;
case 0xC:
parameterWrapper->set(targetModeControllerParameters.timeElapsedMax);
parameterWrapper->setVector(targetModeControllerParameters.quatRef);
break;
case 0xD:
parameterWrapper->set(targetModeControllerParameters.latitudeTgt);
parameterWrapper->set(targetModeControllerParameters.timeElapsedMax);
break;
case 0xE:
parameterWrapper->set(targetModeControllerParameters.longitudeTgt);
parameterWrapper->set(targetModeControllerParameters.latitudeTgt);
break;
case 0xF:
parameterWrapper->set(targetModeControllerParameters.altitudeTgt);
parameterWrapper->set(targetModeControllerParameters.longitudeTgt);
break;
case 0x10:
parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
parameterWrapper->set(targetModeControllerParameters.altitudeTgt);
break;
case 0x11:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
break;
case 0x12:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
break;
case 0x13:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
break;
case 0x14:
parameterWrapper->set(targetModeControllerParameters.blindRotRate);
break;
default:
@ -474,30 +486,33 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(gsTargetModeControllerParameters.gainNullspace);
break;
case 0x5:
parameterWrapper->setVector(gsTargetModeControllerParameters.desatMomentumRef);
parameterWrapper->set(gsTargetModeControllerParameters.nullspaceSpeed);
break;
case 0x6:
parameterWrapper->set(gsTargetModeControllerParameters.deSatGainFactor);
parameterWrapper->setVector(gsTargetModeControllerParameters.desatMomentumRef);
break;
case 0x7:
parameterWrapper->set(gsTargetModeControllerParameters.desatOn);
parameterWrapper->set(gsTargetModeControllerParameters.deSatGainFactor);
break;
case 0x8:
parameterWrapper->set(gsTargetModeControllerParameters.enableAntiStiction);
parameterWrapper->set(gsTargetModeControllerParameters.desatOn);
break;
case 0x9:
parameterWrapper->setVector(gsTargetModeControllerParameters.refDirection);
parameterWrapper->set(gsTargetModeControllerParameters.enableAntiStiction);
break;
case 0xA:
parameterWrapper->set(gsTargetModeControllerParameters.timeElapsedMax);
parameterWrapper->setVector(gsTargetModeControllerParameters.refDirection);
break;
case 0xB:
parameterWrapper->set(gsTargetModeControllerParameters.latitudeTgt);
parameterWrapper->set(gsTargetModeControllerParameters.timeElapsedMax);
break;
case 0xC:
parameterWrapper->set(gsTargetModeControllerParameters.longitudeTgt);
parameterWrapper->set(gsTargetModeControllerParameters.latitudeTgt);
break;
case 0xD:
parameterWrapper->set(gsTargetModeControllerParameters.longitudeTgt);
break;
case 0xE:
parameterWrapper->set(gsTargetModeControllerParameters.altitudeTgt);
break;
default:
@ -522,24 +537,30 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(nadirModeControllerParameters.gainNullspace);
break;
case 0x5:
parameterWrapper->setVector(nadirModeControllerParameters.desatMomentumRef);
parameterWrapper->set(nadirModeControllerParameters.nullspaceSpeed);
break;
case 0x6:
parameterWrapper->set(nadirModeControllerParameters.deSatGainFactor);
parameterWrapper->setVector(nadirModeControllerParameters.desatMomentumRef);
break;
case 0x7:
parameterWrapper->set(nadirModeControllerParameters.desatOn);
parameterWrapper->set(nadirModeControllerParameters.deSatGainFactor);
break;
case 0x8:
parameterWrapper->set(nadirModeControllerParameters.enableAntiStiction);
parameterWrapper->set(nadirModeControllerParameters.desatOn);
break;
case 0x9:
parameterWrapper->setVector(nadirModeControllerParameters.refDirection);
parameterWrapper->set(nadirModeControllerParameters.enableAntiStiction);
break;
case 0xA:
parameterWrapper->setVector(nadirModeControllerParameters.refDirection);
break;
case 0xB:
parameterWrapper->setVector(nadirModeControllerParameters.quatRef);
break;
case 0xC:
parameterWrapper->setVector(nadirModeControllerParameters.refRotRate);
break;
case 0xD:
parameterWrapper->set(nadirModeControllerParameters.timeElapsedMax);
break;
default:
@ -564,21 +585,24 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(inertialModeControllerParameters.gainNullspace);
break;
case 0x5:
parameterWrapper->setVector(inertialModeControllerParameters.desatMomentumRef);
parameterWrapper->set(inertialModeControllerParameters.nullspaceSpeed);
break;
case 0x6:
parameterWrapper->set(inertialModeControllerParameters.deSatGainFactor);
parameterWrapper->setVector(inertialModeControllerParameters.desatMomentumRef);
break;
case 0x7:
parameterWrapper->set(inertialModeControllerParameters.desatOn);
parameterWrapper->set(inertialModeControllerParameters.deSatGainFactor);
break;
case 0x8:
parameterWrapper->set(inertialModeControllerParameters.enableAntiStiction);
parameterWrapper->set(inertialModeControllerParameters.desatOn);
break;
case 0x9:
parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat);
parameterWrapper->set(inertialModeControllerParameters.enableAntiStiction);
break;
case 0xA:
parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat);
break;
case 0xB:
parameterWrapper->setVector(inertialModeControllerParameters.refRotRate);
break;
case 0xC:
@ -690,7 +714,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->setMatrix(magnetorquerParameter.inverseAlignment);
break;
case 0x5:
parameterWrapper->set(magnetorquerParameter.dipolMax);
parameterWrapper->set(magnetorquerParameter.dipoleMax);
break;
case 0x6:
parameterWrapper->set(magnetorquerParameter.torqueDuration);

15
mission/controller/acs/AcsParameters.h
View File

@ -766,6 +766,7 @@ class AcsParameters : public HasParametersIF {
{116.975421945286, -5.53022680362263, -5.61081660666997, 0.109754904982136,
0.167666815691513, 0.163137400730063, -0.000609874123906977, -0.00205336098697513,
-0.000889232196185857, -0.00168429567131815}};
float susBrightnessThreshold = 0.7;
} susHandlingParameters;
struct GyrHandlingParameters {
@ -781,9 +782,9 @@ 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;
@ -798,6 +799,8 @@ class AcsParameters : public HasParametersIF {
double stictionTorque = 0.0006;
uint16_t rampTime = 10;
uint32_t multipleRwInvalidTimeout = 25;
} rwHandlingParameters;
struct RwMatrices {
@ -814,7 +817,7 @@ class AcsParameters : public HasParametersIF {
{1.0864, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, 0.5432, 1.2797}};
double without4[4][3] = {
{0.5432, 0.5432, 1.2797}, {0, -1.0864, 0}, {-0.5432, 0.5432, 1.2797}, {0, 0, 0}};
double nullspace[4] = {-0.5000, 0.5000, -0.5000, 0.5000};
double nullspaceVector[4] = {-1, 1, -1, 1};
} rwMatrices;
struct SafeModeControllerParameters {
@ -838,7 +841,9 @@ class AcsParameters : public HasParametersIF {
double om = 0.3;
double omMax = 1 * M_PI / 180;
double qiMin = 0.1;
double gainNullspace = 0.01;
double nullspaceSpeed = 32500; // 0.1 RPM
double desatMomentumRef[3] = {0, 0, 0};
double deSatGainFactor = 1000;
@ -931,7 +936,7 @@ class AcsParameters : public HasParametersIF {
double mtq2orientationMatrix[3][3] = {{0, 0, 1}, {0, 1, 0}, {-1, 0, 0}};
double alignmentMatrixMtq[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
double inverseAlignment[3][3] = {{0, -1, 0}, {0, 0, 1}, {-1, 0, 0}};
double dipolMax = 0.2; // [Am^2]
double dipoleMax = 0.2; // [Am^2]
uint16_t torqueDuration = 300; // [ms]
} magnetorquerParameter;

64
mission/controller/acs/ActuatorCmd.cpp
View File

@ -5,11 +5,6 @@
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <cmath>
#include "util/CholeskyDecomposition.h"
#include "util/MathOperations.h"
ActuatorCmd::ActuatorCmd() {}
ActuatorCmd::~ActuatorCmd() {}
@ -25,24 +20,30 @@ void ActuatorCmd::scalingTorqueRws(double *rwTrq, double maxTorque) {
}
}
void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t speedRw2,
int32_t speedRw3, const double *rwTorque, int32_t *rwCmdSpeed,
double sampleTime, int32_t maxRwSpeed, double inertiaWheel) {
using namespace Math;
// Calculating the commanded speed in RPM for every reaction wheel
void ActuatorCmd::cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1,
const int32_t speedRw2, const int32_t speedRw3,
const double sampleTime, const double inertiaWheel,
const int32_t maxRwSpeed, const double *rwTorque,
int32_t *rwCmdSpeed) {
// group RW speed values (in 0.1 [RPM]) in vector
int32_t speedRws[4] = {speedRw0, speedRw1, speedRw2, speedRw3};
// calculate required RW speed as sum of current RW speed and RW speed delta
// delta w_rw = delta t / I_RW * torque_RW [rad/s]
double deltaSpeed[4] = {0, 0, 0, 0};
double radToRpm = 60 / (2 * PI); // factor for conversion to RPM
// W_RW = Torque_RW / I_RW * delta t [rad/s]
double factor = sampleTime / inertiaWheel * radToRpm;
int32_t deltaSpeedInt[4] = {0, 0, 0, 0};
const double factor = sampleTime / inertiaWheel * RAD_PER_SEC_TO_RPM * 10;
VectorOperations<double>::mulScalar(rwTorque, factor, deltaSpeed, 4);
// convert double to int32
int32_t deltaSpeedInt[4] = {0, 0, 0, 0};
for (int i = 0; i < 4; i++) {
deltaSpeedInt[i] = std::round(deltaSpeed[i]);
}
// sum of current RW speed and RW speed delta
VectorOperations<int32_t>::add(speedRws, deltaSpeedInt, rwCmdSpeed, 4);
VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
// crop values which would exceed the maximum possible RPM
for (uint8_t i = 0; i < 4; i++) {
if (rwCmdSpeed[i] > maxRwSpeed) {
rwCmdSpeed[i] = maxRwSpeed;
@ -52,24 +53,25 @@ void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t spee
}
}
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator,
const double *inverseAlignment, double maxDipol) {
// Convert to actuator frame
double dipolMomentActuatorDouble[3] = {0, 0, 0};
MatrixOperations<double>::multiply(inverseAlignment, dipolMoment, dipolMomentActuatorDouble, 3, 3,
1);
// Scaling along largest element if dipol exceeds maximum
void ActuatorCmd::cmdDipoleMtq(const double *inverseAlignment, const double maxDipole,
const double *dipoleMoment, int16_t *dipoleMomentActuator) {
// convert to actuator frame
double dipoleMomentActuatorDouble[3] = {0, 0, 0};
MatrixOperations<double>::multiply(inverseAlignment, dipoleMoment, dipoleMomentActuatorDouble, 3,
3, 1);
// scaling along largest element if dipole exceeds maximum
uint8_t maxIdx = 0;
VectorOperations<double>::maxAbsValue(dipolMomentActuatorDouble, 3, &maxIdx);
double maxAbsValue = abs(dipolMomentActuatorDouble[maxIdx]);
if (maxAbsValue > maxDipol) {
double scalingFactor = maxDipol / maxAbsValue;
VectorOperations<double>::mulScalar(dipolMomentActuatorDouble, scalingFactor,
dipolMomentActuatorDouble, 3);
VectorOperations<double>::maxAbsValue(dipoleMomentActuatorDouble, 3, &maxIdx);
double maxAbsValue = std::abs(dipoleMomentActuatorDouble[maxIdx]);
if (maxAbsValue > maxDipole) {
double scalingFactor = maxDipole / maxAbsValue;
VectorOperations<double>::mulScalar(dipoleMomentActuatorDouble, scalingFactor,
dipoleMomentActuatorDouble, 3);
}
// scale dipole from 1 Am^2 to 1e^-4 Am^2
VectorOperations<double>::mulScalar(dipolMomentActuatorDouble, 1e4, dipolMomentActuatorDouble, 3);
VectorOperations<double>::mulScalar(dipoleMomentActuatorDouble, 1e4, dipoleMomentActuatorDouble,
3);
for (int i = 0; i < 3; i++) {
dipolMomentActuator[i] = std::round(dipolMomentActuatorDouble[i]);
dipoleMomentActuator[i] = std::round(dipoleMomentActuatorDouble[i]);
}
}

31
mission/controller/acs/ActuatorCmd.h
View File

@ -1,9 +1,7 @@
#ifndef ACTUATORCMD_H_
#define ACTUATORCMD_H_
#include "MultiplicativeKalmanFilter.h"
#include "SensorProcessing.h"
#include "SensorValues.h"
#include <cmath>
class ActuatorCmd {
public:
@ -19,29 +17,30 @@ class ActuatorCmd {
void scalingTorqueRws(double *rwTrq, double maxTorque);
/*
* @brief: cmdSpeedToRws() will set the maximum possible torque for the reaction
* wheels, also will calculate the needed revolutions per minute for the RWs, which will be given
* as Input to the RWs
* @param: rwTrqIn given torque from pointing controller
* rwTrqNS Nullspace torque
* @brief: cmdSpeedToRws() Calculates the RPM for the reaction wheel configuration,
* given the required torque calculated by the controller. Will also scale down the RPM of the
* wheels if they exceed the maximum possible RPM
* @param: rwTrq given torque from pointing controller
* rwCmdSpeed output revolutions per minute for every
* reaction wheel
*/
void cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t speedRw2, int32_t speedRw3,
const double *rwTorque, int32_t *rwCmdSpeed, double sampleTime,
int32_t maxRwSpeed, double inertiaWheel);
void cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
const int32_t speedRw3, const double sampleTime, const double inertiaWheel,
const int32_t maxRwSpeed, const double *rwTorque, int32_t *rwCmdSpeed);
/*
* @brief: cmdDipolMtq() gives the commanded dipol moment for the magnetorques
* @brief: cmdDipoleMtq() gives the commanded dipole moment for the
* magnetorquer
*
* @param: dipolMoment given dipol moment in spacecraft frame
* dipolMomentActuator resulting dipol moment in actuator reference frame
* @param: dipoleMoment given dipole moment in spacecraft frame
* dipoleMomentActuator resulting dipole moment in actuator reference frame
*/
void cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator,
const double *inverseAlignment, double maxDipol);
void cmdDipoleMtq(const double *inverseAlignment, const double maxDipole,
const double *dipoleMoment, int16_t *dipoleMomentActuator);
protected:
private:
static constexpr double RAD_PER_SEC_TO_RPM = 60 / (2 * M_PI);
};
#endif /* ACTUATORCMD_H_ */

71
mission/controller/acs/Guidance.cpp
View File

@ -266,7 +266,8 @@ void Guidance::targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3]
targetRotationRate(timeElapsedMax, now, targetQuat, targetSatRotRate);
}
void Guidance::targetQuatPtgSun(double sunDirI[3], double targetQuat[4], double refSatRate[3]) {
void Guidance::targetQuatPtgSun(timeval now, double sunDirI[3], double targetQuat[4],
double targetSatRotRate[3]) {
//-------------------------------------------------------------------------------------
// Calculation of target quaternion to sun
//-------------------------------------------------------------------------------------
@ -296,9 +297,8 @@ void Guidance::targetQuatPtgSun(double sunDirI[3], double targetQuat[4], double
//----------------------------------------------------------------------------
// Calculation of reference rotation rate
//----------------------------------------------------------------------------
refSatRate[0] = 0;
refSatRate[1] = 0;
refSatRate[2] = 0;
int8_t timeElapsedMax = acsParameters->gsTargetModeControllerParameters.timeElapsedMax;
targetRotationRate(timeElapsedMax, now, targetQuat, targetSatRotRate);
}
void Guidance::targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], double quatBI[4],
@ -412,7 +412,7 @@ void Guidance::targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], doubl
void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
double errorQuat[4], double errorSatRotRate[3], double errorAngle) {
double errorQuat[4], double errorSatRotRate[3], double &errorAngle) {
// First calculate error quaternion between current and target orientation
QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat);
// Last calculate add rotation from reference quaternion
@ -424,26 +424,17 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
// Calculate error angle
errorAngle = QuaternionOperations::getAngle(errorQuat, true);
// Only give back error satellite rotational rate if orientation has already been aquired
if (errorAngle < 2. / 180. * M_PI) {
// First combine the target and reference satellite rotational rates
double combinedRefSatRotRate[3] = {0, 0, 0};
VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);
// Then substract the combined required satellite rotational rates from the actual rate
VectorOperations<double>::subtract(currentSatRotRate, combinedRefSatRotRate, errorSatRotRate,
3);
} else {
// If orientation has not been aquired yet set satellite rotational rate to zero
errorSatRotRate = 0;
}
// target flag in matlab, importance, does look like it only gives feedback if pointing control is
// under 150 arcsec ??
// Calculate error satellite rotational rate
// First combine the target and reference satellite rotational rates
double combinedRefSatRotRate[3] = {0, 0, 0};
VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);
// Then subtract the combined required satellite rotational rates from the actual rate
VectorOperations<double>::subtract(currentSatRotRate, combinedRefSatRotRate, errorSatRotRate, 3);
}
void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
double targetSatRotRate[3], double errorQuat[4],
double errorSatRotRate[3], double errorAngle) {
double errorSatRotRate[3], double &errorAngle) {
// First calculate error quaternion between current and target orientation
QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat);
// Keep scalar part of quaternion positive
@ -453,17 +444,8 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
// Calculate error angle
errorAngle = QuaternionOperations::getAngle(errorQuat, true);
// Only give back error satellite rotational rate if orientation has already been aquired
if (errorAngle < 2. / 180. * M_PI) {
// Then substract the combined required satellite rotational rates from the actual rate
VectorOperations<double>::subtract(currentSatRotRate, targetSatRotRate, errorSatRotRate, 3);
} else {
// If orientation has not been aquired yet set satellite rotational rate to zero
errorSatRotRate = 0;
}
// target flag in matlab, importance, does look like it only gives feedback if pointing control is
// under 150 arcsec ??
// Calculate error satellite rotational rate
VectorOperations<double>::subtract(currentSatRotRate, targetSatRotRate, errorSatRotRate, 3);
}
void Guidance::targetRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
@ -471,20 +453,25 @@ void Guidance::targetRotationRate(int8_t timeElapsedMax, timeval now, double qua
//-------------------------------------------------------------------------------------
// Calculation of target rotation rate
//-------------------------------------------------------------------------------------
double timeElapsed = now.tv_sec + now.tv_usec * pow(10, -6) -
(timeSavedQuaternion.tv_sec +
timeSavedQuaternion.tv_usec * pow((double)timeSavedQuaternion.tv_usec, -6));
double timeElapsed = now.tv_sec + now.tv_usec * 1e-6 -
(timeSavedQuaternion.tv_sec + timeSavedQuaternion.tv_usec * 1e-6);
if (VectorOperations<double>::norm(savedQuaternion, 4) == 0) {
std::memcpy(savedQuaternion, quatInertialTarget, sizeof(savedQuaternion));
}
if (timeElapsed < timeElapsedMax) {
double q[4] = {0, 0, 0, 0}, qS[4] = {0, 0, 0, 0};
QuaternionOperations::inverse(quatInertialTarget, q);
QuaternionOperations::inverse(savedQuaternion, qS);
double qDiff[4] = {0, 0, 0, 0};
VectorOperations<double>::subtract(quatInertialTarget, savedQuaternion, qDiff, 4);
VectorOperations<double>::subtract(q, qS, qDiff, 4);
VectorOperations<double>::mulScalar(qDiff, 1 / timeElapsed, qDiff, 4);
double tgtQuatVec[3] = {quatInertialTarget[0], quatInertialTarget[1], quatInertialTarget[2]},
qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
double tgtQuatVec[3] = {q[0], q[1], q[2]};
double qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
double sum1[3] = {0, 0, 0}, sum2[3] = {0, 0, 0}, sum3[3] = {0, 0, 0}, sum[3] = {0, 0, 0};
VectorOperations<double>::cross(quatInertialTarget, qDiff, sum1);
VectorOperations<double>::cross(tgtQuatVec, qDiffVec, sum1);
VectorOperations<double>::mulScalar(tgtQuatVec, qDiff[3], sum2, 3);
VectorOperations<double>::mulScalar(qDiffVec, quatInertialTarget[3], sum3, 3);
VectorOperations<double>::mulScalar(qDiffVec, q[3], sum3, 3);
VectorOperations<double>::add(sum1, sum2, sum, 3);
VectorOperations<double>::subtract(sum, sum3, sum, 3);
double omegaRefNew[3] = {0, 0, 0};
@ -531,10 +518,6 @@ ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without4, 12 * sizeof(double));
return returnvalue::OK;
} else {
// @note: This one takes the normal pseudoInverse of all four raction wheels valid.
// Does not make sense, but is implemented that way in MATLAB ?!
// Thought: It does not really play a role, because in case there are more then one
// reaction wheel invalid the pointing control is destined to fail.
return returnvalue::FAILED;
}
}

13
mission/controller/acs/Guidance.h
View File

@ -15,7 +15,7 @@ class Guidance {
void getTargetParamsSafe(double sunTargetSafe[3]);
ReturnValue_t solarArrayDeploymentComplete();
// Function to get the target quaternion and refence rotation rate from gps position and
// Function to get the target quaternion and reference rotation rate from gps position and
// position of the ground station
void targetQuatPtgSingleAxis(timeval now, double posSatE[3], double velSatE[3], double sunDirI[3],
double refDirB[3], double quatBI[4], double targetQuat[4],
@ -25,9 +25,10 @@ class Guidance {
void targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3], double quatIX[4],
double targetSatRotRate[3]);
// Function to get the target quaternion and refence rotation rate for sun pointing after ground
// Function to get the target quaternion and reference rotation rate for sun pointing after ground
// station
void targetQuatPtgSun(double sunDirI[3], double targetQuat[4], double refSatRate[3]);
void targetQuatPtgSun(timeval now, double sunDirI[3], double targetQuat[4],
double targetSatRotRate[3]);
// Function to get the target quaternion and refence rotation rate from gps position for Nadir
// pointing
@ -37,15 +38,15 @@ class Guidance {
double targetQuat[4], double refSatRate[3]);
// @note: Calculates the error quaternion between the current orientation and the target
// quaternion, considering a reference quaternion. Additionally the difference between the actual
// quaternion, considering a reference quaternion. Additionally the difference between the actual
// and a desired satellite rotational rate is calculated, again considering a reference rotational
// rate. Lastly gives back the error angle of the error quaternion.
void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
double errorQuat[4], double errorSatRotRate[3], double errorAngle);
double errorQuat[4], double errorSatRotRate[3], double &errorAngle);
void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
double targetSatRotRate[3], double errorQuat[4], double errorSatRotRate[3],
double errorAngle);
double &errorAngle);
void targetRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
double *targetSatRotRate);

4
mission/controller/acs/Navigation.cpp
View File

@ -19,9 +19,7 @@ ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues,
acsctrl::MekfData *mekfData, AcsParameters *acsParameters) {
double quatIB[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value};
bool quatIBValid = sensorValues->strSet.caliQx.isValid() &&
sensorValues->strSet.caliQy.isValid() &&
sensorValues->strSet.caliQz.isValid() && sensorValues->strSet.caliQw.isValid();
bool quatIBValid = sensorValues->strSet.isTrustWorthy.value;
if (mekfStatus == MultiplicativeKalmanFilter::MEKF_UNINITIALIZED) {
mekfStatus = multiplicativeKalmanFilter.init(

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