eive/eive-obsw
eive/eive-obsw
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Merge remote-tracking branch 'origin/develop' into heater_handling
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This commit is contained in:
Robin Müller 2023-02-08 21:17:33 +01:00
commit 7eab7169f7
15 changed files with 621 additions and 427 deletions
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18
CHANGELOG.md
View File

@ -17,6 +17,24 @@ change warranting a new major release:
# [unreleased]
## Changed
- ACS Controller scheduling is now configurable via the `eive/definitions.h` file. Also ensured
that scheduling is done in big blocks to reduce risk of missed deadlines.
- Replaced chained locks for polling new sensor data to the `AcsController`.
- Made TM store even larger.
## Fixed
- Bugfix for PDEC handler which causes the PIR register of the PDEC to never
be cleared on release builds. The dummy variable used to read the register
needs to be declared volatile to avoid compiler optimizations.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/374
## Added
- Create TCS controller for EM build.
# [v1.26.1] 2023-02-08
- Initialize parameter helper in ACS controller.

7
bsp_q7s/core/scheduling.cpp
View File

@ -289,7 +289,8 @@ void scheduling::initTasks() {
std::vector<PeriodicTaskIF*> pusTasks;
createPusTasks(*factory, missedDeadlineFunc, pusTasks);
std::vector<PeriodicTaskIF*> pstTasks;
createPstTasks(*factory, missedDeadlineFunc, pstTasks);
AcsPstCfg cfg;
createPstTasks(*factory, missedDeadlineFunc, pstTasks, cfg);
#if OBSW_ADD_TEST_CODE == 1
#if OBSW_TEST_CCSDS_BRIDGE == 1
@ -379,7 +380,7 @@ void scheduling::initTasks() {
}
void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
std::vector<PeriodicTaskIF*>& taskVec, AcsPstCfg cfg) {
ReturnValue_t result = returnvalue::OK;
#ifdef RELEASE_BUILD
@ -389,7 +390,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
#endif
FixedTimeslotTaskIF* acsPst = factory.createFixedTimeslotTask(
"ACS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
result = pst::pstAcs(acsPst);
result = pst::pstAcs(acsPst, cfg);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "scheduling::initTasks: ACS PST is empty" << std::endl;

6
bsp_q7s/core/scheduling.h
View File

@ -1,10 +1,14 @@
#ifndef BSP_Q7S_INITMISSION_H_
#define BSP_Q7S_INITMISSION_H_
#include <pollingsequence/pollingSequenceFactory.h>
#include <vector>
#include "fsfw/tasks/definitions.h"
using pst::AcsPstCfg;
class PeriodicTaskIF;
class TaskFactory;
@ -13,7 +17,7 @@ void initMission();
void initTasks();
void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
std::vector<PeriodicTaskIF*>& taskVec, AcsPstCfg cfg);
void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,

4
bsp_q7s/em/emObjectFactory.cpp
View File

@ -43,6 +43,9 @@ void ObjectFactory::produce(void* args) {
#if OBSW_ADD_GOMSPACE_PCDU == 1
dummyCfg.addPowerDummies = false;
#endif
#if OBSW_ADD_ACS_BOARD == 1
dummyCfg.addAcsBoardDummies = false;
#endif
PowerSwitchIF* pwrSwitcher = nullptr;
#if OBSW_ADD_GOMSPACE_PCDU == 0
@ -109,5 +112,6 @@ void ObjectFactory::produce(void* args) {
pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
#endif
createAcsController(true);
createThermalController();
satsystem::com::init();
}

13
common/config/eive/definitions.h
View File

@ -55,6 +55,19 @@ static constexpr uint32_t MAX_PUS_FUNNEL_QUEUE_DEPTH = 100;
static constexpr uint32_t MAX_STORED_CMDS_UDP = 120;
static constexpr uint32_t MAX_STORED_CMDS_TCP = 120;
namespace acs {
static constexpr uint32_t SCHED_BLOCK_1_SENSORS_MS = 15;
static constexpr uint32_t SCHED_BLOCK_2_ACS_CTRL_MS = 40;
static constexpr uint32_t SCHED_BLOCK_3_ACTUATOR_MS = 45;
// 15 ms for FM
static constexpr float SCHED_BLOCK_1_PERIOD = static_cast<float>(SCHED_BLOCK_1_SENSORS_MS) / 400.0;
static constexpr float SCHED_BLOCK_2_PERIOD = static_cast<float>(SCHED_BLOCK_2_ACS_CTRL_MS) / 400.0;
static constexpr float SCHED_BLOCK_3_PERIOD = static_cast<float>(SCHED_BLOCK_3_ACTUATOR_MS) / 400.0;
} // namespace acs
} // namespace config
#endif /* COMMON_CONFIG_DEFINITIONS_H_ */

2
fsfw

@ -1 +1 @@
Subproject commit 84bbef016712096147e8cf3f2cec87f317d9e7e7
Subproject commit 6f05d6b7b0ee0e6bc86986ec55491d42cde1cf93

499
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -5,6 +5,7 @@
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include "eive/definitions.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#ifndef RPI_TEST_ADIS16507
@ -183,94 +184,115 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF *thisSequence) {
return returnvalue::OK;
}
ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
/* Length of a communication cycle */
uint32_t length = thisSequence->getPeriodMs();
#if OBSW_ADD_ACS_BOARD == 1
bool enableAside = true;
bool enableBside = true;
if (cfg.scheduleAcsBoard) {
if (enableAside) {
// A side
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625,
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625,
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625,
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625,
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
}
if (enableBside) {
// B side
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625,
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625,
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625,
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625,
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
}
}
#endif /* OBSW_ADD_ACS_BOARD == 1 */
// SUS: 16 ms
#if OBSW_ADD_SUN_SENSORS == 1
bool addSus0 = true;
bool addSus1 = true;
@ -285,6 +307,7 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
bool addSus10 = true;
bool addSus11 = true;
if (cfg.scheduleSus) {
if (addSus0) {
/* Write setup */
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
@ -295,16 +318,18 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus1) {
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
@ -315,16 +340,18 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus2) {
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
@ -335,16 +362,18 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus3) {
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
@ -355,16 +384,18 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus4) {
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
@ -375,16 +406,18 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus5) {
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
@ -395,16 +428,18 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus6) {
@ -416,16 +451,18 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus7) {
@ -437,16 +474,18 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus8) {
@ -458,16 +497,18 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus9) {
@ -479,15 +520,17 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus10) {
@ -502,14 +545,15 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus11) {
@ -524,80 +568,121 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
}
#endif /* OBSW_ADD_SUN_SENSORS == 1 */
#if OBSW_ADD_STAR_TRACKER == 1
if (cfg.scheduleStr) {
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
#endif
}
#if OBSW_ADD_MGT == 1
if (cfg.scheduleImtq) {
// This is the MTM measurement cycle
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
#endif
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
}
thisSequence->addSlot(objects::ACS_CONTROLLER, length * 0.1, 0);
thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::acs::SCHED_BLOCK_2_PERIOD, 0);
#if OBSW_ADD_MGT == 1
if (cfg.scheduleImtq) {
// This is the torquing cycle.
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::GET_READ);
#endif
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
}
#if OBSW_ADD_RW == 1
thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
if (cfg.scheduleRws) {
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::GET_READ);
#endif
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
}
return returnvalue::OK;
}

10
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
View File

@ -31,6 +31,14 @@ class FixedTimeslotTaskIF;
*/
namespace pst {
struct AcsPstCfg {
bool scheduleAcsBoard = true;
bool scheduleImtq = true;
bool scheduleRws = true;
bool scheduleSus = true;
bool scheduleStr = true;
};
/**
* @brief This function creates the PST for all gomspace devices.
* @details
@ -41,7 +49,7 @@ ReturnValue_t pstGompaceCan(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstSpiAndSyrlinks(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstAcs(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstAcs(FixedTimeslotTaskIF* thisSequence, AcsPstCfg cfg);
ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence);

23
linux/ipcore/PdecHandler.cpp
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@ -132,6 +132,7 @@ ReturnValue_t PdecHandler::polledOperation() {
return returnvalue::OK;
}
// See https://yurovsky.github.io/2014/10/10/linux-uio-gpio-interrupt.html for more information.
ReturnValue_t PdecHandler::irqOperation() {
ReturnValue_t result = returnvalue::OK;
int fd = open(uioNames.irq, O_RDWR);
@ -141,15 +142,17 @@ ReturnValue_t PdecHandler::irqOperation() {
return returnvalue::FAILED;
}
struct pollfd fds = {.fd = fd, .events = POLLIN, .revents = 0};
// Used to unmask IRQ
uint32_t info = 1;
ssize_t nb = 0;
int ret = 0;
// Clear interrupts with dummy read before unmasking the interrupt
ret = *(registerBaseAddress + PDEC_PIR_OFFSET);
// Clear interrupts with dummy read before unmasking the interrupt. Use a volatile to prevent
// read being optimized away.
volatile uint32_t dummy = *(registerBaseAddress + PDEC_PIR_OFFSET);
while (true) {
// Default value to unmask IRQ on the write call.
info = 1;
readCommandQueue();
switch (state) {
case State::INIT:
@ -166,9 +169,12 @@ ReturnValue_t PdecHandler::irqOperation() {
nb = write(fd, &info, sizeof(info));
if (nb != static_cast<ssize_t>(sizeof(info))) {
sif::error << "PdecHandler::irqOperation: Unmasking IRQ failed" << std::endl;
triggerEvent(WRITE_SYSCALL_ERROR_PDEC, errno);
close(fd);
state = State::INIT;
return returnvalue::FAILED;
}
struct pollfd fds = {.fd = fd, .events = POLLIN, .revents = 0};
ret = poll(&fds, 1, IRQ_TIMEOUT_MS);
if (ret == 0) {
// No TCs for timeout period
@ -195,12 +201,15 @@ ReturnValue_t PdecHandler::irqOperation() {
lockCheckCd.resetTimer();
}
// Clear interrupts with dummy read
ret = *(registerBaseAddress + PDEC_PIR_OFFSET);
dummy = *(registerBaseAddress + PDEC_PIR_OFFSET);
}
} else {
sif::error << "PdecHandler::irqOperation: Poll error with errno " << errno << ": "
<< strerror(errno) << std::endl;
triggerEvent(POLL_ERROR_PDEC, errno);
triggerEvent(POLL_SYSCALL_ERROR_PDEC, errno);
close(fd);
state = State::INIT;
return returnvalue::FAILED;
}
break;
}
@ -211,6 +220,8 @@ ReturnValue_t PdecHandler::irqOperation() {
break;
}
}
// To avoid compiler warning
static_cast<void>(dummy);
return returnvalue::OK;
}

5
linux/ipcore/PdecHandler.h
View File

@ -87,7 +87,10 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
static const Event LOST_CARRIER_LOCK_PDEC = MAKE_EVENT(5, severity::INFO);
//! [EXPORT] : [COMMENT] Lost bit lock
static const Event LOST_BIT_LOCK_PDEC = MAKE_EVENT(6, severity::INFO);
static constexpr Event POLL_ERROR_PDEC = event::makeEvent(SUBSYSTEM_ID, 7, severity::MEDIUM);
static constexpr Event POLL_SYSCALL_ERROR_PDEC =
event::makeEvent(SUBSYSTEM_ID, 7, severity::MEDIUM);
static constexpr Event WRITE_SYSCALL_ERROR_PDEC =
event::makeEvent(SUBSYSTEM_ID, 8, severity::MEDIUM);
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PDEC_HANDLER;

22
mission/controller/AcsController.cpp
View File

@ -107,8 +107,6 @@ void AcsController::performControlOperation() {
}
void AcsController::performSafe() {
ACS::SensorValues sensorValues;
timeval now;
Clock::getClock_timeval(&now);
@ -197,8 +195,6 @@ void AcsController::performSafe() {
}
void AcsController::performDetumble() {
ACS::SensorValues sensorValues;
timeval now;
Clock::getClock_timeval(&now);
@ -258,8 +254,6 @@ void AcsController::performDetumble() {
}
void AcsController::performPointingCtrl() {
ACS::SensorValues sensorValues;
timeval now;
Clock::getClock_timeval(&now);
@ -721,14 +715,6 @@ void AcsController::copySusData() {
}
}
ReturnValue_t AcsController::initialize() {
ReturnValue_t result = parameterHelper.initialize();
if (result != returnvalue::OK) {
return result;
}
return ExtendedControllerBase::initialize();
}
void AcsController::copyGyrData() {
ACS::SensorValues sensorValues;
{
@ -776,3 +762,11 @@ void AcsController::copyGyrData() {
}
}
}
ReturnValue_t AcsController::initialize() {
ReturnValue_t result = parameterHelper.initialize();
if (result != returnvalue::OK) {
return result;
}
return ExtendedControllerBase::initialize();
}

4
mission/controller/AcsController.h
View File

@ -69,8 +69,10 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
void modeChanged(Mode_t mode, Submode_t submode);
void announceMode(bool recursive);
/* ACS Datasets */
/* ACS Sensor Values */
ACS::SensorValues sensorValues;
/* ACS Datasets */
IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
// MGMs
acsctrl::MgmDataRaw mgmDataRaw;

117
mission/controller/acs/SensorValues.cpp
View File

@ -20,61 +20,112 @@ SensorValues::SensorValues() {}
SensorValues::~SensorValues() {}
ReturnValue_t SensorValues::updateMgm() {
ReturnValue_t result;
PoolReadGuard pgMgm0(&mgm0Lis3Set), pgMgm1(&mgm1Rm3100Set), pgMgm2(&mgm2Lis3Set),
pgMgm3(&mgm3Rm3100Set), pgImtq(&imtqMgmSet);
std::vector<ReturnValue_t> results;
result = (pgMgm0.getReadResult() || pgMgm1.getReadResult() || pgMgm2.getReadResult() ||
pgMgm3.getReadResult() || pgImtq.getReadResult());
{
PoolReadGuard pgMgm(&mgm0Lis3Set);
results.push_back(pgMgm.getReadResult());
}
{
PoolReadGuard pgMgm(&mgm1Rm3100Set);
results.push_back(pgMgm.getReadResult());
}
{
PoolReadGuard pgMgm(&mgm2Lis3Set);
results.push_back(pgMgm.getReadResult());
}
{
PoolReadGuard pgMgm(&mgm3Rm3100Set);
results.push_back(pgMgm.getReadResult());
}
{
PoolReadGuard pgMgm(&imtqMgmSet);
results.push_back(pgMgm.getReadResult());
}
for (const auto& result : results) {
if (result != returnvalue::OK) {
return result;
}
}
return returnvalue::OK;
}
ReturnValue_t SensorValues::updateSus() {
ReturnValue_t result;
PoolReadGuard pgSus0(&susSets[0]), pgSus1(&susSets[1]), pgSus2(&susSets[2]), pgSus3(&susSets[3]),
pgSus4(&susSets[4]), pgSus5(&susSets[5]), pgSus6(&susSets[6]), pgSus7(&susSets[7]),
pgSus8(&susSets[8]), pgSus9(&susSets[9]), pgSus10(&susSets[10]), pgSus11(&susSets[11]);
result = (pgSus0.getReadResult() || pgSus1.getReadResult() || pgSus2.getReadResult() ||
pgSus3.getReadResult() || pgSus4.getReadResult() || pgSus5.getReadResult() ||
pgSus6.getReadResult() || pgSus7.getReadResult() || pgSus8.getReadResult() ||
pgSus9.getReadResult() || pgSus10.getReadResult() || pgSus11.getReadResult());
std::vector<ReturnValue_t> results;
for (auto& susSet : susSets) {
{
PoolReadGuard pgSus(&susSet);
results.push_back(pgSus.getReadResult());
}
}
for (const auto& result : results) {
if (result != returnvalue::OK) {
return result;
}
}
return returnvalue::OK;
}
ReturnValue_t SensorValues::updateGyr() {
ReturnValue_t result;
PoolReadGuard pgGyr0(&gyr0AdisSet), pgGyr1(&gyr1L3gSet), pgGyr2(&gyr2AdisSet),
pgGyr3(&gyr3L3gSet);
result = (pgGyr0.getReadResult() || pgGyr1.getReadResult() || pgGyr2.getReadResult() ||
pgGyr3.getReadResult());
std::vector<ReturnValue_t> results;
{
PoolReadGuard pgGyr(&gyr0AdisSet);
results.push_back(pgGyr.getReadResult());
}
{
PoolReadGuard pgGyr(&gyr1L3gSet);
results.push_back(pgGyr.getReadResult());
}
{
PoolReadGuard pgGyr(&gyr2AdisSet);
results.push_back(pgGyr.getReadResult());
}
{
PoolReadGuard pgGyr(&gyr3L3gSet);
results.push_back(pgGyr.getReadResult());
}
for (const auto& result : results) {
if (result != returnvalue::OK) {
return result;
}
}
return returnvalue::OK;
}
ReturnValue_t SensorValues::updateStr() {
ReturnValue_t result;
PoolReadGuard pgStr(&strSet);
result = pgStr.getReadResult();
return result;
return pgStr.getReadResult();
}
ReturnValue_t SensorValues::updateGps() {
ReturnValue_t result;
PoolReadGuard pgGps(&gpsSet);
result = pgGps.getReadResult();
return result;
return pgGps.getReadResult();
}
ReturnValue_t SensorValues::updateRw() {
ReturnValue_t result;
PoolReadGuard pgRw1(&rw1Set), pgRw2(&rw2Set), pgRw3(&rw3Set), pgRw4(&rw4Set);
result = (pgRw1.getReadResult() || pgRw2.getReadResult() || pgRw3.getReadResult() ||
pgRw4.getReadResult());
std::vector<ReturnValue_t> results;
{
PoolReadGuard pgRw(&rw1Set);
results.push_back(pgRw.getReadResult());
}
{
PoolReadGuard pgRw(&rw2Set);
results.push_back(pgRw.getReadResult());
}
{
PoolReadGuard pgRw(&rw3Set);
results.push_back(pgRw.getReadResult());
}
{
PoolReadGuard pgRw(&rw4Set);
results.push_back(pgRw.getReadResult());
}
for (const auto& result : results) {
if (result != returnvalue::OK) {
return result;
}
}
return returnvalue::OK;
}
ReturnValue_t SensorValues::update() {

6
mission/core/GenericFactory.cpp
View File

@ -94,14 +94,14 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
}
{
PoolManager::LocalPoolConfig poolCfg = {{300, 16}, {350, 32}, {350, 64},
{200, 128}, {150, 1024}, {150, 2048}};
PoolManager::LocalPoolConfig poolCfg = {{400, 32}, {350, 64}, {200, 128},
{150, 512}, {150, 1024}, {150, 2048}};
tmStore = new PoolManager(objects::TM_STORE, poolCfg);
}
{
PoolManager::LocalPoolConfig poolCfg = {{300, 16}, {200, 32}, {150, 64}, {150, 128},
{100, 256}, {50, 512}, {50, 1024}, {10, 2048}};
{100, 256}, {50, 512}, {50, 1024}, {50, 2048}};
new PoolManager(objects::IPC_STORE, poolCfg);
}

2
tmtc

@ -1 +1 @@
Subproject commit d0c8e20d4f9a6f5aee3ccfa05c4f7ab7151400b5
Subproject commit aadd6f59b55ac3e67ea783107da823bd4e8e84dc