Merge branch 'v4.0.0-dev' into update-ptme-code-2

CHANGELOG.md

@@ -16,7 +16,7 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
-# [v2.2.0] to be released
+# [v4.0.0] to be released
 
 - eive-tmtc: v4.0.0 (to be released)
 TODO: New firmware package version.
@@ -30,7 +30,7 @@ TODO: New firmware package version.
 
 - Removed PTME busy/ready signals. Those were not used anyway because register reads are used now.
 
-# [v2.1.0] to be released
+# [v3.0.0] to be released
 
 ## Changed
 
@@ -96,6 +96,13 @@ TODO: New firmware package version.
 - 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.
 
 # [v2.0.5] 2023-05-11
 

CMakeLists.txt

@@ -9,9 +9,9 @@
 # ##############################################################################
 cmake_minimum_required(VERSION 3.13)
 
-set(OBSW_VERSION_MAJOR 2)
+set(OBSW_VERSION_MAJOR 3)
 set(OBSW_VERSION_MINOR 0)
-set(OBSW_VERSION_REVISION 5)
+set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)
 

bsp_q7s/em/emObjectFactory.cpp

@@ -97,10 +97,10 @@ void ObjectFactory::produce(void* args) {
   // 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);
-  // Still initialize chip select to avoid SPI bus issues.
-  // createRadSensorChipSelect(gpioComIF);
 
 #if OBSW_ADD_ACS_BOARD == 1
+  // Still initialize chip select to avoid SPI bus issues.
+  createRadSensorChipSelect(gpioComIF);
   createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true,
                            adis1650x::Type::ADIS16507);
 #else

mission/controller/ThermalController.cpp

@@ -175,7 +175,7 @@ void ThermalController::performControlOperation() {
   heaterHandler.getAllSwitchStates(heaterSwitchStateArray);
   {
     PoolReadGuard pg(&heaterInfo);
-    std::memcpy(heaterInfo.heaterSwitchState.value, heaterStates.data(), 8);
+    std::memcpy(heaterInfo.heaterSwitchState.value, heaterSwitchStateArray.data(), 8);
     {
       PoolReadGuard pg2(&currentVecPdu2);
       if (pg.getReadResult() == returnvalue::OK and pg2.getReadResult() == returnvalue::OK) {
@@ -1631,13 +1631,18 @@ bool ThermalController::selectAndReadSensorTemp(HeaterContext& htrCtx) {
 bool ThermalController::chooseHeater(heater::Switch& switchNr, heater::Switch redSwitchNr) {
   bool heaterAvailable = true;
 
-  if (heaterHandler.getHealth(switchNr) != HasHealthIF::HEALTHY) {
+  HasHealthIF::HealthState mainHealth = heaterHandler.getHealth(switchNr);
-    if (heaterHandler.getHealth(redSwitchNr) == HasHealthIF::HEALTHY) {
+  HasHealthIF::HealthState redHealth = heaterHandler.getHealth(redSwitchNr);
+  if (mainHealth != HasHealthIF::HEALTHY) {
+    if (redHealth == HasHealthIF::HEALTHY) {
       switchNr = redSwitchNr;
       redSwitchNrInUse = true;
     } else {
       heaterAvailable = false;
-      triggerEvent(tcsCtrl::NO_HEALTHY_HEATER_AVAILABLE, switchNr, redSwitchNr);
+      // Special case: Ground might command/do something with the heaters, so prevent spam.
+      if (not(mainHealth == EXTERNAL_CONTROL and redHealth == EXTERNAL_CONTROL)) {
+        triggerEvent(tcsCtrl::NO_HEALTHY_HEATER_AVAILABLE, switchNr, redSwitchNr);
+      }
     }
   } else {
     redSwitchNrInUse = false;

mission/controller/acs/ActuatorCmd.cpp

@@ -61,7 +61,7 @@ void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentAct
   // Scaling along largest element if dipol exceeds maximum
   uint8_t maxIdx = 0;
   VectorOperations<double>::maxAbsValue(dipolMomentActuatorDouble, 3, &maxIdx);
-  double maxAbsValue = abs(dipolMomentActuatorDouble[maxIdx]);
+  double maxAbsValue = std::abs(dipolMomentActuatorDouble[maxIdx]);
   if (maxAbsValue > maxDipol) {
     double scalingFactor = maxDipol / maxAbsValue;
     VectorOperations<double>::mulScalar(dipolMomentActuatorDouble, scalingFactor,

mission/tcs/HeaterHandler.cpp

@@ -269,7 +269,7 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switch heaterIdx) {
       } else {
         triggerEvent(HEATER_WENT_ON, heaterIdx, 0);
         EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
-                                     MODE_ON, MODE_OFF);
+                                     MODE_ON, 0);
         {
           MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
           heater.switchState = ON;
@@ -327,7 +327,7 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switch heaterIdx) {
       }
       triggerEvent(HEATER_WENT_OFF, heaterIdx, 0);
       EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
-                                   MODE_OFF, MODE_ON);
+                                   MODE_OFF, 0);
       // When all switches are off, also main line switch will be turned off
       if (allSwitchesOff()) {
         mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);