From 9cec20a550de5070564d10aac52aa259e0707bd8 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 17 Mar 2023 16:27:00 +0100 Subject: [PATCH] scheduling tweaks for i2c --- CHANGELOG.md | 1 + bsp_q7s/core/scheduling.cpp | 2 +- mission/core/pollingSeqTables.cpp | 42 +++++++++++++++---------------- mission/core/pollingSeqTables.h | 2 +- 4 files changed, 24 insertions(+), 23 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 743c0aef..54689aab 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -33,6 +33,7 @@ will consitute of a breaking change warranting a new major release: - I2C PST now has a polling frequency of 0.4 seconds instead of 0.2 seconds. - GS PST now has a polling frequency of 0.5 seconds instead of 1 second. - Bump FSFW: merged upstream. +- Move BPX battery scheduling to ACS PST to avoid clashes with IMTQ scheduling / polling # [v1.37.2] 2023-03-14 diff --git a/bsp_q7s/core/scheduling.cpp b/bsp_q7s/core/scheduling.cpp index d7094806..bd9ee01c 100644 --- a/bsp_q7s/core/scheduling.cpp +++ b/bsp_q7s/core/scheduling.cpp @@ -487,7 +487,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction #if OBSW_ADD_I2C_TEST_CODE == 0 FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask( "I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.4, missedDeadlineFunc); - result = pst::pstI2c(i2cPst); + result = pst::pstI2cProcessingSystem(i2cPst); if (result != returnvalue::OK) { if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) { sif::warning << "scheduling::initTasks: I2C PST is empty" << std::endl; diff --git a/mission/core/pollingSeqTables.cpp b/mission/core/pollingSeqTables.cpp index 3b18a0e6..e69262bc 100644 --- a/mission/core/pollingSeqTables.cpp +++ b/mission/core/pollingSeqTables.cpp @@ -36,31 +36,25 @@ ReturnValue_t pst::pstSyrlinks(FixedTimeslotTaskIF *thisSequence) { // I don't think this needs to be in a PST because linux takes care of bus serialization, but // keep it like this for now, it works -ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) { +ReturnValue_t pst::pstI2cProcessingSystem(FixedTimeslotTaskIF *thisSequence) { // Length of a communication cycle uint32_t length = thisSequence->getPeriodMs(); static_cast(length); - thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.3, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.3, DeviceHandlerIF::GET_READ); // These are actually part of another bus, but this works, so keep it like this for now - thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, + thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.2, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.45, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.45, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.2, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.3, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.3, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, + thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.55, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.55, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.6, DeviceHandlerIF::PERFORM_OPERATION); @@ -68,9 +62,9 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) { DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.6, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.65, + thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.7, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.65, + thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.7, DeviceHandlerIF::GET_READ); // damaged /* @@ -90,9 +84,9 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) { DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.85, + thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.9, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.85, + thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.9, DeviceHandlerIF::GET_READ); static_cast(length); return thisSequence->checkSequence(); @@ -562,6 +556,12 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::GET_READ); #if OBSW_ADD_RAD_SENSORS == 1 /* Radiation sensor */ diff --git a/mission/core/pollingSeqTables.h b/mission/core/pollingSeqTables.h index 75e18665..e3bc0ad0 100644 --- a/mission/core/pollingSeqTables.h +++ b/mission/core/pollingSeqTables.h @@ -51,7 +51,7 @@ ReturnValue_t pstSyrlinks(FixedTimeslotTaskIF* thisSequence); ReturnValue_t pstTcsAndAcs(FixedTimeslotTaskIF* thisSequence, AcsPstCfg cfg); -ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence); +ReturnValue_t pstI2cProcessingSystem(FixedTimeslotTaskIF* thisSequence); /** * Generic test PST