eive/eive-obsw
eive/eive-obsw
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Merge branch 'develop' into acs-flp-safe

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This commit is contained in:
Marius Eggert 2023-04-14 16:50:31 +02:00
commit a306b2a0af
55 changed files with 973 additions and 399 deletions
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6
.gitmodules vendored
View File

@ -10,9 +10,6 @@
[submodule "thirdparty/lwgps"]
path = thirdparty/lwgps
url = https://github.com/rmspacefish/lwgps.git
[submodule "thirdparty/arcsec_star_tracker"]
path = thirdparty/arcsec_star_tracker
url = https://egit.irs.uni-stuttgart.de/eive/arcsec_star_tracker.git
[submodule "thirdparty/json"]
path = thirdparty/json
url = https://github.com/nlohmann/json.git
@ -22,3 +19,6 @@
[submodule "thirdparty/gomspace-sw"]
path = thirdparty/gomspace-sw
url = https://egit.irs.uni-stuttgart.de/eive/gomspace-sw.git
[submodule "thirdparty/sagittactl"]
path = thirdparty/sagittactl
url = https://egit.irs.uni-stuttgart.de/eive/sagittactl.git

47
CHANGELOG.md
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@ -16,14 +16,47 @@ will consitute of a breaking change warranting a new major release:
# [unreleased]
- q7s-package: v2.5.0
- STR firmware was updated to v10.3
## Fixed
- Small fix for `install-obsw-yocto.sh` script
- Bugfix for STR firmware update procedure where the last remaining
bytes were not written properly.
- Bugfix for STR where an invalid reply was received for special requests
like firmware updates.
- Bugfix for shell command executors in command controller which lead to a crash.
## Changed
- STR `wire` library updated to v10.3. Submodule renamed to `sagittactl`.
## Added
- Add a way for the MAX31865 RTD handlers to recognize faulty/broken/off sensor devices.
- Add parameter interface for core controller
- Allow setting the preferred SD card via the new parameter interface of the core controller
with domain ID 0 and unque ID 0.
# [v1.44.1] 2023-04-12
- eive-tmtc: v2.22.1
## Fixed
- Bugfixes and improvements for SDC state machine. Internal state was not updated correctly due
to a regression, so commanding the SDC state machine externally lead to confusing results.
- Heater states array in TCS controller was too small.
- Fixed a bug in persistent TM store, where the active file was not reset of SD card switches.
SD card switch from 0 to 1 and vice-versa works without errors from persistent TM stores now.
- Add a way for the SUS polling to detect broken or off devices by checking the retrieved
temperature for the all-ones value (0x0fff).
- Better reply result handling for the ACS board devices.
- ADIS1650X initial timeout handling now performed in device handler.
- The RW assembly and TCS board assembly now perform proper power switch handling for their
recovery handling.
## Changed
@ -31,14 +64,22 @@ will consitute of a breaking change warranting a new major release:
the active SD card is switched or there is a transition from hot redundant to cold redundant mode.
This gives other tasks some time to register the SD cards being unusable, and therefore provides
a way for them to perform any re-initialization tasks necessary after SD card switches.
## Changed
- TCS controller now only has an OFF mode and an ON mode
- The TCS controller pauses operations related to the TCS board assembly (reading sensors and
the primary control loop) while a TCS board recovery is on-going.
- Allow specifying custom OBSW update filename. This allowed keeping a cleaner file structure
where each update has a name including the version
- The files extracted during an update process are deleted after the update was performed to keep
the update directory cleaner.
## Added
- TCS controller: SUBMODE_NO_HEATER_CTRL (1) added for ON mode. If this submode is
commanded, all heaters will be switched off and then no further heater
commanding will be done.
- Fixed a bug in persistent TM store, where the active file was not reset of SD card switches.
SD card switch from 0 to 1 and vice-versa works without errors from persistent TM stores now.
# [v1.44.0] 2023-04-07
- eive-tmtc: v2.22.0

7
CMakeLists.txt
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@ -11,7 +11,7 @@ cmake_minimum_required(VERSION 3.13)
set(OBSW_VERSION_MAJOR 1)
set(OBSW_VERSION_MINOR 44)
set(OBSW_VERSION_REVISION 0)
set(OBSW_VERSION_REVISION 1)
# set(CMAKE_VERBOSE TRUE)
@ -94,6 +94,9 @@ set(OBSW_ADD_SUN_SENSORS
set(OBSW_ADD_SUS_BOARD_ASS
${INIT_VAL}
CACHE STRING "Add sun sensor board assembly")
set(OBSW_ADD_THERMAL_TEMP_INSERTER
${OBSW_Q7S_EM}
CACHE STRING "Add thermal sensor temperature inserter")
set(OBSW_ADD_ACS_BOARD
${INIT_VAL}
CACHE STRING "Add ACS board module")
@ -220,7 +223,7 @@ set(LIB_EIVE_MISSION_PATH mission)
set(LIB_ETL_PATH ${THIRD_PARTY_FOLDER}/etl)
set(LIB_CATCH2_PATH ${THIRD_PARTY_FOLDER}/Catch2)
set(LIB_LWGPS_PATH ${THIRD_PARTY_FOLDER}/lwgps)
set(LIB_ARCSEC_PATH ${THIRD_PARTY_FOLDER}/arcsec_star_tracker)
set(LIB_ARCSEC_PATH ${THIRD_PARTY_FOLDER}/sagittactl)
set(LIB_JSON_PATH ${THIRD_PARTY_FOLDER}/json)
set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)

1
bsp_hosted/scheduling.cpp
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@ -151,7 +151,6 @@ void scheduling::initTasks() {
if (result != returnvalue::OK) {
scheduling::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER);
}
result = thermalTask->addComponent(objects::THERMAL_CONTROLLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);

3
bsp_q7s/OBSWConfig.h.in
View File

@ -43,6 +43,9 @@
#define OBSW_ADD_PL_PCDU @OBSW_ADD_PL_PCDU@
#define OBSW_ADD_SYRLINKS @OBSW_ADD_SYRLINKS@
#define OBSW_ADD_CCSDS_IP_CORES @OBSW_ADD_CCSDS_IP_CORES@
// Only relevant for EM for TCS tests.
#define OBSW_ADD_THERMAL_TEMP_INSERTER @OBSW_ADD_THERMAL_TEMP_INSERTER@
// Set to 1 if all telemetry should be sent to the PTME IP Core
#define OBSW_TM_TO_PTME @OBSW_TM_TO_PTME@
// Set to 1 if telecommands are received via the PDEC IP Core

98
bsp_q7s/core/CoreController.cpp
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@ -9,7 +9,6 @@
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/timemanager/Stopwatch.h"
#include "fsfw/version.h"
#include "mission/sysDefs.h"
#include "watchdog/definitions.h"
#if OBSW_ADD_TMTC_UDP_SERVER == 1
#include "fsfw/osal/common/UdpTmTcBridge.h"
@ -40,7 +39,8 @@ CoreController::CoreController(object_id_t objectId, bool enableHkSet)
cmdRepliesSizes(128),
opDivider5(5),
opDivider10(10),
hkSet(this) {
hkSet(this),
paramHelper(this) {
cmdExecutor.setRingBuffer(&cmdReplyBuf, &cmdRepliesSizes);
try {
sdcMan = SdCardManager::instance();
@ -88,6 +88,10 @@ CoreController::CoreController(object_id_t objectId, bool enableHkSet)
CoreController::~CoreController() {}
ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
ReturnValue_t result = paramHelper.handleParameterMessage(message);
if (result == returnvalue::OK) {
return result;
}
return ExtendedControllerBase::handleCommandMessage(message);
}
@ -113,7 +117,7 @@ void CoreController::performControlOperation() {
bool replyReceived = false;
// TODO: We could read the data in the ring buffer and send it as an action data reply.
if (cmdExecutor.check(replyReceived) == CommandExecutor::EXECUTION_FINISHED) {
actionHelper.finish(true, successRecipient, core::EXECUTE_SHELL_CMD);
actionHelper.finish(true, successRecipient, core::EXECUTE_SHELL_CMD_BLOCKING);
shellCmdIsExecuting = false;
cmdReplyBuf.clear();
while (not cmdRepliesSizes.empty()) {
@ -154,6 +158,11 @@ ReturnValue_t CoreController::initialize() {
<< std::endl;
}
result = paramHelper.initialize();
if (result != returnvalue::OK) {
return result;
}
sdStateMachine();
triggerEvent(core::REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
@ -294,6 +303,41 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
// Completion will be reported by SD card state machine
return returnvalue::OK;
}
case (SYSTEMCTL_CMD_EXECUTOR): {
// Expect one byte systemctl command type and a unit name with at least one byte as minimum.
if (size < 2) {
return HasActionsIF::INVALID_PARAMETERS;
}
if (data[0] >= core::SystemctlCmd::NUM_CMDS) {
return HasActionsIF::INVALID_PARAMETERS;
}
core::SystemctlCmd cmdType = static_cast<core::SystemctlCmd>(data[0]);
std::string unitName = std::string(reinterpret_cast<const char *>(data + 1), size - 1);
std::ostringstream oss("systemctl ", std::ostringstream::ate);
switch (cmdType) {
case (core::SystemctlCmd::START): {
oss << "start ";
break;
}
case (core::SystemctlCmd::STOP): {
oss << "stop ";
break;
}
case (core::SystemctlCmd::RESTART): {
oss << "restart ";
break;
}
default: {
return HasActionsIF::INVALID_PARAMETERS;
}
}
oss << unitName;
int result = std::system(oss.str().c_str());
if (result != 0) {
return returnvalue::FAILED;
}
return EXECUTION_FINISHED;
}
case (SWITCH_IMG_LOCK): {
if (size != 3) {
return HasActionsIF::INVALID_PARAMETERS;
@ -324,13 +368,22 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
// Warning: This function will never return, because it reboots the system
return actionReboot(data, size);
}
case (EXECUTE_SHELL_CMD): {
std::string cmd = std::string(cmd, size);
case (EXECUTE_SHELL_CMD_BLOCKING): {
std::string cmdToExecute = std::string(reinterpret_cast<const char*>(data), size);
int result = std::system(cmdToExecute.c_str());
if (result != 0) {
// TODO: Data reply with returnalue maybe?
return returnvalue::FAILED;
}
return EXECUTION_FINISHED;
}
case (EXECUTE_SHELL_CMD_NON_BLOCKING): {
std::string cmdToExecute = std::string(reinterpret_cast<const char*>(data), size);
if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING or
shellCmdIsExecuting) {
return HasActionsIF::IS_BUSY;
}
cmdExecutor.load(cmd, false, false);
cmdExecutor.load(cmdToExecute, false, false);
ReturnValue_t result = cmdExecutor.execute();
if (result != returnvalue::OK) {
return result;
@ -1298,7 +1351,7 @@ void CoreController::performMountedSdCardOperations() {
auto mountedSdCardOp = [&](sd::SdCard sdCard, std::string mntPoint) {
if (not performOneShotSdCardOpsSwitch) {
std::ostringstream path;
path << mntPoint << "/" << CONF_FOLDER;
path << mntPoint << "/" << core::CONF_FOLDER;
std::error_code e;
if (not std::filesystem::exists(path.str()), e) {
bool created = std::filesystem::create_directory(path.str(), e);
@ -2124,7 +2177,38 @@ void CoreController::announceBootCounts() {
totalBootCount & 0xffffffff);
}
MessageQueueId_t CoreController::getCommandQueue() const {
return ExtendedControllerBase::getCommandQueue();
}
bool CoreController::isNumber(const std::string &s) {
return !s.empty() && std::find_if(s.begin(), s.end(),
[](unsigned char c) { return !std::isdigit(c); }) == s.end();
}
ReturnValue_t CoreController::getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues,
uint16_t startAtIndex) {
if (domainId != 0) {
return HasParametersIF::INVALID_DOMAIN_ID;
}
if (uniqueIdentifier >= ParamId::NUM_IDS) {
return HasParametersIF::INVALID_IDENTIFIER_ID;
}
uint8_t newPrefSd;
ReturnValue_t result = newValues->getElement(&newPrefSd);
if (result != returnvalue::OK) {
return result;
}
// Only SD card 0 (0) and 1 (1) are allowed values.
if (newPrefSd > 1) {
return HasParametersIF::INVALID_VALUE;
}
result = sdcMan->setPreferredSdCard(static_cast<sd::SdCard>(newPrefSd));
if (result != returnvalue::OK) {
return returnvalue::FAILED;
}
parameterWrapper->set(prefSdRaw);
return returnvalue::OK;
}

33
bsp_q7s/core/CoreController.h
View File

@ -4,6 +4,8 @@
#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 <libxiphos.h>
#include <mission/acs/archive/GPSDefinitions.h>
#include <mission/utility/trace.h>
@ -16,17 +18,11 @@
#include "bsp_q7s/fs/SdCardManager.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/controller/ExtendedControllerBase.h"
#include "mission/sysDefs.h"
class Timer;
class SdCardManager;
namespace xsc {
enum Chip : int { CHIP_0, CHIP_1, NO_CHIP, SELF_CHIP, ALL_CHIP };
enum Copy : int { COPY_0, COPY_1, NO_COPY, SELF_COPY, ALL_COPY };
} // namespace xsc
struct RebootFile {
static constexpr uint8_t DEFAULT_MAX_BOOT_CNT = 10;
@ -48,8 +44,10 @@ struct RebootFile {
xsc::Copy mechanismNextCopy = xsc::Copy::NO_COPY;
};
class CoreController : public ExtendedControllerBase {
class CoreController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
public:
enum ParamId : uint8_t { PREF_SD = 0, NUM_IDS };
static xsc::Chip CURRENT_CHIP;
static xsc::Copy CURRENT_COPY;
@ -57,18 +55,12 @@ class CoreController : public ExtendedControllerBase {
static constexpr char CHIP_STATE_FILE[] = "/tmp/chip_prot_status.txt";
static constexpr char CURR_COPY_FILE[] = "/tmp/curr_copy.txt";
static constexpr char CONF_FOLDER[] = "conf";
static constexpr char VERSION_FILE_NAME[] = "version.txt";
static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
static constexpr char TIME_FILE_NAME[] = "time_backup.txt";
const std::string VERSION_FILE =
"/" + std::string(CONF_FOLDER) + "/" + std::string(VERSION_FILE_NAME);
"/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::VERSION_FILE_NAME);
const std::string REBOOT_FILE =
"/" + std::string(CONF_FOLDER) + "/" + std::string(REBOOT_FILE_NAME);
"/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::REBOOT_FILE_NAME);
const std::string BACKUP_TIME_FILE =
"/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);
"/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::TIME_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";
@ -152,6 +144,7 @@ class CoreController : public ExtendedControllerBase {
SdCardManager* sdcMan = nullptr;
MessageQueueIF* eventQueue = nullptr;
uint8_t prefSdRaw = sd::SdCard::SLOT_0;
SdStates sdFsmState = SdStates::START;
SdStates fsmStateAfterDelay = SdStates::IDLE;
enum SdCfgMode { PASSIVE, COLD_REDUNDANT, HOT_REDUNDANT };
@ -216,10 +209,16 @@ class CoreController : public ExtendedControllerBase {
core::HkSet hkSet;
ParameterHelper paramHelper;
#if OBSW_SD_CARD_MUST_BE_ON == 1
bool remountAttemptFlag = true;
#endif
MessageQueueId_t getCommandQueue() const override;
ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;

5
bsp_q7s/core/scheduling.cpp
View File

@ -302,6 +302,9 @@ void scheduling::initTasks() {
PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
"TCS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
#if OBSW_ADD_THERMAL_TEMP_INSERTER == 1
tcsSystemTask->addComponent(objects::THERMAL_TEMP_INSERTER);
#endif
scheduling::scheduleRtdSensors(tcsSystemTask);
result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM);
if (result != returnvalue::OK) {
@ -317,12 +320,10 @@ void scheduling::initTasks() {
scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
}
#endif
#if OBSW_ADD_HEATERS == 1
result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
}
#endif
#if OBSW_ADD_SYRLINKS == 1
PeriodicTaskIF* syrlinksCom = factory->createPeriodicTask(

87
dummies/TemperatureSensorInserter.cpp
View File

@ -1,5 +1,6 @@
#include "TemperatureSensorInserter.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <objects/systemObjectList.h>
#include <cmath>
@ -14,10 +15,7 @@ TemperatureSensorInserter::TemperatureSensorInserter(object_id_t objectId,
tmp1075DummyMap(std::move(tempTmpSensorDummies_)) {}
ReturnValue_t TemperatureSensorInserter::initialize() {
if (performTest) {
if (testCase == TestCase::COOL_SYRLINKS) {
}
}
testCase = TestCase::COLD_STR_CONSECUTIVE;
return returnvalue::OK;
}
@ -33,35 +31,72 @@ ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
tempsWereInitialized = true;
}
if (cycles == 10) {
max31865DummyMap[objects::RTD_9_IC12_HPA]->setTemperature(-100, true);
max31865DummyMap[objects::RTD_11_IC14_MPA]->setTemperature(-100, true);
switch (testCase) {
case (TestCase::NONE): {
break;
}
if (cycles == 35) {
case (TestCase::COLD_SYRLINKS): {
// TODO: How do I insert this?
// Does not work on EM, where a real syrlinks device is connected.
if (cycles == 15) {
lp_var_t<float> tempSyrlinksBasebandBoard =
lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
PoolReadGuard pg(&tempSyrlinksBasebandBoard);
tempSyrlinksBasebandBoard.value = -50;
}
if (cycles == 30) {
lp_var_t<float> tempSyrlinksBasebandBoard =
lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
PoolReadGuard pg(&tempSyrlinksBasebandBoard);
tempSyrlinksBasebandBoard.value = 0;
}
break;
}
case (TestCase::COLD_HPA): {
if (cycles == 15) {
sif::debug << "Setting cold HPA temperature" << std::endl;
max31865DummyMap[objects::RTD_9_IC12_HPA]->setTemperature(-60, true);
}
if (cycles == 30) {
sif::debug << "Setting HPA temperature back to normal" << std::endl;
max31865DummyMap[objects::RTD_9_IC12_HPA]->setTemperature(0, true);
max31865DummyMap[objects::RTD_11_IC14_MPA]->setTemperature(0, true);
max31865DummyMap[objects::RTD_2_IC5_4K_CAMERA]->setTemperature(-100, true);
}
break;
}
case (TestCase::COLD_MGT): {
if (cycles == 15) {
sif::debug << "Setting cold MGT temperature" << std::endl;
max31865DummyMap[objects::RTD_15_IC18_IMTQ]->setTemperature(-60, true);
}
if (cycles == 30) {
sif::debug << "Setting MGT temperature back to normal" << std::endl;
max31865DummyMap[objects::RTD_15_IC18_IMTQ]->setTemperature(0, true);
}
break;
}
case (TestCase::COLD_STR):
case (TestCase::COLD_STR_CONSECUTIVE): {
if (cycles == 15) {
sif::debug << "Setting cold STR temperature" << std::endl;
max31865DummyMap[objects::RTD_4_IC7_STARTRACKER]->setTemperature(-40, true);
}
if (cycles == 30) {
sif::debug << "Setting STR temperature back to normal" << std::endl;
max31865DummyMap[objects::RTD_4_IC7_STARTRACKER]->setTemperature(0, true);
}
if (testCase == TestCase::COLD_STR_CONSECUTIVE) {
if (cycles == 45) {
sif::debug << "Setting cold STR temperature again" << std::endl;
max31865DummyMap[objects::RTD_4_IC7_STARTRACKER]->setTemperature(-40, true);
}
if (cycles == 60) {
max31865DummyMap[objects::RTD_9_IC12_HPA]->setTemperature(-100, true);
max31865DummyMap[objects::RTD_11_IC14_MPA]->setTemperature(0, true);
sif::debug << "Setting STR temperature back to normal again" << std::endl;
max31865DummyMap[objects::RTD_4_IC7_STARTRACKER]->setTemperature(0, true);
}
/*
ReturnValue_t result = max31865PlocHeatspreaderSet.read();
if (result != returnvalue::OK) {
sif::warning << "Failed to read temperature from MAX31865 dataset" << std::endl;
}
max31865PlocHeatspreaderSet.rtdValue = value - 5;
max31865PlocHeatspreaderSet.temperatureCelcius = value;
if ((iteration % 100) < 20) {
max31865PlocHeatspreaderSet.setValidity(false, true);
} else {
max31865PlocHeatspreaderSet.setValidity(true, true);
break;
}
}
max31865PlocHeatspreaderSet.commit();
*/
cycles++;
return returnvalue::OK;
}

12
dummies/TemperatureSensorInserter.h
View File

@ -1,6 +1,7 @@
#pragma once
#include <fsfw/controller/ExtendedControllerBase.h>
#include <mission/com/syrlinksDefs.h>
#include <mission/tcs/Max31865Definitions.h>
#include "Max31865Dummy.h"
@ -22,11 +23,18 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
private:
Max31865DummyMap max31865DummyMap;
Tmp1075DummyMap tmp1075DummyMap;
enum TestCase { NONE = 0, COOL_SYRLINKS = 1 };
enum TestCase {
NONE = 0,
COLD_SYRLINKS = 1,
COLD_HPA = 2,
COLD_MGT = 3,
COLD_STR = 4,
COLD_STR_CONSECUTIVE = 5,
};
int iteration = 0;
uint32_t cycles = 0;
bool tempsWereInitialized = false;
bool performTest = false;
TestCase testCase = TestCase::NONE;
// void noise();

12
dummies/helperFactory.cpp
View File

@ -40,6 +40,7 @@
#include "mission/system/com/comModeTree.h"
#include "mission/system/tree/payloadModeTree.h"
#include "mission/system/tree/tcsModeTree.h"
#include "mission/tcs/defs.h"
void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF) {
new ComIFDummy(objects::DUMMY_COM_IF);
@ -193,16 +194,19 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
tmpSensorDummies.emplace(
objects::TMP1075_HANDLER_PLPCDU_0,
new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_0, objects::DUMMY_COM_IF, comCookieDummy));
tmpSensorDummies.emplace(
objects::TMP1075_HANDLER_PLPCDU_1,
new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1, 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));
new TemperatureSensorInserter(objects::THERMAL_TEMP_INSERTER, rtdSensorDummies,
tmpSensorDummies);
TcsBoardAssembly* tcsBoardAssy = ObjectFactory::createTcsBoardAssy(pwrSwitcher);
TcsBoardAssembly* tcsBoardAssy =
ObjectFactory::createTcsBoardAssy(pwrSwitcher, tcs::TCS_BOARD_SHORTLY_UNAVAILABLE);
for (auto& rtd : rtdSensorDummies) {
rtd.second->connectModeTreeParent(*tcsBoardAssy);
}

2
fsfw

@ -1 +1 @@
Subproject commit 285d327b97514946f0714e477289f67ee8bd413f
Subproject commit ffa2fa477f105cc876264335d5b25fc9b174a181

4
linux/ObjectFactory.cpp
View File

@ -29,6 +29,7 @@
#include "mission/system/acs/acsModeTree.h"
#include "mission/system/tree/payloadModeTree.h"
#include "mission/system/tree/tcsModeTree.h"
#include "mission/tcs/defs.h"
void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
PowerSwitchIF& pwrSwitcher, std::string spiDev,
@ -278,7 +279,8 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
std::array<Max31865EiveHandler*, NUM_RTDS> rtds = {};
RtdFdir* rtdFdir = nullptr;
TcsBoardAssembly* tcsBoardAss = ObjectFactory::createTcsBoardAssy(*pwrSwitcher);
TcsBoardAssembly* tcsBoardAss =
ObjectFactory::createTcsBoardAssy(*pwrSwitcher, tcs::TCS_BOARD_SHORTLY_UNAVAILABLE);
// Create special low level reader communication interface
new Max31865RtdPolling(objects::SPI_RTD_COM_IF, comIF, gpioComIF);

28
linux/acs/AcsBoardPolling.cpp
View File

@ -113,7 +113,8 @@ 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.countdown.setTimeout(adis1650x::START_UP_TIME);
// The initial countdown is handled by the device handler now.
// adis.countdown.setTimeout(adis1650x::START_UP_TIME);
if (adis.type == adis1650x::Type::ADIS16507) {
adis.ownReply.data.accelScaling = adis1650x::ACCELEROMETER_RANGE_16507;
} else if (adis.type == adis1650x::Type::ADIS16505) {
@ -127,6 +128,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
adis.ownReply.cfgWasSet = false;
adis.ownReply.dataWasSet = false;
}
adis.replyResult = returnvalue::FAILED;
adis.mode = req->mode;
}
return returnvalue::OK;
@ -145,6 +147,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
} else {
gyro.ownReply.cfgWasSet = false;
}
gyro.replyResult = returnvalue::FAILED;
gyro.mode = req->mode;
}
return returnvalue::OK;
@ -163,6 +166,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
mgm.ownReply.dataWasSet = false;
mgm.ownReply.temperatureWasSet = false;
}
mgm.replyResult = returnvalue::FAILED;
mgm.mode = req->mode;
}
return returnvalue::OK;
@ -180,6 +184,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
} else {
mgm.ownReply.dataWasRead = false;
}
mgm.replyResult = returnvalue::FAILED;
mgm.mode = req->mode;
}
return returnvalue::OK;
@ -309,18 +314,18 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
std::memcpy(cmdBuf.data() + 1, l3g.sensorCfg, 5);
result = spiComIF.sendMessage(l3g.cookie, cmdBuf.data(), 6);
if (result != returnvalue::OK) {
l3g.replyResult = returnvalue::OK;
l3g.replyResult = result;
}
// Ignore useless reply and red config
cmdBuf[0] = l3gd20h::CTRL_REG_1 | l3gd20h::AUTO_INCREMENT_MASK | l3gd20h::READ_MASK;
std::memset(cmdBuf.data() + 1, 0, 5);
result = spiComIF.sendMessage(l3g.cookie, cmdBuf.data(), 6);
if (result != returnvalue::OK) {
l3g.replyResult = returnvalue::OK;
l3g.replyResult = result;
}
result = spiComIF.readReceivedMessage(l3g.cookie, &rawReply, &dummy);
if (result != returnvalue::OK) {
l3g.replyResult = returnvalue::OK;
l3g.replyResult = result;
}
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
// Cross check configuration as verification that communication is working
@ -331,6 +336,7 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
return;
}
}
l3g.replyResult = returnvalue::OK;
l3g.performStartup = false;
l3g.ownReply.cfgWasSet = true;
l3g.ownReply.sensitivity = l3gd20h::ctrlReg4ToSensitivity(l3g.sensorCfg[3]);
@ -357,6 +363,7 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
return;
}
}
l3g.replyResult = returnvalue::OK;
l3g.ownReply.statusReg = rawReply[l3gd20h::STATUS_IDX];
l3g.ownReply.angVelocities[0] = (rawReply[l3gd20h::OUT_X_H] << 8) | rawReply[l3gd20h::OUT_X_L];
l3g.ownReply.angVelocities[1] = (rawReply[l3gd20h::OUT_Y_H] << 8) | rawReply[l3gd20h::OUT_Y_L];
@ -443,20 +450,15 @@ ReturnValue_t AcsBoardPolling::readAdisCfg(SpiCookie& cookie, size_t transferLen
void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
ReturnValue_t result;
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
bool cdHasTimedOut = false;
bool mustPerformStartup = false;
{
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
mode = gyro.mode;
cdHasTimedOut = gyro.countdown.hasTimedOut();
mustPerformStartup = gyro.performStartup;
}
if (mode == acs::SimpleSensorMode::OFF) {
return;
}
if (not cdHasTimedOut) {
return;
}
if (mustPerformStartup) {
uint8_t regList[6];
// Read configuration
@ -495,6 +497,7 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
gyro.ownReply.cfg.prodId = prodId;
gyro.ownReply.data.sensitivity = adis1650x::rangMdlToSensitivity(gyro.ownReply.cfg.rangMdl);
gyro.performStartup = false;
gyro.replyResult = returnvalue::OK;
}
// Read regular registers
std::memcpy(cmdBuf.data(), adis1650x::BURST_READ_ENABLE.data(),
@ -533,6 +536,7 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
}
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
gyro.replyResult = returnvalue::OK;
gyro.ownReply.dataWasSet = true;
gyro.ownReply.cfg.diagStat = rawReply[2] << 8 | rawReply[3];
gyro.ownReply.data.angVelocities[0] = (rawReply[4] << 8) | rawReply[5];
@ -590,6 +594,7 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
}
// Done here. We can always read back config and data during periodic handling
mgm.performStartup = false;
mgm.replyResult = returnvalue::OK;
}
cmdBuf[0] = mgmLis3::readCommand(mgmLis3::CTRL_REG1, true);
std::memset(cmdBuf.data() + 1, 0, mgmLis3::NR_OF_DATA_AND_CFG_REGISTERS);
@ -607,7 +612,7 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
// Verify communication by re-checking config
if (rawReply[1] != mgm.cfg[0] or rawReply[2] != mgm.cfg[1] or rawReply[3] != mgm.cfg[2] or
rawReply[4] != mgm.cfg[3] or rawReply[5] != mgm.cfg[4]) {
mgm.replyResult = result;
mgm.replyResult = returnvalue::FAILED;
return;
}
{
@ -634,6 +639,7 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
return;
}
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
mgm.replyResult = returnvalue::OK;
mgm.ownReply.temperatureWasSet = true;
mgm.ownReply.temperatureRaw = (rawReply[2] << 8) | rawReply[1];
}
@ -704,6 +710,7 @@ void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
return;
}
mgm.performStartup = false;
mgm.replyResult = returnvalue::OK;
}
// Regular read operation
cmdBuf[0] = mgmRm3100::MEASUREMENT_REG_START | mgmRm3100::READ_MASK;
@ -725,6 +732,7 @@ void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
mgm.ownReply.scaleFactors[idx] = 1.0 / mgmRm3100::DEFAULT_GAIN;
}
mgm.ownReply.dataWasRead = true;
mgm.replyResult = returnvalue::OK;
// Bitshift trickery to account for 24 bit signed value.
mgm.ownReply.mgmValuesRaw[0] =
((rawReply[1] << 24) | (rawReply[2] << 16) | (rawReply[3] << 8)) >> 8;

10
linux/acs/CMakeLists.txt
View File

@ -1,6 +1,10 @@
target_sources(
${OBSW_NAME} PUBLIC AcsBoardPolling.cpp ImtqPollingTask.cpp RwPollingTask.cpp
SusPolling.cpp StrComHandler.cpp)
target_sources(${OBSW_NAME} PUBLIC AcsBoardPolling.cpp ImtqPollingTask.cpp
RwPollingTask.cpp SusPolling.cpp)
# Dependency on proprietary library
if(TGT_BSP MATCHES "arm/q7s")
target_sources(${OBSW_NAME} PUBLIC StrComHandler.cpp)
endif()
if(EIVE_BUILD_GPSD_GPS_HANDLER)
target_sources(${OBSW_NAME} PRIVATE GpsHyperionLinuxController.cpp)

54
linux/acs/StrComHandler.cpp
View File

@ -89,7 +89,7 @@ ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
break;
}
case InternalState::FIRMWARE_UPDATE: {
replyTimeout.setTimeout(200);
replyTimeout.setTimeout(2000);
resetReplyHandlingState();
result = performFirmwareUpdate();
if (result == returnvalue::OK) {
@ -125,6 +125,7 @@ ReturnValue_t StrComHandler::startImageUpload(std::string fullname) {
}
{
MutexGuard mg(lock);
replyWasReceived = false;
state = InternalState::UPLOAD_IMAGE;
}
semaphore.release();
@ -151,6 +152,7 @@ ReturnValue_t StrComHandler::startImageDownload(std::string path) {
downloadImage.path = path;
{
MutexGuard mg(lock);
replyWasReceived = false;
state = InternalState::DOWNLOAD_IMAGE;
}
terminate = false;
@ -187,6 +189,7 @@ ReturnValue_t StrComHandler::startFirmwareUpdate(std::string fullname) {
flashWrite.lastRegion = static_cast<uint8_t>(startracker::FirmwareRegions::LAST);
{
MutexGuard mg(lock);
replyWasReceived = false;
state = InternalState::FIRMWARE_UPDATE;
}
semaphore.release();
@ -216,6 +219,7 @@ ReturnValue_t StrComHandler::startFlashRead(std::string path, uint8_t startRegio
flashRead.size = length;
{
MutexGuard mg(lock);
replyWasReceived = false;
state = InternalState::FLASH_READ;
}
semaphore.release();
@ -390,7 +394,8 @@ ReturnValue_t StrComHandler::performFlashWrite() {
#endif
ReturnValue_t result = returnvalue::OK;
uint32_t size = 0;
uint32_t bytesWritten = 0;
uint32_t bytesWrittenInRegion = 0;
size_t totalBytesWritten = 0;
uint32_t fileSize = 0;
struct WriteActionRequest req;
@ -412,20 +417,18 @@ ReturnValue_t StrComHandler::performFlashWrite() {
ProgressPrinter progressPrinter("Flash write", fileSize);
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
uint32_t fileChunks = fileSize / CHUNK_SIZE;
bytesWritten = 0;
bytesWrittenInRegion = 0;
req.region = flashWrite.firstRegion;
req.length = CHUNK_SIZE;
for (uint32_t idx = 0; idx < fileChunks; idx++) {
if (terminate) {
return returnvalue::OK;
}
file.seekg(idx * CHUNK_SIZE, file.beg);
auto writeNextSegment = [&](uint32_t chunkIdx) {
file.seekg(chunkIdx * CHUNK_SIZE, file.beg);
file.read(reinterpret_cast<char*>(req.data), CHUNK_SIZE);
if (bytesWritten + CHUNK_SIZE > FLASH_REGION_SIZE) {
if (bytesWrittenInRegion + CHUNK_SIZE > FLASH_REGION_SIZE) {
req.region++;
bytesWritten = 0;
bytesWrittenInRegion = 0;
}
req.address = bytesWritten;
req.address = bytesWrittenInRegion;
arc_pack_write_action_req(&req, cmdBuf.data(), &size);
result = sendAndRead(size, req.address);
if (result != returnvalue::OK) {
@ -435,26 +438,40 @@ ReturnValue_t StrComHandler::performFlashWrite() {
if (result != returnvalue::OK) {
return result;
}
bytesWritten += CHUNK_SIZE;
totalBytesWritten += CHUNK_SIZE;
bytesWrittenInRegion += CHUNK_SIZE;
#if OBSW_DEBUG_STARTRACKER == 1
progressPrinter.print(idx * CHUNK_SIZE);
progressPrinter.print(chunkIdx * CHUNK_SIZE);
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
return result;
};
for (uint32_t idx = 0; idx < fileChunks; idx++) {
if (terminate) {
return returnvalue::OK;
}
result = writeNextSegment(idx);
if (result != returnvalue::OK) {
return result;
}
if (idx % 50 == 0) {
// Some grace time for other tasks
TaskFactory::delayTask(2);
}
}
uint32_t remainingBytes = fileSize - fileChunks * CHUNK_SIZE;
file.seekg((fileChunks - 1) * CHUNK_SIZE, file.beg);
if (remainingBytes > 0) {
file.seekg(fileChunks * CHUNK_SIZE, file.beg);
file.read(reinterpret_cast<char*>(req.data), remainingBytes);
file.close();
if (bytesWritten + CHUNK_SIZE > FLASH_REGION_SIZE) {
if (bytesWrittenInRegion + CHUNK_SIZE > FLASH_REGION_SIZE) {
req.region++;
bytesWritten = 0;
bytesWrittenInRegion = 0;
}
req.address = bytesWritten;
req.address = bytesWrittenInRegion;
req.length = remainingBytes;
bytesWritten += remainingBytes;
totalBytesWritten += CHUNK_SIZE;
bytesWrittenInRegion += remainingBytes;
arc_pack_write_action_req(&req, cmdBuf.data(), &size);
result = sendAndRead(size, req.address);
if (result != returnvalue::OK) {
@ -464,6 +481,7 @@ ReturnValue_t StrComHandler::performFlashWrite() {
if (result != returnvalue::OK) {
return result;
}
}
#if OBSW_DEBUG_STARTRACKER == 1
progressPrinter.print(fileSize);
#endif /* OBSW_DEBUG_STARTRACKER == 1 */

6
linux/acs/StrComHandler.h
View File

@ -11,8 +11,6 @@
#include "bsp_q7s/fs/SdCardManager.h"
#endif
#include "arcsec/client/generated/actionreq.h"
#include "arcsec/common/generated/tmtcstructs.h"
#include "fsfw/devicehandlers/CookieIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/osal/linux/BinarySemaphore.h"
@ -20,6 +18,10 @@
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw_hal/linux/serial/SerialComIF.h"
extern "C" {
#include <sagitta/client/arc_client.h>
}
/**
* @brief Helper class for the star tracker handler to accelerate large data transfers.
*

3
mission/acs/GyrAdis1650XHandler.cpp
View File

@ -56,6 +56,9 @@ ReturnValue_t GyrAdis1650XHandler::buildNormalDeviceCommand(DeviceCommandId_t *i
ReturnValue_t GyrAdis1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
switch (internalState) {
case (InternalState::STARTUP): {
if (breakCountdown.isBusy()) {
return NOTHING_TO_SEND;
}
*id = adis1650x::REQUEST;
return preparePeriodicRequest(acs::SimpleSensorMode::NORMAL);
}

13
mission/acs/str/ArcsecDatalinkLayer.cpp
View File

@ -1,4 +1,8 @@
#include <mission/acs/str/ArcsecDatalinkLayer.h>
#include "ArcsecDatalinkLayer.h"
extern "C" {
#include <wire/common/misc.h>
}
ArcsecDatalinkLayer::ArcsecDatalinkLayer() : decodeRingBuf(BUFFER_LENGTHS, true) { slipInit(); }
@ -18,13 +22,10 @@ ReturnValue_t ArcsecDatalinkLayer::checkRingBufForFrame(const uint8_t** decodedF
case ARC_DEC_INPROGRESS: {
break;
}
case ARC_DEC_ERROR_FRAME_SHORT: {
case ARC_DEC_ERROR: {
decodeRingBuf.deleteData(idx);
return REPLY_TOO_SHORT;
return returnvalue::FAILED;
}
case ARC_DEC_ERROR_CHECKSUM:
decodeRingBuf.deleteData(idx);
return CRC_FAILURE;
case ARC_DEC_ASYNC:
case ARC_DEC_SYNC: {
// Reset length of SLIP struct for next frame

5
mission/acs/str/ArcsecDatalinkLayer.h
View File

@ -5,10 +5,13 @@
#include <fsfw/devicehandlers/CookieIF.h>
#include <mission/acs/str/strHelpers.h>
#include "arcsec/common/misc.h"
#include "eive/resultClassIds.h"
#include "fsfw/returnvalues/returnvalue.h"
extern "C" {
#include <wire/common/SLIP.h>
}
/**
* @brief Helper class to handle the datalinklayer of replies from the star tracker of arcsec.
*/

4
mission/acs/str/ArcsecJsonParamBase.cpp
View File

@ -3,6 +3,10 @@
#include "arcsecJsonKeys.h"
extern "C" {
#include <wire/common/genericstructs.h>
}
ArcsecJsonParamBase::ArcsecJsonParamBase(std::string setName) : setName(setName) {}
ReturnValue_t ArcsecJsonParamBase::create(uint8_t* buffer) {

2
mission/acs/str/ArcsecJsonParamBase.h
View File

@ -7,8 +7,6 @@
#include <fstream>
#include <nlohmann/json.hpp>
#include "arcsec/common/generated/tmtcstructs.h"
#include "arcsec/common/genericstructs.h"
#include "eive/resultClassIds.h"
#include "fsfw/returnvalues/returnvalue.h"

8
mission/acs/str/StarTrackerHandler.cpp
View File

@ -1,18 +1,18 @@
#include <arcsec/client/generated/actionreq.h>
#include <arcsec/client/generated/parameter.h>
#include <arcsec/client/generated/telemetry.h>
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <mission/acs/str/StarTrackerHandler.h>
#include <mission/acs/str/strHelpers.h>
#include <mission/acs/str/strJsonCommands.h>
extern "C" {
#include <sagitta/client/arc_client.h>
}
#include <atomic>
#include <fstream>
#include <thread>
#include "OBSWConfig.h"
#include "arcsec/common/misc.h"
std::atomic_bool JCFG_DONE(false);

5
mission/acs/str/StarTrackerHandler.h
View File

@ -10,12 +10,15 @@
#include <thread>
#include "OBSWConfig.h"
#include "arcsec/common/SLIP.h"
#include "devices/powerSwitcherList.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/src/fsfw/serialize/SerializeAdapter.h"
#include "fsfw/timemanager/Countdown.h"
extern "C" {
#include <wire/common/SLIP.h>
}
/**
* @brief This is the device handler for the star tracker from arcsec.
*

2
mission/cfdp/CMakeLists.txt
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@ -1 +1 @@
target_sources(${LIB_EIVE_MISSION} PRIVATE CfdpHandler.cpp)

134
mission/cfdp/CfdpHandler.cpp Normal file
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@ -0,0 +1,134 @@
#include "CfdpHandler.h"
#include "fsfw/cfdp/pdu/AckPduReader.h"
#include "fsfw/cfdp/pdu/PduHeaderReader.h"
#include "fsfw/globalfunctions/arrayprinter.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/tmtcservices/TmTcMessage.h"
using namespace returnvalue;
using namespace cfdp;
CfdpHandler::CfdpHandler(const FsfwHandlerParams& fsfwParams, const CfdpHandlerCfg& cfdpCfg)
: SystemObject(fsfwParams.objectId),
msgQueue(fsfwParams.msgQueue),
destHandler(
DestHandlerParams(LocalEntityCfg(cfdpCfg.id, cfdpCfg.indicCfg, cfdpCfg.faultHandler),
cfdpCfg.userHandler, cfdpCfg.remoteCfgProvider, cfdpCfg.packetInfoList,
cfdpCfg.lostSegmentsList),
FsfwParams(fsfwParams.packetDest, nullptr, this, fsfwParams.tcStore,
fsfwParams.tmStore)) {
destHandler.setMsgQueue(msgQueue);
}
[[nodiscard]] const char* CfdpHandler::getName() const { return "CFDP Handler"; }
[[nodiscard]] uint32_t CfdpHandler::getIdentifier() const {
return destHandler.getDestHandlerParams().cfg.localId.getValue();
}
[[nodiscard]] MessageQueueId_t CfdpHandler::getRequestQueue() const { return msgQueue.getId(); }
ReturnValue_t CfdpHandler::initialize() {
ReturnValue_t result = destHandler.initialize();
if (result != OK) {
return result;
}
tcStore = destHandler.getTcStore();
tmStore = destHandler.getTmStore();
return SystemObject::initialize();
}
ReturnValue_t CfdpHandler::performOperation(uint8_t operationCode) {
// TODO: Receive TC packets and route them to source and dest handler, depending on which is
// correct or more appropriate
ReturnValue_t status;
ReturnValue_t result = OK;
TmTcMessage tmtcMsg;
for (status = msgQueue.receiveMessage(&tmtcMsg); status == returnvalue::OK;
status = msgQueue.receiveMessage(&tmtcMsg)) {
result = handleCfdpPacket(tmtcMsg);
if (result != OK) {
status = result;
}
}
auto& fsmRes = destHandler.performStateMachine();
// TODO: Error handling?
while (fsmRes.callStatus == CallStatus::CALL_AGAIN) {
destHandler.performStateMachine();
// TODO: Error handling?
}
return status;
}
ReturnValue_t CfdpHandler::handleCfdpPacket(TmTcMessage& msg) {
auto accessorPair = tcStore->getData(msg.getStorageId());
if (accessorPair.first != OK) {
return accessorPair.first;
}
PduHeaderReader reader(accessorPair.second.data(), accessorPair.second.size());
ReturnValue_t result = reader.parseData();
if (result != returnvalue::OK) {
return INVALID_PDU_FORMAT;
}
// The CFDP distributor should have taken care of ensuring the destination ID is correct
PduType type = reader.getPduType();
// Only the destination handler can process these PDUs
if (type == PduType::FILE_DATA) {
// Disable auto-deletion of packet
accessorPair.second.release();
PacketInfo info(type, msg.getStorageId());
result = destHandler.passPacket(info);
} else {
// Route depending on PDU type and directive type if applicable. It retrieves directive type
// from the raw stream for better performance (with sanity and directive code check).
// The routing is based on section 4.5 of the CFDP standard which specifies the PDU forwarding
// procedure.
// PDU header only. Invalid supplied data. A directive packet should have a valid data field
// with at least one byte being the directive code
const uint8_t* pduDataField = reader.getPduDataField();
if (pduDataField == nullptr) {
return INVALID_PDU_FORMAT;
}
if (not FileDirectiveReader::checkFileDirective(pduDataField[0])) {
return INVALID_DIRECTIVE_FIELD;
}
auto directive = static_cast<FileDirective>(pduDataField[0]);
auto passToDestHandler = [&]() {
accessorPair.second.release();
PacketInfo info(type, msg.getStorageId(), directive);
result = destHandler.passPacket(info);
};
auto passToSourceHandler = [&]() {
};
if (directive == FileDirective::METADATA or directive == FileDirective::EOF_DIRECTIVE or
directive == FileDirective::PROMPT) {
// Section b) of 4.5.3: These PDUs should always be targeted towards the file receiver a.k.a.
// the destination handler
passToDestHandler();
} else if (directive == FileDirective::FINISH or directive == FileDirective::NAK or
directive == FileDirective::KEEP_ALIVE) {
// Section c) of 4.5.3: These PDUs should always be targeted towards the file sender a.k.a.
// the source handler
passToSourceHandler();
} else if (directive == FileDirective::ACK) {
// Section a): Recipient depends of the type of PDU that is being acknowledged. We can simply
// extract the PDU type from the raw stream. If it is an EOF PDU, this packet is passed to
// the source handler, for a Finished PDU, it is passed to the destination handler.
FileDirective ackedDirective;
if (not AckPduReader::checkAckedDirectiveField(pduDataField[1], ackedDirective)) {
return INVALID_ACK_DIRECTIVE_FIELDS;
}
if (ackedDirective == FileDirective::EOF_DIRECTIVE) {
passToSourceHandler();
} else if (ackedDirective == FileDirective::FINISH) {
passToDestHandler();
}
}
}
return result;
}

71
mission/cfdp/CfdpHandler.h Normal file
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@ -0,0 +1,71 @@
#ifndef FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H
#define FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H
#include <utility>
#include "fsfw/cfdp/handler/DestHandler.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
#include "fsfw/tmtcservices/TmTcMessage.h"
struct FsfwHandlerParams {
FsfwHandlerParams(object_id_t objectId, HasFileSystemIF& vfs, AcceptsTelemetryIF& packetDest,
StorageManagerIF& tcStore, StorageManagerIF& tmStore, MessageQueueIF& msgQueue)
: objectId(objectId),
vfs(vfs),
packetDest(packetDest),
tcStore(tcStore),
tmStore(tmStore),
msgQueue(msgQueue) {}
object_id_t objectId{};
HasFileSystemIF& vfs;
AcceptsTelemetryIF& packetDest;
StorageManagerIF& tcStore;
StorageManagerIF& tmStore;
MessageQueueIF& msgQueue;
};
struct CfdpHandlerCfg {
CfdpHandlerCfg(cfdp::EntityId localId, cfdp::IndicationCfg indicationCfg,
cfdp::UserBase& userHandler, cfdp::FaultHandlerBase& userFaultHandler,
cfdp::PacketInfoListBase& packetInfo, cfdp::LostSegmentsListBase& lostSegmentsList,
cfdp::RemoteConfigTableIF& remoteCfgProvider)
: id(std::move(localId)),
indicCfg(indicationCfg),
packetInfoList(packetInfo),
lostSegmentsList(lostSegmentsList),
remoteCfgProvider(remoteCfgProvider),
userHandler(userHandler),
faultHandler(userFaultHandler) {}
cfdp::EntityId id;
cfdp::IndicationCfg indicCfg;
cfdp::PacketInfoListBase& packetInfoList;
cfdp::LostSegmentsListBase& lostSegmentsList;
cfdp::RemoteConfigTableIF& remoteCfgProvider;
cfdp::UserBase& userHandler;
cfdp::FaultHandlerBase& faultHandler;
};
class CfdpHandler : public SystemObject, public ExecutableObjectIF, public AcceptsTelecommandsIF {
public:
explicit CfdpHandler(const FsfwHandlerParams& fsfwParams, const CfdpHandlerCfg& cfdpCfg);
[[nodiscard]] const char* getName() const override;
[[nodiscard]] uint32_t getIdentifier() const override;
[[nodiscard]] MessageQueueId_t getRequestQueue() const override;
ReturnValue_t initialize() override;
ReturnValue_t performOperation(uint8_t operationCode) override;
private:
MessageQueueIF& msgQueue;
cfdp::DestHandler destHandler;
StorageManagerIF* tcStore = nullptr;
StorageManagerIF* tmStore = nullptr;
ReturnValue_t handleCfdpPacket(TmTcMessage& msg);
};
#endif // FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H

175
mission/controller/ThermalController.cpp
View File

@ -21,7 +21,8 @@
#define LOWER_EBAND_UPPER_LIMITS 0
#define LOWER_PLOC_UPPER_LIMITS 0
ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater)
ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater,
const std::atomic_bool& tcsBoardShortUnavailable)
: ExtendedControllerBase(objectId),
heaterHandler(heater),
sensorTemperatures(this),
@ -66,7 +67,8 @@ ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater
susSet8(objects::SUS_8_R_LOC_XBYBZB_PT_YB),
susSet9(objects::SUS_9_R_LOC_XBYBZB_PT_YF),
susSet10(objects::SUS_10_N_LOC_XMYBZF_PT_ZF),
susSet11(objects::SUS_11_R_LOC_XBYMZB_PT_ZB) {
susSet11(objects::SUS_11_R_LOC_XBYMZB_PT_ZB),
tcsBrdShortlyUnavailable(tcsBoardShortUnavailable) {
resetSensorsArray();
}
@ -134,12 +136,14 @@ void ThermalController::performControlOperation() {
}
}
if (not tcsBrdShortlyUnavailable) {
{
PoolReadGuard pg(&sensorTemperatures);
if (pg.getReadResult() == returnvalue::OK) {
copySensors();
}
}
}
{
PoolReadGuard pg(&susTemperatures);
if (pg.getReadResult() == returnvalue::OK) {
@ -166,26 +170,31 @@ void ThermalController::performControlOperation() {
}
}
if (transitionToOff) {
for (const auto& switchState : heaterSwitchStateArray) {
if (switchState != HeaterHandler::SwitchState::OFF) {
transitionToOffCycles++;
// if heater still ON after 10 cycles, switch OFF again
if (transitionToOffCycles == 10) {
for (uint8_t i = 0; i < heater::Switchers::NUMBER_OF_SWITCHES; i++) {
heaterHandler.switchHeater(static_cast<heater::Switchers>(i),
cycles++;
if (transitionWhenHeatersOff) {
bool allSwitchersOff = true;
for (size_t idx = 0; idx < heaterSwitchStateArray.size(); idx++) {
if (heaterSwitchStateArray[idx] != HeaterHandler::SwitchState::OFF) {
allSwitchersOff = false;
// if heater still ON after 3 cycles, switch OFF again
if (transitionWhenHeatersOffCycles == 3) {
heaterHandler.switchHeater(static_cast<heater::Switch>(idx),
HeaterHandler::SwitchState::OFF);
}
triggerEvent(tcsCtrl::HEATER_NOT_OFF_FOR_OFF_MODE);
}
return;
}
setMode(MODE_OFF);
}
} else if (mode != MODE_OFF) {
if (allSwitchersOff or transitionWhenHeatersOffCycles == 6) {
// Finish the transition
transitionWhenHeatersOff = false;
resetThermalStates();
setMode(targetMode, targetSubmode);
} else {
transitionWhenHeatersOffCycles++;
}
} else if (mode != MODE_OFF and not tcsBrdShortlyUnavailable) {
performThermalModuleCtrl(heaterSwitchStateArray);
}
cycles++;
}
ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -288,12 +297,18 @@ LocalPoolDataSetBase* ThermalController::getDataSetHandle(sid_t sid) {
ReturnValue_t ThermalController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) {
if ((mode != MODE_OFF) and (mode != MODE_ON)) {
return INVALID_MODE;
}
if (mode == MODE_ON) {
if (submode != SUBMODE_NONE and submode != SUBMODE_NO_HEATER_CTRL) {
return HasModesIF::INVALID_SUBMODE;
}
return returnvalue::OK;
}
if (submode != SUBMODE_NONE) {
return INVALID_SUBMODE;
}
if ((mode != MODE_OFF) && (mode != MODE_ON) && (mode != MODE_NORMAL)) {
return INVALID_MODE;
}
return returnvalue::OK;
}
@ -972,8 +987,8 @@ void ThermalController::copyDevices() {
}
void ThermalController::ctrlAcsBoard() {
heater::Switchers switchNr = heater::HEATER_2_ACS_BRD;
heater::Switchers redSwitchNr = heater::HEATER_0_OBC_BRD;
heater::Switch switchNr = heater::HEATER_2_ACS_BRD;
heater::Switch redSwitchNr = heater::HEATER_0_OBC_BRD;
// A side
thermalComponent = ACS_BOARD;
@ -1019,7 +1034,9 @@ void ThermalController::ctrlAcsBoard() {
} else {
if (chooseHeater(switchNr, redSwitchNr)) {
if (heaterHandler.getSwitchState(switchNr)) {
heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
if (submode != SUBMODE_NO_HEATER_CTRL) {
heaterSwitchHelper(switchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
}
}
}
}
@ -1264,8 +1281,8 @@ void ThermalController::ctrlPcduP60Board() {
void ThermalController::ctrlPcduAcu() {
thermalComponent = PCDUACU;
heater::Switchers switchNr = heater::HEATER_3_PCDU_PDU;
heater::Switchers redSwitchNr = heater::HEATER_2_ACS_BRD;
heater::Switch switchNr = heater::HEATER_3_PCDU_PDU;
heater::Switch redSwitchNr = heater::HEATER_2_ACS_BRD;
if (chooseHeater(switchNr, redSwitchNr)) {
bool sensorTempAvailable = true;
@ -1553,13 +1570,16 @@ void ThermalController::performThermalModuleCtrl(const HeaterSwitchStates& heate
void ThermalController::ctrlComponentTemperature(HeaterContext& htrCtx) {
if (selectAndReadSensorTemp(htrCtx)) {
if (chooseHeater(htrCtx.switchNr, htrCtx.redSwitchNr)) {
// Core loop for a thermal component, after sensors and heaters were selected.
checkLimitsAndCtrlHeater(htrCtx);
}
} else {
// TODO: muss der Heater dann wirklich abgeschalten werden?
// No sensors available, so switch the heater off. We can not perform control tasks if we
// are blind..
if (chooseHeater(htrCtx.switchNr, htrCtx.redSwitchNr)) {
if (heaterHandler.getSwitchState(htrCtx.switchNr)) {
heaterHandler.switchHeater(htrCtx.switchNr, HeaterHandler::SwitchState::OFF);
if (heaterCtrlAllowed() and
(heaterHandler.getSwitchState(htrCtx.switchNr) == HeaterHandler::SwitchState::ON)) {
heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
}
}
}
@ -1589,7 +1609,7 @@ bool ThermalController::selectAndReadSensorTemp(HeaterContext& htrCtx) {
return false;
}
bool ThermalController::chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr) {
bool ThermalController::chooseHeater(heater::Switch& switchNr, heater::Switch redSwitchNr) {
bool heaterAvailable = true;
if (heaterHandler.getHealth(switchNr) != HasHealthIF::HEALTHY) {
@ -1607,15 +1627,18 @@ bool ThermalController::chooseHeater(heater::Switchers& switchNr, heater::Switch
}
void ThermalController::heaterCtrlTempTooHighHandler(HeaterContext& htrCtx, const char* whatLimit) {
if (not heaterCtrlAllowed()) {
return;
}
if (htrCtx.switchState == HeaterHandler::SwitchState::ON) {
sif::info << "TCS: Component " << static_cast<int>(thermalComponent) << " too warm, above "
<< whatLimit << ", switching off heater" << std::endl;
heaterHandler.switchHeater(htrCtx.switchNr, HeaterHandler::SwitchState::OFF);
heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
heaterStates[htrCtx.switchNr].switchTransition = true;
heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::OFF;
}
if (heaterHandler.getSwitchState(htrCtx.redSwitchNr) == HeaterHandler::SwitchState::ON) {
heaterHandler.switchHeater(htrCtx.redSwitchNr, HeaterHandler::SwitchState::OFF);
heaterSwitchHelper(htrCtx.redSwitchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
heaterStates[htrCtx.redSwitchNr].switchTransition = true;
heaterStates[htrCtx.redSwitchNr].target = HeaterHandler::SwitchState::OFF;
}
@ -1630,34 +1653,37 @@ void ThermalController::checkLimitsAndCtrlHeater(HeaterContext& htrCtx) {
if (heaterStates[htrCtx.switchNr].switchTransition) {
htrCtx.doHeaterHandling = false;
heaterCtrlCheckUpperLimits(htrCtx);
} else {
// Heater off
return;
}
htrCtx.switchState = heaterHandler.getSwitchState(htrCtx.switchNr);
// Heater off
if (htrCtx.switchState == HeaterHandler::SwitchState::OFF) {
if (sensorTemp < htrCtx.tempLimit.opLowerLimit) {
heaterHandler.switchHeater(htrCtx.switchNr, HeaterHandler::SwitchState::ON);
sif::info << "ThermalController::checkLimitsAndCtrlHeater: Heater "
<< static_cast<int>(thermalComponent) << " ON" << std::endl;
if (sensorTemp < htrCtx.tempLimit.opLowerLimit and heaterCtrlAllowed()) {
sif::info << "TCS: Heater " << static_cast<int>(thermalComponent) << " ON" << std::endl;
heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::ON, thermalComponent);
heaterStates[htrCtx.switchNr].switchTransition = true;
thermalStates[thermalComponent].heating = true;
heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::ON;
} else {
// Even if heater control is now allowed, we can update the state.
thermalStates[thermalComponent].heating = false;
}
heaterCtrlCheckUpperLimits(htrCtx);
return;
}
// Heater on
} else if (heaterHandler.getSwitchState(htrCtx.switchNr) == HeaterHandler::SwitchState::ON) {
if (htrCtx.switchState == HeaterHandler::SwitchState::ON) {
if (thermalStates[thermalComponent].heating) {
// We are already in a heating cycle, so need to check whether heating task is complete.
if (sensorTemp >= htrCtx.tempLimit.opLowerLimit + TEMP_OFFSET) {
heaterHandler.switchHeater(htrCtx.switchNr, HeaterHandler::SwitchState::OFF);
sif::info << "ThermalController::checkLimitsAndCtrlHeater: Heater "
<< static_cast<int>(thermalComponent) << " OFF" << std::endl;
if (sensorTemp >= htrCtx.tempLimit.opLowerLimit + TEMP_OFFSET and heaterCtrlAllowed()) {
sif::info << "TCS: Heater " << static_cast<int>(thermalComponent) << " OFF" << std::endl;
heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
heaterStates[htrCtx.switchNr].switchTransition = true;
heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::OFF;
thermalStates[thermalComponent].heating = false;
}
} else {
return;
}
// This can happen if heater is used as alternative heater (no regular heating cycle), so we
// should still check the upper limits.
bool tooHighHandlerAlreadyCalled = heaterCtrlCheckUpperLimits(htrCtx);
@ -1669,8 +1695,6 @@ void ThermalController::checkLimitsAndCtrlHeater(HeaterContext& htrCtx) {
}
}
}
}
}
bool ThermalController::heaterCtrlCheckUpperLimits(HeaterContext& htrCtx) {
if (sensorTemp >= htrCtx.tempLimit.nopUpperLimit) {
@ -1698,8 +1722,8 @@ void ThermalController::resetSensorsArray() {
}
thermalComponent = NONE;
}
void ThermalController::heaterTransitionControl(const HeaterSwitchStates& currentHeaterStates) {
// TODO: Test
for (unsigned i = 0; i < 7; i++) {
if (heaterStates[i].switchTransition) {
if (currentHeaterStates[i] == heaterStates[i].target) {
@ -1723,11 +1747,12 @@ uint32_t ThermalController::tempFloatToU32() const {
return tempRaw;
}
void ThermalController::setMode(Mode_t mode) {
void ThermalController::setMode(Mode_t mode, Submode_t submode) {
if (mode == MODE_OFF) {
transitionToOff = false;
transitionWhenHeatersOff = false;
}
this->mode = mode;
this->submode = submode;
modeHelper.modeChanged(mode, submode);
announceMode(false);
}
@ -1742,6 +1767,43 @@ bool ThermalController::tooHotHandler(object_id_t object, bool& oneShotFlag) {
return false;
}
bool ThermalController::heaterCtrlAllowed() const { return submode != SUBMODE_NO_HEATER_CTRL; }
void ThermalController::resetThermalStates() {
for (auto& thermalState : thermalStates) {
thermalState.heating = false;
}
}
void ThermalController::heaterSwitchHelper(heater::Switch switchNr,
HeaterHandler::SwitchState state,
unsigned componentIdx) {
timeval currentTime;
Clock::getClockMonotonic(&currentTime);
if (state == HeaterHandler::SwitchState::ON) {
heaterHandler.switchHeater(switchNr, state);
thermalStates[componentIdx].heating = true;
thermalStates[componentIdx].heaterStartTime = currentTime.tv_sec;
} else {
heaterHandler.switchHeater(switchNr, state);
thermalStates[componentIdx].heating = false;
thermalStates[componentIdx].heaterEndTime = currentTime.tv_sec;
}
}
void ThermalController::heaterSwitchHelperAllOff() {
timeval currentTime;
Clock::getClockMonotonic(&currentTime);
size_t idx = 0;
for (; idx < heater::Switch::NUMBER_OF_SWITCHES; idx++) {
heaterHandler.switchHeater(static_cast<heater::Switch>(idx), HeaterHandler::SwitchState::OFF);
}
for (idx = 0; idx < thermalStates.size(); idx++) {
thermalStates[idx].heating = false;
thermalStates[idx].heaterEndTime = currentTime.tv_sec;
}
}
void ThermalController::tooHotHandlerWhichClearsOneShotFlag(object_id_t object, bool& oneShotFlag) {
// Clear the one shot flag is the component is in acceptable temperature range.
if (not tooHotHandler(object, oneShotFlag) and not componentAboveUpperLimit) {
@ -1751,14 +1813,15 @@ void ThermalController::tooHotHandlerWhichClearsOneShotFlag(object_id_t object,
void ThermalController::startTransition(Mode_t mode_, Submode_t submode_) {
triggerEvent(CHANGING_MODE, mode_, submode_);
if (mode_ == MODE_OFF) {
for (uint8_t i = 0; i < heater::Switchers::NUMBER_OF_SWITCHES; i++) {
heaterHandler.switchHeater(static_cast<heater::Switchers>(i),
HeaterHandler::SwitchState::OFF);
}
transitionToOff = true;
transitionToOffCycles = 0;
// For MODE_OFF and the no heater control submode, we command all switches to off before
// completing the transition. This ensures a consistent state when commanding these modes.
if ((mode_ == MODE_OFF) or ((mode_ == MODE_ON) and (submode_ == SUBMODE_NO_HEATER_CTRL))) {
heaterSwitchHelperAllOff();
transitionWhenHeatersOff = true;
targetMode = mode_;
targetSubmode = submode_;
transitionWhenHeatersOffCycles = 0;
} else {
setMode(mode_);
setMode(mode_, submode_);
}
}

46
mission/controller/ThermalController.h
View File

@ -22,6 +22,7 @@
#include <mission/tcs/Tmp1075Definitions.h>
#include <mission/utility/trace.h>
#include <atomic>
#include <list>
/**
@ -47,8 +48,13 @@ struct TempLimits {
struct ThermalState {
uint8_t errorCounter;
bool heating;
uint32_t heaterStartTime;
// 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 {
@ -89,25 +95,28 @@ enum ThermalComponents : uint8_t {
class ThermalController : public ExtendedControllerBase {
public:
static constexpr uint8_t SUBMODE_NO_HEATER_CTRL = 1;
static const uint16_t INVALID_TEMPERATURE = 999;
static const uint8_t NUMBER_OF_SENSORS = 16;
static constexpr int16_t SANITY_LIMIT_LOWER_TEMP = -80;
static constexpr int16_t SANITY_LIMIT_UPPER_TEMP = 160;
ThermalController(object_id_t objectId, HeaterHandler& heater);
ThermalController(object_id_t objectId, HeaterHandler& heater,
const std::atomic_bool& tcsBoardShortUnavailable);
ReturnValue_t initialize() override;
protected:
struct HeaterContext {
public:
HeaterContext(heater::Switchers switchNr, heater::Switchers redundantSwitchNr,
HeaterContext(heater::Switch switchNr, heater::Switch redundantSwitchNr,
const TempLimits& tempLimit)
: switchNr(switchNr), redSwitchNr(redundantSwitchNr), tempLimit(tempLimit) {}
bool doHeaterHandling = true;
heater::Switchers switchNr;
heater::Switch switchNr;
HeaterHandler::SwitchState switchState = HeaterHandler::SwitchState::OFF;
heater::Switchers redSwitchNr;
heater::Switch redSwitchNr;
const TempLimits& tempLimit;
};
@ -181,6 +190,10 @@ class ThermalController : public ExtendedControllerBase {
susMax1227::SusDataset susSet10;
susMax1227::SusDataset susSet11;
// If the TCS board in unavailable, for example due to a recovery, skip
// some TCS controller tasks to avoid unnecessary events.
const std::atomic_bool& tcsBrdShortlyUnavailable = false;
lp_var_t<float> tempQ7s = lp_var_t<float>(objects::CORE_CONTROLLER, core::PoolIds::TEMPERATURE);
lp_var_t<int16_t> battTemp1 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_1);
lp_var_t<int16_t> battTemp2 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_2);
@ -257,11 +270,13 @@ class ThermalController : public ExtendedControllerBase {
bool strTooHotFlag = false;
bool rwTooHotFlag = false;
bool transitionToOff = false;
uint32_t transitionToOffCycles = 0;
bool transitionWhenHeatersOff = false;
uint32_t transitionWhenHeatersOffCycles = 0;
Mode_t targetMode = MODE_OFF;
Submode_t targetSubmode = SUBMODE_NONE;
uint32_t cycles = 0;
std::array<ThermalState, 30> thermalStates{};
std::array<HeaterState, 7> heaterStates{};
std::array<ThermalState, ThermalComponents::NUM_ENTRIES> thermalStates{};
std::array<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.
@ -286,6 +301,9 @@ class ThermalController : public ExtendedControllerBase {
void startTransition(Mode_t mode, Submode_t submode) override;
bool heaterCtrlAllowed() const;
void resetThermalStates();
void resetSensorsArray();
void copySensors();
void copySus();
@ -296,9 +314,13 @@ class ThermalController : public ExtendedControllerBase {
bool heaterCtrlCheckUpperLimits(HeaterContext& heaterContext);
void heaterCtrlTempTooHighHandler(HeaterContext& heaterContext, const char* whatLimit);
bool chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr);
bool chooseHeater(heater::Switch& switchNr, heater::Switch redSwitchNr);
bool selectAndReadSensorTemp(HeaterContext& htrCtx);
void heaterSwitchHelperAllOff();
void heaterSwitchHelper(heater::Switch switchNr, HeaterHandler::SwitchState state,
unsigned componentIdx);
void ctrlAcsBoard();
void ctrlMgt();
void ctrlRw();
@ -323,7 +345,7 @@ class ThermalController : public ExtendedControllerBase {
void ctrlMpa();
void ctrlScexBoard();
void heaterTransitionControl(const HeaterSwitchStates& currentHeaterStates);
void setMode(Mode_t mode);
void setMode(Mode_t mode, Submode_t submode);
uint32_t tempFloatToU32() const;
bool tooHotHandler(object_id_t object, bool& oneShotFlag);
void tooHotHandlerWhichClearsOneShotFlag(object_id_t object, bool& oneShotFlag);

2
mission/controller/tcsDefs.h
View File

@ -4,8 +4,8 @@
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include "devices/heaterSwitcherList.h"
#include "eive/eventSubsystemIds.h"
#include "mission/tcs/defs.h"
namespace tcsCtrl {

16
mission/genericFactory.cpp
View File

@ -1,5 +1,4 @@
#include <fsfw/cfdp/CfdpDistributor.h>
#include <fsfw/cfdp/handler/CfdpHandler.h>
#include <fsfw/cfdp/handler/RemoteConfigTableIF.h>
#include <fsfw/controller/ControllerBase.h>
#include <fsfw/controller/ExtendedControllerBase.h>
@ -23,6 +22,7 @@
#include <fsfw/tcdistribution/PusDistributor.h>
#include <fsfw/timemanager/CdsShortTimeStamper.h>
#include <fsfw_hal/host/HostFilesystem.h>
#include <mission/cfdp/CfdpHandler.h>
#include <mission/controller/ThermalController.h>
#include <mission/genericFactory.h>
#include <mission/persistentTmStoreDefs.h>
@ -48,6 +48,7 @@
#include "mission/system/acs/RwAssembly.h"
#include "mission/system/acs/acsModeTree.h"
#include "mission/system/tree/tcsModeTree.h"
#include "mission/tcs/defs.h"
#include "mission/tmtc/tmFilters.h"
#include "objects/systemObjectList.h"
#include "tmtc/pusIds.h"
@ -90,6 +91,8 @@ EiveFaultHandler EIVE_FAULT_HANDLER;
} // namespace cfdp
std::atomic_bool tcs::TCS_BOARD_SHORTLY_UNAVAILABLE = false;
void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFunnel** pusFunnel,
CfdpTmFunnel** cfdpFunnel, SdCardMountedIF& sdcMan,
StorageManagerIF** ipcStore, StorageManagerIF** tmStore,
@ -300,7 +303,8 @@ void ObjectFactory::createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF&
}
void ObjectFactory::createThermalController(HeaterHandler& heaterHandler) {
auto* tcsCtrl = new ThermalController(objects::THERMAL_CONTROLLER, heaterHandler);
auto* tcsCtrl = new ThermalController(objects::THERMAL_CONTROLLER, heaterHandler,
tcs::TCS_BOARD_SHORTLY_UNAVAILABLE);
tcsCtrl->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
}
void ObjectFactory::createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t theSwitch,
@ -366,10 +370,12 @@ void ObjectFactory::createAcsBoardAssy(PowerSwitchIF& pwrSwitcher,
acsAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
}
TcsBoardAssembly* ObjectFactory::createTcsBoardAssy(PowerSwitchIF& pwrSwitcher) {
TcsBoardAssembly* ObjectFactory::createTcsBoardAssy(PowerSwitchIF& pwrSwitcher,
std::atomic_bool& tcsShortlyUnavailable) {
TcsBoardHelper helper(RTD_INFOS);
auto* tcsBoardAss = new TcsBoardAssembly(objects::TCS_BOARD_ASS, &pwrSwitcher,
power::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
auto* tcsBoardAss =
new TcsBoardAssembly(objects::TCS_BOARD_ASS, &pwrSwitcher,
power::Switches::PDU1_CH0_TCS_BOARD_3V3, helper, tcsShortlyUnavailable);
tcsBoardAss->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
return tcsBoardAss;
}

3
mission/genericFactory.h
View File

@ -55,7 +55,8 @@ void createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t theSwitch,
void createSusAssy(PowerSwitchIF& pwrSwitcher, std::array<DeviceHandlerBase*, 12> suses);
void createAcsBoardAssy(PowerSwitchIF& pwrSwitcher, std::array<DeviceHandlerBase*, 8> assemblyDhbs,
ExtendedControllerBase* gpsCtrl, GpioIF* gpioComIF);
TcsBoardAssembly* createTcsBoardAssy(PowerSwitchIF& pwrSwitcher);
TcsBoardAssembly* createTcsBoardAssy(PowerSwitchIF& pwrSwitcher,
std::atomic_bool& tcsShortlyUnavailable);
} // namespace ObjectFactory

1
mission/power/defs.h
View File

@ -50,6 +50,7 @@ static constexpr Event FDIR_REACTION_IGNORED = event::makeEvent(SUBSYSTEM_ID, 3,
enum class States { IDLE, SWITCHING_POWER, CHECKING_POWER, MODE_COMMANDING };
enum class OpCodes { NONE, TO_OFF_DONE, TO_NOT_OFF_DONE, TIMEOUT_OCCURED };
enum RecoveryCustomStates { IDLE, POWER_SWITCHING_OFF, POWER_SWITCHING_ON, DONE };
} // namespace power
namespace duallane {

22
mission/sysDefs.h
View File

@ -13,7 +13,25 @@ enum Mode : Mode_t { BOOT = 5, SAFE = acs::AcsMode::SAFE, PTG_IDLE = acs::AcsMod
}
namespace xsc {
enum Chip : int { CHIP_0, CHIP_1, NO_CHIP, SELF_CHIP, ALL_CHIP };
enum Copy : int { COPY_0, COPY_1, NO_COPY, SELF_COPY, ALL_COPY };
} // namespace xsc
namespace core {
// TODO: Support for status? Or maybe some command to quickly get information whether a unit
// is running.
enum SystemctlCmd : uint8_t { START = 0, STOP = 1, RESTART = 2, NUM_CMDS = 3 };
static constexpr char CONF_FOLDER[] = "conf";
static constexpr char VERSION_FILE_NAME[] = "version.txt";
static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
static constexpr char TIME_FILE_NAME[] = "time_backup.txt";
static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
static constexpr ActionId_t ANNOUNCE_VERSION = 1;
static constexpr ActionId_t ANNOUNCE_CURRENT_IMAGE = 2;
@ -37,7 +55,9 @@ static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
//! Reboot using the reboot command
static constexpr ActionId_t REBOOT_OBC = 34;
static constexpr ActionId_t EXECUTE_SHELL_CMD = 40;
static constexpr ActionId_t EXECUTE_SHELL_CMD_BLOCKING = 40;
static constexpr ActionId_t EXECUTE_SHELL_CMD_NON_BLOCKING = 41;
static constexpr ActionId_t SYSTEMCTL_CMD_EXECUTOR = 42;
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;

5
mission/system/CMakeLists.txt
View File

@ -6,5 +6,6 @@ add_subdirectory(fdir)
add_subdirectory(power)
target_sources(
${LIB_EIVE_MISSION} PRIVATE systemTree.cpp DualLanePowerStateMachine.cpp
EiveSystem.cpp treeUtil.cpp)
${LIB_EIVE_MISSION}
PRIVATE systemTree.cpp DualLanePowerStateMachine.cpp EiveSystem.cpp
treeUtil.cpp SharedPowerAssemblyBase.cpp)

91
mission/system/SharedPowerAssemblyBase.cpp Normal file
View File

@ -0,0 +1,91 @@
#include "SharedPowerAssemblyBase.h"
SharedPowerAssemblyBase::SharedPowerAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
power::Switch_t switchId, uint16_t cmdQueueDepth)
: AssemblyBase(objectId, cmdQueueDepth), switcher(pwrSwitcher, switchId) {}
void SharedPowerAssemblyBase::performChildOperation() {
auto state = switcher.getState();
if (state != PowerSwitcher::WAIT_OFF and state != PowerSwitcher::WAIT_ON) {
AssemblyBase::performChildOperation();
return;
}
switcher.doStateMachine();
if (state == PowerSwitcher::WAIT_OFF and switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
// Indicator that a transition to off is finished
AssemblyBase::handleModeReached();
} else if (state == PowerSwitcher::WAIT_ON and
switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
// Indicator that mode commanding can be performed now
AssemblyBase::startTransition(targetMode, targetSubmode);
}
}
void SharedPowerAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
if (mode != MODE_OFF) {
switcher.turnOn(true);
switcher.doStateMachine();
if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
AssemblyBase::startTransition(mode, submode);
} else {
// Need to wait with mode commanding until power switcher is done
targetMode = mode;
targetSubmode = submode;
}
} else {
// Perform regular mode commanding first
AssemblyBase::startTransition(mode, submode);
}
}
void SharedPowerAssemblyBase::handleModeReached() {
if (targetMode == MODE_OFF) {
switcher.turnOff(true);
switcher.doStateMachine();
// Need to wait with call to AssemblyBase::handleModeReached until power switcher is done
if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
AssemblyBase::handleModeReached();
}
} else {
AssemblyBase::handleModeReached();
}
}
bool SharedPowerAssemblyBase::checkAndHandleRecovery() {
using namespace power;
if (recoveryState == RECOVERY_IDLE) {
return AssemblyBase::checkAndHandleRecovery();
}
if (customRecoveryStates == IDLE) {
switcher.turnOff();
customRecoveryStates = RecoveryCustomStates::POWER_SWITCHING_OFF;
}
if (customRecoveryStates == POWER_SWITCHING_OFF) {
switcher.doStateMachine();
if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
customRecoveryStates = RecoveryCustomStates::POWER_SWITCHING_ON;
switcher.turnOn();
}
}
if (customRecoveryStates == POWER_SWITCHING_ON) {
switcher.doStateMachine();
if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
customRecoveryStates = RecoveryCustomStates::DONE;
}
}
if (customRecoveryStates == DONE) {
bool pendingRecovery = AssemblyBase::checkAndHandleRecovery();
if (not pendingRecovery) {
customRecoveryStates = RecoveryCustomStates::IDLE;
}
// For a recovery on one side, only do the recovery once
for (auto& child : childrenMap) {
if (healthHelper.healthTable->getHealth(child.first) == HasHealthIF::NEEDS_RECOVERY) {
sendHealthCommand(child.second.commandQueue, HEALTHY);
child.second.healthChanged = false;
}
}
return pendingRecovery;
}
return true;
}

27
mission/system/SharedPowerAssemblyBase.h Normal file
View File

@ -0,0 +1,27 @@
#ifndef MISSION_SYSTEM_SHAREDPOWERASSEMBLYBASE_H_
#define MISSION_SYSTEM_SHAREDPOWERASSEMBLYBASE_H_
#include <fsfw/devicehandlers/AssemblyBase.h>
#include <fsfw/power/PowerSwitcher.h>
#include <mission/power/defs.h>
/**
* Base class which contains common functions for assemblies where the power line is shared
* among the devices in the assembly.
*/
class SharedPowerAssemblyBase : public AssemblyBase {
public:
SharedPowerAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
power::Switch_t switchId, uint16_t cmdQueueDepth = 8);
protected:
PowerSwitcher switcher;
power::RecoveryCustomStates customRecoveryStates = power::RecoveryCustomStates::IDLE;
void performChildOperation() override;
void startTransition(Mode_t mode, Submode_t submode) override;
void handleModeReached() override;
virtual bool checkAndHandleRecovery() override;
};
#endif /* MISSION_SYSTEM_SHAREDPOWERASSEMBLYBASE_H_ */

7
mission/system/acs/DualLaneAssemblyBase.h
View File

@ -39,12 +39,7 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
SideSwitchState sideSwitchState = SideSwitchState::NONE;
duallane::Submodes targetSubmodeForSideSwitch = duallane::Submodes::B_SIDE;
enum RecoveryCustomStates {
IDLE,
POWER_SWITCHING_OFF,
POWER_SWITCHING_ON,
DONE
} customRecoveryStates = RecoveryCustomStates::IDLE;
power::RecoveryCustomStates customRecoveryStates = power::RecoveryCustomStates::IDLE;
MessageQueueIF* eventQueue = nullptr;

52
mission/system/acs/RwAssembly.cpp
View File

@ -1,8 +1,8 @@
#include "RwAssembly.h"
RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switchId,
RwHelper helper)
: AssemblyBase(objectId), helper(helper), switcher(pwrSwitcher, switcher) {
: SharedPowerAssemblyBase(objectId, pwrSwitcher, switchId), helper(helper) {
ModeListEntry entry;
for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
entry.setObject(helper.rwIds[idx]);
@ -12,26 +12,8 @@ RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::
}
}
void RwAssembly::performChildOperation() {
auto state = switcher.getState();
if (state != PowerSwitcher::WAIT_OFF and state != PowerSwitcher::WAIT_ON) {
AssemblyBase::performChildOperation();
return;
}
switcher.doStateMachine();
if (state == PowerSwitcher::WAIT_OFF and switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
// Indicator that a transition to off is finished
AssemblyBase::handleModeReached();
} else if (state == PowerSwitcher::WAIT_ON and
switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
// Indicator that mode commanding can be performed now
AssemblyBase::startTransition(targetMode, targetSubmode);
}
}
ReturnValue_t RwAssembly::commandChildren(Mode_t mode, Submode_t submode) {
ReturnValue_t result = returnvalue::OK;
modeTransitionFailedSwitch = true;
// Initialize the mode table to ensure all devices are in a defined state
for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
modeTable[idx].setMode(MODE_OFF);
@ -76,36 +58,6 @@ ReturnValue_t RwAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode)
return HasModesIF::INVALID_MODE;
}
void RwAssembly::startTransition(Mode_t mode, Submode_t submode) {
if (mode != MODE_OFF) {
switcher.turnOn(true);
switcher.doStateMachine();
if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
AssemblyBase::startTransition(mode, submode);
} else {
// Need to wait with mode commanding until power switcher is done
targetMode = mode;
targetSubmode = submode;
}
} else {
// Perform regular mode commanding first
AssemblyBase::startTransition(mode, submode);
}
}
void RwAssembly::handleModeReached() {
if (targetMode == MODE_OFF) {
switcher.turnOff(true);
switcher.doStateMachine();
// Need to wait with call to AssemblyBase::handleModeReached until power switcher is done
if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
AssemblyBase::handleModeReached();
}
} else {
AssemblyBase::handleModeReached();
}
}
ReturnValue_t RwAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
ReturnValue_t result = returnvalue::OK;
object_id_t objId = 0;

11
mission/system/acs/RwAssembly.h
View File

@ -1,8 +1,8 @@
#ifndef MISSION_SYSTEM_RWASS_H_
#define MISSION_SYSTEM_RWASS_H_
#include <fsfw/devicehandlers/AssemblyBase.h>
#include <fsfw/power/PowerSwitcher.h>
#include <mission/system/SharedPowerAssemblyBase.h>
struct RwHelper {
RwHelper(std::array<object_id_t, 4> rwIds) : rwIds(rwIds) {}
@ -10,17 +10,15 @@ struct RwHelper {
std::array<object_id_t, 4> rwIds = {};
};
class RwAssembly : public AssemblyBase {
class RwAssembly : public SharedPowerAssemblyBase {
public:
RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switchId,
RwHelper helper);
private:
static constexpr uint8_t NUMBER_RWS = 4;
RwHelper helper;
PowerSwitcher switcher;
bool warningSwitch = true;
bool modeTransitionFailedSwitch = true;
FixedArrayList<ModeListEntry, NUMBER_RWS> modeTable;
ReturnValue_t initialize() override;
@ -35,12 +33,9 @@ class RwAssembly : public AssemblyBase {
bool isUseable(object_id_t object, Mode_t mode);
// AssemblyBase implementation
void performChildOperation() override;
ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
void startTransition(Mode_t mode, Submode_t submode) override;
void handleModeReached() override;
};
#endif /* MISSION_SYSTEM_RWASS_H_ */

2
mission/system/fdir/RtdFdir.cpp
View File

@ -3,4 +3,4 @@
#include "eive/objects.h"
RtdFdir::RtdFdir(object_id_t sensorId)
: DeviceHandlerFailureIsolation(sensorId, objects::TCS_BOARD_ASS) {}
: DeviceHandlerFailureIsolation(sensorId, objects::NO_OBJECT) {}

67
mission/system/objects/TcsBoardAssembly.cpp
View File

@ -4,9 +4,11 @@
#include <fsfw/ipc/QueueFactory.h>
TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
power::Switch_t theSwitch, TcsBoardHelper helper)
: AssemblyBase(objectId, 24), switcher(pwrSwitcher, theSwitch), helper(helper) {
eventQueue = QueueFactory::instance()->createMessageQueue(24);
power::Switch_t theSwitch, TcsBoardHelper helper,
std::atomic_bool& tcsShortlyUnavailable)
: SharedPowerAssemblyBase(objectId, pwrSwitcher, theSwitch, 16),
helper(helper),
tcsShortlyUnavailable(tcsShortlyUnavailable) {
ModeListEntry entry;
for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
entry.setObject(helper.rtdInfos[idx].first);
@ -16,23 +18,6 @@ TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitc
}
}
void TcsBoardAssembly::performChildOperation() {
auto state = switcher.getState();
if (state != PowerSwitcher::WAIT_OFF and state != PowerSwitcher::WAIT_ON) {
AssemblyBase::performChildOperation();
return;
}
switcher.doStateMachine();
if (state == PowerSwitcher::WAIT_OFF and switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
// Indicator that a transition to off is finished
AssemblyBase::handleModeReached();
} else if (state == PowerSwitcher::WAIT_ON and
switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
// Indicator that mode commanding can be performed now
AssemblyBase::startTransition(targetMode, targetSubmode);
}
}
ReturnValue_t TcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode) {
ReturnValue_t result = returnvalue::OK;
// Initialize the mode table to ensure all devices are in a defined state
@ -50,6 +35,8 @@ ReturnValue_t TcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
result = handleNormalOrOnModeCmd(mode, submode);
}
} else {
tcsShortlyUnavailable = true;
}
HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
executeTable(tableIter);
@ -94,25 +81,6 @@ ReturnValue_t TcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t su
return HasModesIF::INVALID_MODE;
}
ReturnValue_t TcsBoardAssembly::initialize() { return AssemblyBase::initialize(); }
void TcsBoardAssembly::startTransition(Mode_t mode, Submode_t submode) {
if (mode != MODE_OFF) {
switcher.turnOn(true);
switcher.doStateMachine();
if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
AssemblyBase::startTransition(mode, submode);
} else {
// Need to wait with mode commanding until power switcher is done
targetMode = mode;
targetSubmode = submode;
}
} else {
// Perform regular mode commanding first
AssemblyBase::startTransition(mode, submode);
}
}
ReturnValue_t TcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
ReturnValue_t result = returnvalue::OK;
bool needsSecondStep = false;
@ -169,21 +137,6 @@ bool TcsBoardAssembly::isUseable(object_id_t object, Mode_t mode) {
return false;
}
MessageQueueId_t TcsBoardAssembly::getEventReceptionQueue() { return eventQueue->getId(); }
void TcsBoardAssembly::handleModeReached() {
if (targetMode == MODE_OFF) {
switcher.turnOff(true);
switcher.doStateMachine();
// Need to wait with call to AssemblyBase::handleModeReached until power switcher is done
if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
AssemblyBase::handleModeReached();
}
} else {
AssemblyBase::handleModeReached();
}
}
void TcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
triggerEvent(CHILDREN_LOST_MODE, result);
startTransition(mode, submode);
@ -210,6 +163,12 @@ ReturnValue_t TcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
return status;
}
bool TcsBoardAssembly::checkAndHandleRecovery() {
bool recoveryPending = SharedPowerAssemblyBase::checkAndHandleRecovery();
tcsShortlyUnavailable = recoveryPending;
return recoveryPending;
}
void TcsBoardAssembly::handleModeTransitionFailed(ReturnValue_t result) {
if (targetMode == MODE_OFF) {
AssemblyBase::handleModeTransitionFailed(result);

20
mission/system/objects/TcsBoardAssembly.h
View File

@ -4,6 +4,10 @@
#include <fsfw/container/FixedArrayList.h>
#include <fsfw/devicehandlers/AssemblyBase.h>
#include <fsfw/power/PowerSwitcher.h>
#include <mission/power/defs.h>
#include <mission/system/SharedPowerAssemblyBase.h>
#include <atomic>
#include "events/subsystemIdRanges.h"
#include "returnvalues/classIds.h"
@ -15,23 +19,20 @@ struct TcsBoardHelper {
std::array<std::pair<object_id_t, std::string>, 16> rtdInfos = {};
};
class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
class TcsBoardAssembly : public SharedPowerAssemblyBase {
public:
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_BOARD_ASS;
static constexpr Event CHILDREN_LOST_MODE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
TcsBoardHelper helper);
ReturnValue_t initialize() override;
TcsBoardHelper helper, std::atomic_bool& tcsShortlyUnavailable);
private:
static constexpr uint8_t NUMBER_RTDS = 16;
PowerSwitcher switcher;
bool warningSwitch = true;
TcsBoardHelper helper;
FixedArrayList<ModeListEntry, NUMBER_RTDS> modeTable;
MessageQueueIF* eventQueue = nullptr;
std::atomic_bool& tcsShortlyUnavailable;
ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
/**
@ -42,17 +43,12 @@ class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
*/
bool isUseable(object_id_t object, Mode_t mode);
// ConfirmFailureIF implementation
MessageQueueId_t getEventReceptionQueue() override;
// AssemblyBase implementation
void performChildOperation() override;
ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
void startTransition(Mode_t mode, Submode_t submode) override;
void handleModeReached() override;
ReturnValue_t checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode);
bool checkAndHandleRecovery() override;
// These two overrides prevent a transition of the whole assembly back to off just because
// some devices are not working

2
mission/system/tree/tcsModeTree.cpp
View File

@ -111,7 +111,7 @@ void buildNormalSequence(Subsystem& ss, ModeListEntry& eh) {
ctxc);
// Transition 1
iht(objects::THERMAL_CONTROLLER, NML, 0, TCS_TABLE_NORMAL_TRANS_1.second);
iht(objects::THERMAL_CONTROLLER, HasModesIF::MODE_ON, 0, TCS_TABLE_NORMAL_TRANS_1.second);
check(ss.addTable(TableEntry(TCS_TABLE_NORMAL_TRANS_1.first, &TCS_TABLE_NORMAL_TRANS_1.second)),
ctxc);

18
mission/tcs/HeaterHandler.cpp
View File

@ -215,17 +215,17 @@ void HeaterHandler::handleSwitchHandling() {
heaterVec[idx].cmdActive = true;
heaterVec[idx].action = SET_SWITCH_OFF;
triggerEvent(FAULTY_HEATER_WAS_ON, idx, 0);
handleSwitchOffCommand(static_cast<heater::Switchers>(idx));
handleSwitchOffCommand(static_cast<heater::Switch>(idx));
continue;
}
}
if (heaterVec[idx].cmdActive) {
switch (heaterVec[idx].action) {
case SET_SWITCH_ON:
handleSwitchOnCommand(static_cast<heater::Switchers>(idx));
handleSwitchOnCommand(static_cast<heater::Switch>(idx));
break;
case SET_SWITCH_OFF:
handleSwitchOffCommand(static_cast<heater::Switchers>(idx));
handleSwitchOffCommand(static_cast<heater::Switch>(idx));
break;
default:
sif::error << "HeaterHandler::handleActiveCommands: Invalid action commanded"
@ -236,7 +236,7 @@ void HeaterHandler::handleSwitchHandling() {
}
}
void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
void HeaterHandler::handleSwitchOnCommand(heater::Switch heaterIdx) {
ReturnValue_t result = returnvalue::OK;
auto& heater = heaterVec.at(heaterIdx);
if (waitForSwitchOff) {
@ -307,7 +307,7 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
}
}
void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
void HeaterHandler::handleSwitchOffCommand(heater::Switch heaterIdx) {
ReturnValue_t result = returnvalue::OK;
auto& heater = heaterVec.at(heaterIdx);
// Check whether switch is already off
@ -344,12 +344,12 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
heater.cmdActive = false;
}
HeaterHandler::SwitchState HeaterHandler::getSwitchState(heater::Switchers switchNr) const {
HeaterHandler::SwitchState HeaterHandler::getSwitchState(heater::Switch switchNr) const {
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
return heaterVec.at(switchNr).switchState;
}
ReturnValue_t HeaterHandler::switchHeater(heater::Switchers heater, SwitchState switchState) {
ReturnValue_t HeaterHandler::switchHeater(heater::Switch heater, SwitchState switchState) {
if (switchState == SwitchState::ON) {
return sendSwitchCommand(heater, PowerSwitchIF::SWITCH_ON);
} else if (switchState == SwitchState::OFF) {
@ -428,7 +428,7 @@ ReturnValue_t HeaterHandler::getSwitchState(uint8_t switchNr) const {
if (switchNr > 7) {
return returnvalue::FAILED;
}
if (getSwitchState(static_cast<heater::Switchers>(switchNr)) == SwitchState::ON) {
if (getSwitchState(static_cast<heater::Switch>(switchNr)) == SwitchState::ON) {
return PowerSwitchIF::SWITCH_ON;
}
return PowerSwitchIF::SWITCH_OFF;
@ -438,7 +438,7 @@ ReturnValue_t HeaterHandler::getFuseState(uint8_t fuseNr) const { return 0; }
uint32_t HeaterHandler::getSwitchDelayMs(void) const { return 2000; }
HasHealthIF::HealthState HeaterHandler::getHealth(heater::Switchers heater) {
HasHealthIF::HealthState HeaterHandler::getHealth(heater::Switch heater) {
auto* healthDev = heaterVec.at(heater).healthDevice;
if (healthDev != nullptr) {
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);

12
mission/tcs/HeaterHandler.h
View File

@ -20,8 +20,8 @@
#include <utility>
#include <vector>
#include "devices/heaterSwitcherList.h"
#include "events/subsystemIdRanges.h"
#include "mission/tcs/defs.h"
#include "returnvalues/classIds.h"
class PowerSwitchIF;
@ -75,8 +75,8 @@ class HeaterHandler : public ExecutableObjectIF,
protected:
enum SwitchAction : uint8_t { SET_SWITCH_OFF, SET_SWITCH_ON, NONE };
ReturnValue_t switchHeater(heater::Switchers heater, SwitchState switchState);
HasHealthIF::HealthState getHealth(heater::Switchers heater);
ReturnValue_t switchHeater(heater::Switch heater, SwitchState switchState);
HasHealthIF::HealthState getHealth(heater::Switch heater);
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
@ -174,7 +174,7 @@ class HeaterHandler : public ExecutableObjectIF,
* @brief Returns the state of a switch (ON - true, or OFF - false).
* @param switchNr The number of the switch to check.
*/
SwitchState getSwitchState(heater::Switchers switchNr) const;
SwitchState getSwitchState(heater::Switch switchNr) const;
/**
* @brief This function runs commands waiting for execution.
@ -198,9 +198,9 @@ class HeaterHandler : public ExecutableObjectIF,
const HasModesIF& getModeIF() const override;
ModeTreeChildIF& getModeTreeChildIF() override;
void handleSwitchOnCommand(heater::Switchers heaterIdx);
void handleSwitchOnCommand(heater::Switch heaterIdx);
void handleSwitchOffCommand(heater::Switchers heaterIdx);
void handleSwitchOffCommand(heater::Switch heaterIdx);
/**
* @brief Checks if all switches are off.

11
mission/tcs/Max31865EiveHandler.cpp
View File

@ -1,6 +1,8 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include <mission/tcs/Max31865EiveHandler.h>
#include "fsfw/thermal/tcsDefinitions.h"
Max31865EiveHandler::Max31865EiveHandler(object_id_t objectId, object_id_t comIF,
CookieIF* comCookie)
: DeviceHandlerBase(objectId, comIF, comCookie, nullptr),
@ -152,6 +154,15 @@ ReturnValue_t Max31865EiveHandler::interpretDeviceReply(DeviceCommandId_t id,
transitionOk = true;
return returnvalue::OK;
}
// If the 15 received bits are all ones, this is considered a case where the device does not
// work because it does not drive the MISO line. This can happens if the sensor is broken
// or off.
if (exchangeStruct.adcCode == 0x7fff) {
PoolReadGuard pg(&sensorDataset);
sensorDataset.temperatureCelcius.setValid(false);
sensorDataset.temperatureCelcius = thermal::INVALID_TEMPERATURE;
return returnvalue::FAILED;
}
// Calculate resistance
float rtdValue = exchangeStruct.adcCode * EiveMax31855::RTD_RREF_PT1000 / INT16_MAX;

12
common/config/devices/heaterSwitcherList.h → mission/tcs/defs.h
View File

@ -1,10 +1,10 @@
#ifndef FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_
#define FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_
#pragma once
#include <atomic>
#include <cstdint>
namespace heater {
enum Switchers : uint8_t {
enum Switch : uint8_t {
HEATER_0_OBC_BRD,
HEATER_1_PLOC_PROC_BRD,
HEATER_2_ACS_BRD,
@ -17,4 +17,8 @@ enum Switchers : uint8_t {
};
}
#endif /* FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_ */
namespace tcs {
extern std::atomic_bool TCS_BOARD_SHORTLY_UNAVAILABLE;
}

2
scripts/install-obsw-yocto.sh
View File

@ -11,7 +11,7 @@ fi
init_dir=$(pwd)
obsw_root=""
q7s_yocto_dir="q7s-yocto"
q7s_yocto_dir="yocto"
q7s_package_path="q7s-package/${q7s_yocto_dir}"
obsw_version_filename="obsw_version.txt"

3
thirdparty/CMakeLists.txt vendored
View File

@ -4,7 +4,8 @@ endif()
# Dependency on proprietary library
if(TGT_BSP MATCHES "arm/q7s")
add_subdirectory(arcsec_star_tracker)
# Only add required folder for wire library.
add_subdirectory(sagittactl/wire)
endif()
add_subdirectory(rapidcsv)

1
thirdparty/arcsec_star_tracker vendored

@ -1 +0,0 @@
Subproject commit 2823952e0902726e6e35dd7c159761f76bf7e505

1
thirdparty/sagittactl vendored Submodule

@ -0,0 +1 @@
Subproject commit 64332216c193fa6483258060b53fc2842c08dcf4

2
tmtc

@ -1 +1 @@
Subproject commit 43b530cdb7dfe6774962bf4b8a880e1c9a6e6580
Subproject commit f8da9cff7c5d6d6bdd483f90ccefb67b2d1e11a4

9
unittest/controller/testThermalController.cpp
View File

@ -15,6 +15,7 @@
TEST_CASE("Thermal Controller", "[ThermalController]") {
const object_id_t THERMAL_CONTROLLER_ID = 0x123;
std::atomic_bool tcsBrdShortlyUnavailable = false;
TemperatureSensorInserter::Max31865DummyMap map0;
TemperatureSensorInserter::Tmp1075DummyMap map1;
@ -29,7 +30,7 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
// testEnvironment::initialize();
ThermalController controller(THERMAL_CONTROLLER_ID, *heaterHandler);
ThermalController controller(THERMAL_CONTROLLER_ID, *heaterHandler, tcsBrdShortlyUnavailable);
ReturnValue_t result = controller.initialize();
REQUIRE(result == returnvalue::OK);
@ -46,8 +47,8 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
CommandMessage modeMessage;
ModeMessage::setModeMessage(&modeMessage, ModeMessage::CMD_MODE_COMMAND,
ControllerBase::MODE_NORMAL, HasModesIF::SUBMODE_NONE);
ModeMessage::setModeMessage(&modeMessage, ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_ON,
HasModesIF::SUBMODE_NONE);
MessageQueueIF* commandQueue =
QueueFactory::instance()->createMessageQueue(5, MessageQueueMessage::MAX_MESSAGE_SIZE);
@ -57,7 +58,7 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
REQUIRE(controller.performOperation(0) == returnvalue::OK);
REQUIRE(testEnvironment::eventManager->isEventInEventList(
THERMAL_CONTROLLER_ID, HasModesIF::MODE_INFO, ControllerBase::MODE_NORMAL,
THERMAL_CONTROLLER_ID, HasModesIF::MODE_INFO, HasModesIF::MODE_ON,
HasModesIF::SUBMODE_NONE) == true);
QueueFactory::instance()->deleteMessageQueue(commandQueue);