eive/eive-obsw
eive/eive-obsw
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Merge branch 'develop' into refactoring_bugfixes_power_switching
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This commit is contained in:
Robin Müller 2023-03-17 16:30:22 +01:00
commit a4ba52e76d
7 changed files with 44 additions and 30 deletions
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6
CHANGELOG.md
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@ -16,6 +16,11 @@ will consitute of a breaking change warranting a new major release:
# [unreleased] # [unreleased]
## Fixed
- SA deployment file handling: Use exceptionless API.
- Fix deadlock in SD card manager constructor: Double lock of preferred SD card lock.
## Added ## Added
- Failure of Safe Mode Ctrl will now trigger an event. As this can only be caused by sensors not - Failure of Safe Mode Ctrl will now trigger an event. As this can only be caused by sensors not
@ -28,6 +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. - 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. - GS PST now has a polling frequency of 0.5 seconds instead of 1 second.
- Bump FSFW: merged upstream. - Bump FSFW: merged upstream.
- Move BPX battery scheduling to ACS PST to avoid clashes with IMTQ scheduling / polling
# [v1.37.2] 2023-03-14 # [v1.37.2] 2023-03-14

2
bsp_q7s/core/scheduling.cpp
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@ -487,7 +487,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
#if OBSW_ADD_I2C_TEST_CODE == 0 #if OBSW_ADD_I2C_TEST_CODE == 0
FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask( FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
"I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.4, missedDeadlineFunc); "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 != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) { if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "scheduling::initTasks: I2C PST is empty" << std::endl; sif::warning << "scheduling::initTasks: I2C PST is empty" << std::endl;

1
bsp_q7s/fs/SdCardManager.cpp
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@ -37,7 +37,6 @@ SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor
sif::warning << "CoreController::sdCardInit: " sif::warning << "CoreController::sdCardInit: "
"Preferred SD card not set. Setting to 0" "Preferred SD card not set. Setting to 0"
<< std::endl; << std::endl;
setPreferredSdCard(sd::SdCard::SLOT_0);
scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sd::SdCard::SLOT_0)); scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sd::SdCard::SLOT_0));
prefSdRaw = sd::SdCard::SLOT_0; prefSdRaw = sd::SdCard::SLOT_0;

2
mission/controller/AcsController.cpp
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@ -180,9 +180,11 @@ void AcsController::performSafe() {
safeCtrlFailureCounter++; safeCtrlFailureCounter++;
if (safeCtrlFailureCounter > 50) { if (safeCtrlFailureCounter > 50) {
safeCtrlFailureFlag = false; safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
} }
} else { } else {
safeCtrlFailureFlag = false; safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
} }
actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs, actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,

42
mission/core/pollingSeqTables.cpp
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@ -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 // 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 // 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 // Length of a communication cycle
uint32_t length = thisSequence->getPeriodMs(); uint32_t length = thisSequence->getPeriodMs();
static_cast<void>(length); static_cast<void>(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 // 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); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.2, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.45, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.3, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.45, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.3, 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); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.55, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.55, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.6, thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.6,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
@ -68,9 +62,9 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.6, thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.6,
DeviceHandlerIF::GET_WRITE); 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); 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); DeviceHandlerIF::GET_READ);
// damaged // damaged
/* /*
@ -90,9 +84,9 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8, thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
DeviceHandlerIF::GET_WRITE); 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); 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); DeviceHandlerIF::GET_READ);
static_cast<void>(length); static_cast<void>(length);
return thisSequence->checkSequence(); return thisSequence->checkSequence();
@ -562,6 +556,12 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
DeviceHandlerIF::GET_READ); 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 #if OBSW_ADD_RAD_SENSORS == 1
/* Radiation sensor */ /* Radiation sensor */

2
mission/core/pollingSeqTables.h
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@ -51,7 +51,7 @@ ReturnValue_t pstSyrlinks(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstTcsAndAcs(FixedTimeslotTaskIF* thisSequence, AcsPstCfg cfg); ReturnValue_t pstTcsAndAcs(FixedTimeslotTaskIF* thisSequence, AcsPstCfg cfg);
ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence); ReturnValue_t pstI2cProcessingSystem(FixedTimeslotTaskIF* thisSequence);
/** /**
* Generic test PST * Generic test PST

19
mission/devices/SolarArrayDeploymentHandler.cpp
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@ -157,10 +157,14 @@ ReturnValue_t SolarArrayDeploymentHandler::performAutonomousDepl(sd::SdCard sdCa
return returnvalue::OK; return returnvalue::OK;
} }
bool SolarArrayDeploymentHandler::autonomousDeplForFile(sd::SdCard sdCard, const char* filename, bool SolarArrayDeploymentHandler::autonomousDeplForFile(sd::SdCard sdCard, const char* infoFile,
bool dryRun) { bool dryRun) {
using namespace std; using namespace std;
ifstream file(filename); std::error_code e;
ifstream file(infoFile);
if (file.bad()) {
return false;
}
string line; string line;
string word; string word;
unsigned int lineNum = 0; unsigned int lineNum = 0;
@ -240,15 +244,18 @@ bool SolarArrayDeploymentHandler::autonomousDeplForFile(sd::SdCard sdCard, const
} }
} }
if (deplState == AutonomousDeplState::DONE) { if (deplState == AutonomousDeplState::DONE) {
remove(filename); std::filesystem::remove(infoFile, e);
if (sdCard == sd::SdCard::SLOT_0) { if (sdCard == sd::SdCard::SLOT_0) {
remove(SD_0_DEPL_FILE); std::filesystem::remove(SD_0_DEPL_FILE, e);
} else { } else {
remove(SD_1_DEPL_FILE); std::filesystem::remove(SD_1_DEPL_FILE, e);
} }
triggerEvent(AUTONOMOUS_DEPLOYMENT_COMPLETED); triggerEvent(AUTONOMOUS_DEPLOYMENT_COMPLETED);
} else { } else {
std::ofstream of(filename); std::ofstream of(infoFile);
if (of.bad()) {
return false;
}
of << "phase: "; of << "phase: ";
if (deplState == AutonomousDeplState::INIT) { if (deplState == AutonomousDeplState::INIT) {
of << PHASE_INIT_STR << "\n"; of << PHASE_INIT_STR << "\n";