Merge remote-tracking branch 'origin/main' into startracker-tests
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This commit is contained in:
Robin Müller 2023-07-12 16:58:49 +02:00
commit a800ad6c9a
Signed by: muellerr
GPG Key ID: 407F9B00F858F270
57 changed files with 1034 additions and 557 deletions

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@ -16,11 +16,64 @@ will consitute of a breaking change warranting a new major release:
# [unreleased]
# [v6.0.0] to be released
## Changed
- TCS: Remove OBC IF board thermal module, which is exactly identical to OBC module and therefore
obsolete.
- Swapped PL and PS I2C, BPX battery and MGT are connected to PS I2C now for firmware versions
equal or above v4. However, this software version is compatible to both v3 and v4 of the firmware.
- The firmware version variables are global statics inititalized early during the program
runtime now. This makes it possible to check the firmware version earlier.
- The TCS controller will now always command heaters OFF when being blind for thermal
components (no sensors available), irrespective of current switch state.
- Make OBSW compatible to prospective FW version v5.0.0, where the Q7 I2C devices were
moved to a PL I2C block and the TMP sensor devices were moved to the PS I2C0.
- Made `Xadc` code a little bit more robust against errors.
## Fixed
- TMP1075: Set dataset invalid on shutdown explicitely
- Small fixes for TMP1075 FDIR: Use strange and missed reply counters.
- TCS controller: Last heater (S-band heater) was skipped for transition completion
checks.
- TCS controller: A helper member to track the elapsed heater control cycles was not reset
properly, which could lead to switch transitions being completed immediately. This can
lead to weird bugs like heaters being commanded ON twice and can potentially lead to
other bugs.
- TMP1075: Devices did not go to OFF mode when being set faulty.
- Update PL PCDU 1 in TCS mode tree on the EM.
- TMP1075: Possibly ignored health commands.
- Bugfix in FSFW where certain packet types could only be sent with source data fields with a
maximum size of 255 bytes.
- TCS CTRL: Limit number of heater handler messages sent in case there are not sensors available
anymore.
# Added
- Two events for heaters being commanded ON and OFF by the TCS controller
- Upper limit for burn time of TCS heaters. Currently set to 1 hour for each heater.
This mechanism will only track the burn time for heaters which were commanded by the
TCS controller.
- TCS controller is now observable by introducing a new HK dataset which exposes some internal
fields related to TCS control.
# [v6.0.0] 2023-07-02
- `q7s-package` version v3.2.0
- Important bugfixes for PTME. See `q7s-package` CHANGELOG.
# [v5.2.0] 2023-06-29
## Changed
- Added back PTME busy bit polling. This is necessary due to changes to the AXI APB interface
to the PTME core.
## Fixed
- For the live channel (VC0), telemetry was still only dumped if the transmitter is active.
Please note that this fix will lead to crashes for FW versions below v3.2.
However, it might not be an issue for the oldest firmware on the satellite (v2.5.1).
# [v5.2.0] 2023-07-02
## Fixed
@ -32,6 +85,8 @@ will consitute of a breaking change warranting a new major release:
- PTME was always reset on submode changes. The reset will now only be performed if the actual data
rate changes.
- Add back ACS board code for the EM. Now that the radiation sensor was removed, the image switching
issue has disappeared and adding back the ACS board is worth it for the GPS timekeeping.
# [v5.1.0] 2023-06-28

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@ -105,7 +105,7 @@ set(OBSW_ADD_THERMAL_TEMP_INSERTER
${OBSW_Q7S_EM}
CACHE STRING "Add thermal sensor temperature inserter")
set(OBSW_ADD_ACS_BOARD
${INIT_VAL}
1
CACHE STRING "Add ACS board module")
set(OBSW_ADD_GPS_CTRL
${INIT_VAL}
@ -150,7 +150,7 @@ set(OBSW_ADD_SYRLINKS
1
CACHE STRING "Add Syrlinks module")
set(OBSW_ADD_TMP_DEVICES
${INIT_VAL}
1
CACHE STRING "Add TMP devices")
set(OBSW_ADD_GOMSPACE_PCDU
1

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@ -964,6 +964,12 @@ used by other software components to read the current chip and copy.
This is a configuration scripts which runs after the Network Time Protocol has run. This script
currently sets the static IP address `192.168.133.10` and starts the `can` interface.
## Initial boot delay
You can create a file named `boot_delays_secs.txt` inside the home folder to delay the OBSW boot
for 6 seconds if the file is empty of for the number of seconds specified inside the file. This
can be helpful if something inside the OBSW leads to an immediate crash of the OBC.
## PCDU
Connect to serial console of P60 Dock

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@ -113,7 +113,7 @@ void ObjectFactory::produce(void* args) {
if (heaterHandler == nullptr) {
sif::error << "HeaterHandler could not be created" << std::endl;
} else {
ObjectFactory::createThermalController(*heaterHandler);
ObjectFactory::createThermalController(*heaterHandler, true);
}
new TestTask(objects::TEST_TASK);
}

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@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 296 translations.
* @brief Auto-generated event translation file. Contains 299 translations.
* @details
* Generated on: 2023-06-21 19:01:02
* Generated on: 2023-07-07 12:06:06
*/
#include "translateEvents.h"
@ -286,6 +286,9 @@ const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
const char *MGT_OVERHEATING_STRING = "MGT_OVERHEATING";
const char *TCS_SWITCHING_HEATER_ON_STRING = "TCS_SWITCHING_HEATER_ON";
const char *TCS_SWITCHING_HEATER_OFF_STRING = "TCS_SWITCHING_HEATER_OFF";
const char *TCS_HEATER_MAX_BURN_TIME_REACHED_STRING = "TCS_HEATER_MAX_BURN_TIME_REACHED";
const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
@ -866,6 +869,12 @@ const char *translateEvents(Event event) {
return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
case (14108):
return MGT_OVERHEATING_STRING;
case (14109):
return TCS_SWITCHING_HEATER_ON_STRING;
case (14110):
return TCS_SWITCHING_HEATER_OFF_STRING;
case (14111):
return TCS_HEATER_MAX_BURN_TIME_REACHED_STRING;
case (14201):
return TX_TIMER_EXPIRED_STRING;
case (14202):

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@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 171 translations.
* Generated on: 2023-06-21 19:01:02
* Generated on: 2023-07-07 12:06:06
*/
#include "translateObjects.h"

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@ -7,7 +7,8 @@ target_link_libraries(${SIMPLE_OBSW_NAME} PUBLIC ${LIB_FSFW_NAME})
target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
add_subdirectory(simple)
target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp)
target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp scheduling.cpp
objectFactory.cpp)
add_subdirectory(boardtest)

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@ -12,6 +12,9 @@ static constexpr char SPI_RW_DEV[] = "/dev/spi_rw";
static constexpr char I2C_PL_EIVE[] = "/dev/i2c_pl";
//! I2C bus using the I2C peripheral of the ARM processing system (PS)
static constexpr char I2C_PS_EIVE[] = "/dev/i2c_ps";
//! I2C bus using the first I2C peripheral of the ARM processing system (PS).
//! Named like this because it is used by default for the Q7 devices.
static constexpr char I2C_Q7_EIVE[] = "/dev/i2c_q7";
static constexpr char UART_GNSS_DEV[] = "/dev/gps0";
static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul_plmpsoc";

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@ -1,4 +1 @@
target_sources(${OBSW_NAME} PRIVATE CoreController.cpp scheduling.cpp
ObjectFactory.cpp WatchdogHandler.cpp)
target_sources(${SIMPLE_OBSW_NAME} PRIVATE scheduling.cpp)
target_sources(${OBSW_NAME} PRIVATE CoreController.cpp WatchdogHandler.cpp)

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@ -188,17 +188,6 @@ ReturnValue_t CoreController::initialize() {
}
triggerEvent(core::REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
announceCurrentImageInfo();
// This has to come before the version announce because it might be required for retrieving
// the firmware version.
if (common::OBSW_VERSION_MAJOR >= 6 or common::OBSW_VERSION_MAJOR == 4) {
UioMapper sysRomMapper(q7s::UIO_SYS_ROM);
result = sysRomMapper.getMappedAdress(&mappedSysRomAddr, UioMapper::Permissions::READ_ONLY);
if (result != returnvalue::OK) {
// TODO: This might be a reason to switch to another image..
sif::error << "Getting mapped SYS ROM UIO address failed" << std::endl;
result = ObjectManager::CHILD_INIT_FAILED;
}
}
announceVersionInfo();
return result;
@ -2526,14 +2515,10 @@ void CoreController::announceVersionInfo() {
}
triggerEvent(VERSION_INFO, p1, p2);
if (common::OBSW_VERSION_MAJOR >= 6 or common::OBSW_VERSION_MAJOR == 4) {
if (mappedSysRomAddr != nullptr) {
uint32_t p1Firmware = *(reinterpret_cast<uint32_t *>(mappedSysRomAddr));
uint32_t p2Firmware = *(reinterpret_cast<uint32_t *>(mappedSysRomAddr) + 1);
triggerEvent(FIRMWARE_INFO, p1Firmware, p2Firmware);
}
}
p1 = (core::FW_VERSION_MAJOR << 24) | (core::FW_VERSION_MINOR << 16) |
(core::FW_VERSION_REVISION << 8) | (core::FW_VERSION_HAS_SHA);
std::memcpy(&p2, core::FW_VERSION_GIT_SHA, 4);
triggerEvent(FIRMWARE_INFO, p1, p2);
}
void CoreController::announceCurrentImageInfo() {

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@ -1,6 +1,7 @@
#ifndef BSP_Q7S_CORE_CORECONTROLLER_H_
#define BSP_Q7S_CORE_CORECONTROLLER_H_
#include <bsp_q7s/core/defs.h>
#include <fsfw/container/DynamicFIFO.h>
#include <fsfw/container/SimpleRingBuffer.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
@ -14,7 +15,6 @@
#include <atomic>
#include <cstddef>
#include "CoreDefinitions.h"
#include "OBSWConfig.h"
#include "bsp_q7s/fs/SdCardManager.h"
#include "events/subsystemIdRanges.h"

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@ -1,10 +1,16 @@
#ifndef BSP_Q7S_CORE_COREDEFINITIONS_H_
#define BSP_Q7S_CORE_COREDEFINITIONS_H_
#ifndef BSP_Q7S_CORE_DEFS_H_
#define BSP_Q7S_CORE_DEFS_H_
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
namespace core {
extern uint8_t FW_VERSION_MAJOR;
extern uint8_t FW_VERSION_MINOR;
extern uint8_t FW_VERSION_REVISION;
extern bool FW_VERSION_HAS_SHA;
extern char FW_VERSION_GIT_SHA[4];
static const uint8_t HK_SET_ENTRIES = 3;
static const uint32_t HK_SET_ID = 5;
@ -36,4 +42,4 @@ class HkSet : public StaticLocalDataSet<HK_SET_ENTRIES> {
} // namespace core
#endif /* BSP_Q7S_CORE_COREDEFINITIONS_H_ */
#endif /* BSP_Q7S_CORE_DEFS_H_ */

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@ -1,4 +1,5 @@
#include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
#include <bsp_q7s/objectFactory.h>
#include <dummies/ComCookieDummy.h>
#include <dummies/PcduHandlerDummy.h>
#include <fsfw/health/HealthTableIF.h>
@ -10,8 +11,8 @@
#include "OBSWConfig.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/core/ObjectFactory.h"
#include "busConf.h"
#include "common/config/devices/addresses.h"
#include "devConf.h"
#include "dummies/helperFactory.h"
#include "eive/objects.h"
@ -35,6 +36,7 @@ void ObjectFactory::produce(void* args) {
#endif
PersistentTmStores stores;
readFirmwareVersion();
ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
*SdCardManager::instance(), &ipcStore, &tmStore, stores, 200,
enableHkSets);
@ -44,7 +46,7 @@ void ObjectFactory::produce(void* args) {
SpiComIF* spiMainComIF = nullptr;
I2cComIF* i2cComIF = nullptr;
createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF);
/* Adding gpios for chip select decoding to the gpioComIf */
// Adding GPIOs for chip select decoding and initializing them.
q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
gpioCallbacks::disableAllDecoder(gpioComIF);
createPlI2cResetGpio(gpioComIF);
@ -60,6 +62,21 @@ void ObjectFactory::produce(void* args) {
#if OBSW_ADD_PLOC_SUPERVISOR == 1 || OBSW_ADD_PLOC_MPSOC == 1
dummyCfg.addPlocDummies = false;
#endif
#if OBSW_ADD_TMP_DEVICES == 1
std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd = {{
{objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
{objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
{objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
}};
createTmpComponents(tmpDevsToAdd);
dummy::Tmp1075Cfg tmpCfg{};
tmpCfg.addTcsBrd0 = true;
tmpCfg.addTcsBrd1 = true;
tmpCfg.addPlPcdu0 = false;
tmpCfg.addPlPcdu1 = false;
tmpCfg.addIfBrd = false;
dummyCfg.tmp1075Cfg = tmpCfg;
#endif
#if OBSW_ADD_GOMSPACE_PCDU == 1
dummyCfg.addPowerDummies = false;
// The ACU broke.
@ -87,9 +104,10 @@ void ObjectFactory::produce(void* args) {
new CoreController(objects::CORE_CONTROLLER, enableHkSets);
#if OBSW_ADD_ACS_BOARD == 1
// Still initialize chip select to avoid SPI bus issues.
// Initialize chip select to avoid SPI bus issues.
createRadSensorChipSelect(gpioComIF);
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true,
adis1650x::Type::ADIS16507);
#else
@ -99,8 +117,12 @@ void ObjectFactory::produce(void* args) {
gpioChecker(gpioComIF->addGpios(acsBoardGpios), "ACS Board");
#endif
const char* battAndImtqI2cDev = q7s::I2C_PL_EIVE;
if (core::FW_VERSION_MAJOR >= 4) {
battAndImtqI2cDev = q7s::I2C_PS_EIVE;
}
#if OBSW_ADD_MGT == 1
createImtqComponents(pwrSwitcher, enableHkSets);
createImtqComponents(pwrSwitcher, enableHkSets, battAndImtqI2cDev);
#endif
#if OBSW_ADD_SYRLINKS == 1
@ -112,7 +134,7 @@ void ObjectFactory::produce(void* args) {
#endif
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
createBpxBatteryComponent(enableHkSets);
createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
#endif
#if OBSW_ADD_STAR_TRACKER == 1
@ -144,6 +166,6 @@ void ObjectFactory::produce(void* args) {
createAcsController(true, enableHkSets);
HeaterHandler* heaterHandler;
createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
createThermalController(*heaterHandler);
satsystem::init();
createThermalController(*heaterHandler, true);
satsystem::init(true);
}

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@ -1,4 +1,5 @@
#include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
#include <bsp_q7s/objectFactory.h>
#include <devices/gpioIds.h>
#include <fsfw/storagemanager/LocalPool.h>
#include <fsfw/storagemanager/PoolManager.h>
@ -7,9 +8,9 @@
#include "OBSWConfig.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/core/ObjectFactory.h"
#include "busConf.h"
#include "devConf.h"
#include "devices/addresses.h"
#include "eive/objects.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "linux/ObjectFactory.h"
@ -32,6 +33,7 @@ void ObjectFactory::produce(void* args) {
#endif
PersistentTmStores stores;
readFirmwareVersion();
ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
*SdCardManager::instance(), &ipcStore, &tmStore, stores, 200,
true);
@ -67,7 +69,16 @@ void ObjectFactory::produce(void* args) {
HeaterHandler* heaterHandler;
createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
#if OBSW_ADD_TMP_DEVICES == 1
createTmpComponents();
std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd = {{
{objects::TMP1075_HANDLER_TCS_0, addresses::TMP1075_TCS_0},
{objects::TMP1075_HANDLER_TCS_1, addresses::TMP1075_TCS_1},
{objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
// damaged
// {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
{objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
}};
createTmpComponents(tmpDevsToAdd);
#endif
createSolarArrayDeploymentComponents(*pwrSwitcher, *gpioComIF);
createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
@ -77,13 +88,17 @@ void ObjectFactory::produce(void* args) {
createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
createPayloadComponents(gpioComIF, *pwrSwitcher);
const char* battAndImtqI2cDev = q7s::I2C_PL_EIVE;
if (core::FW_VERSION_MAJOR >= 4) {
battAndImtqI2cDev = q7s::I2C_PS_EIVE;
}
#if OBSW_ADD_MGT == 1
createImtqComponents(pwrSwitcher, enableHkSets);
createImtqComponents(pwrSwitcher, enableHkSets, battAndImtqI2cDev);
#endif
createReactionWheelComponents(gpioComIF, pwrSwitcher);
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
createBpxBatteryComponent(enableHkSets);
createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
#endif
#if OBSW_ADD_STAR_TRACKER == 1
@ -113,7 +128,7 @@ void ObjectFactory::produce(void* args) {
#endif /* OBSW_ADD_TEST_CODE == 1 */
createMiscComponents();
createThermalController(*heaterHandler);
createThermalController(*heaterHandler, false);
createAcsController(true, enableHkSets);
satsystem::init();
satsystem::init(false);
}

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@ -1,8 +1,9 @@
#include "ObjectFactory.h"
#include "objectFactory.h"
#include <fsfw/devicehandlers/HealthDevice.h>
#include <fsfw/subsystem/Subsystem.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw_hal/linux/uio/UioMapper.h>
#include <linux/acs/AcsBoardPolling.h>
#include <linux/acs/GpsHyperionLinuxController.h>
#include <linux/acs/ImtqPollingTask.h>
@ -32,6 +33,9 @@
#include <mission/system/objects/CamSwitcher.h>
#include <mission/system/tcs/TmpDevFdir.h>
#include <cstdint>
#include <cstring>
#include "OBSWConfig.h"
#include "bsp_q7s/boardtest/Q7STestTask.h"
#include "bsp_q7s/callbacks/gnssCallback.h"
@ -100,6 +104,7 @@
#include <sstream>
#include "bsp_q7s/core/defs.h"
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tmtcpacket/pus/tm.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
@ -130,6 +135,11 @@ ResetArgs RESET_ARGS_GNSS;
std::atomic_bool LINK_STATE = CcsdsIpCoreHandler::LINK_DOWN;
std::atomic_bool PTME_LOCKED = false;
std::atomic_uint16_t I2C_FATAL_ERRORS = 0;
uint8_t core::FW_VERSION_MAJOR = 0;
uint8_t core::FW_VERSION_MINOR = 0;
uint8_t core::FW_VERSION_REVISION = 0;
bool core::FW_VERSION_HAS_SHA = false;
char core::FW_VERSION_GIT_SHA[4] = {};
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
@ -151,28 +161,23 @@ void Factory::setStaticFrameworkObjectIds() {
void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
void ObjectFactory::createTmpComponents() {
std::vector<std::pair<object_id_t, address_t>> tmpDevIds = {{
{objects::TMP1075_HANDLER_TCS_0, addresses::TMP1075_TCS_0},
{objects::TMP1075_HANDLER_TCS_1, addresses::TMP1075_TCS_1},
{objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
// damaged
// {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
{objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
}};
void ObjectFactory::createTmpComponents(
std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd) {
const char* tmpI2cDev = q7s::I2C_PS_EIVE;
if (core::FW_VERSION_MAJOR == 4) {
tmpI2cDev = q7s::I2C_PL_EIVE;
} else if (core::FW_VERSION_MAJOR >= 5) {
tmpI2cDev = q7s::I2C_Q7_EIVE;
}
std::vector<I2cCookie*> tmpDevCookies;
for (size_t idx = 0; idx < tmpDevIds.size(); idx++) {
for (size_t idx = 0; idx < tmpDevsToAdd.size(); idx++) {
tmpDevCookies.push_back(
new I2cCookie(tmpDevIds[idx].second, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_PS_EIVE));
new I2cCookie(tmpDevsToAdd[idx].second, TMP1075::MAX_REPLY_LENGTH, tmpI2cDev));
auto* tmpDevHandler =
new Tmp1075Handler(tmpDevIds[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
tmpDevHandler->setCustomFdir(new TmpDevFdir(tmpDevIds[idx].first));
new Tmp1075Handler(tmpDevsToAdd[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
tmpDevHandler->setCustomFdir(new TmpDevFdir(tmpDevsToAdd[idx].first));
tmpDevHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
// TODO: Remove this after TCS subsystem was added
// These devices are connected to the 3V3 stack and should be powered permanently. Therefore,
// we set them to normal mode immediately here.
tmpDevHandler->setModeNormal();
}
}
@ -945,12 +950,13 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
starTracker->setCustomFdir(strFdir);
}
void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets) {
void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets,
const char* i2cDev) {
auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
new ImtqPollingTask(objects::IMTQ_POLLING, I2C_FATAL_ERRORS);
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, i2cDev);
auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::IMTQ_POLLING, imtqI2cCookie,
power::Switches::PDU1_CH3_MGT_5V, enableHkSets);
imtqHandler->enableThermalModule(ThermalStateCfg());
@ -966,8 +972,8 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enable
#endif
}
void ObjectFactory::createBpxBatteryComponent(bool enableHkSets) {
I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_PL_EIVE);
void ObjectFactory::createBpxBatteryComponent(bool enableHkSets, const char* i2cDev) {
I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, i2cDev);
BpxBatteryHandler* bpxHandler = new BpxBatteryHandler(
objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie, enableHkSets);
bpxHandler->setStartUpImmediately();
@ -1023,3 +1029,32 @@ void ObjectFactory::createPlI2cResetGpio(LinuxLibgpioIF* gpioIF) {
gpioIF->pullHigh(gpioIds::PL_I2C_ARESETN);
}
}
ReturnValue_t ObjectFactory::readFirmwareVersion() {
uint32_t* mappedSysRomAddr = nullptr;
// The SYS ROM FPGA block is only available in those versions.
if (not(common::OBSW_VERSION_MAJOR >= 6) or (common::OBSW_VERSION_MAJOR == 4)) {
return returnvalue::OK;
}
// This has to come before the version announce because it might be required for retrieving
// the firmware version.
UioMapper sysRomMapper(q7s::UIO_SYS_ROM);
ReturnValue_t result =
sysRomMapper.getMappedAdress(&mappedSysRomAddr, UioMapper::Permissions::READ_ONLY);
if (result != returnvalue::OK) {
sif::error << "Getting mapped SYS ROM UIO address failed" << std::endl;
return returnvalue::FAILED;
}
if (mappedSysRomAddr != nullptr) {
uint32_t firstEntry = *(reinterpret_cast<uint32_t*>(mappedSysRomAddr));
uint32_t secondEntry = *(reinterpret_cast<uint32_t*>(mappedSysRomAddr) + 1);
core::FW_VERSION_MAJOR = (firstEntry >> 24) & 0xff;
core::FW_VERSION_MINOR = (firstEntry >> 16) & 0xff;
core::FW_VERSION_REVISION = (firstEntry >> 8) & 0xff;
bool hasGitSha = (firstEntry & 0x0b1);
if (hasGitSha) {
std::memcpy(core::FW_VERSION_GIT_SHA, &secondEntry, 4);
}
}
return returnvalue::OK;
}

View File

@ -58,7 +58,7 @@ void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher
bool enableHkSets);
void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);
void createTmpComponents();
void createTmpComponents(std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd);
void createRadSensorChipSelect(LinuxLibgpioIF* gpioIF);
ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
void createAcsBoardGpios(GpioCookie& cookie);
@ -67,14 +67,15 @@ void createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF, Ser
adis1650x::Type adisType);
void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
HeaterHandler*& heaterHandler);
void createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets);
void createBpxBatteryComponent(bool enableHkSets);
void createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets, const char* i2cDev);
void createBpxBatteryComponent(bool enableHkSets, const char* i2cDev);
void createStrComponents(PowerSwitchIF* pwrSwitcher);
void createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher, GpioIF& gpioIF);
void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
void createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitcher);
void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
ReturnValue_t createCcsdsComponents(CcsdsComponentArgs& args);
ReturnValue_t readFirmwareVersion();
void createMiscComponents();
void createTestComponents(LinuxLibgpioIF* gpioComIF);

View File

@ -11,13 +11,13 @@
#include "OBSWConfig.h"
#include "bsp_q7s/core/WatchdogHandler.h"
#include "commonConfig.h"
#include "core/scheduling.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/version.h"
#include "mission/acs/defs.h"
#include "mission/com/defs.h"
#include "mission/system/systemTree.h"
#include "q7sConfig.h"
#include "scheduling.h"
#include "watchdog/definitions.h"
static constexpr int OBSW_ALREADY_RUNNING = -2;

View File

@ -9,7 +9,6 @@
#include <vector>
#include "OBSWConfig.h"
#include "bsp_q7s/core/ObjectFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/platform.h"
@ -21,6 +20,8 @@
#include "mission/pollingSeqTables.h"
#include "mission/scheduling.h"
#include "mission/utility/InitMission.h"
#include "objectFactory.h"
#include "q7sConfig.h"
/* This is configured for linux without CR */
#ifdef PLATFORM_UNIX
@ -532,7 +533,15 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
FixedTimeslotTaskIF* i2cPst =
factory.createFixedTimeslotTask("I2C_PS_PST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.6,
missedDeadlineFunc, &RR_SCHEDULING);
result = pst::pstI2cProcessingSystem(i2cPst);
pst::TmpSchedConfig tmpSchedConf;
#if OBSW_Q7S_EM == 1
tmpSchedConf.scheduleTmpDev0 = true;
tmpSchedConf.scheduleTmpDev1 = true;
tmpSchedConf.schedulePlPcduDev0 = true;
tmpSchedConf.schedulePlPcduDev1 = true;
tmpSchedConf.scheduleIfBoardDev = true;
#endif
result = pst::pstI2c(tmpSchedConf, i2cPst);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "scheduling::initTasks: I2C PST is empty" << std::endl;

View File

@ -129,7 +129,7 @@ ReturnValue_t Xadc::readValFromFile(const char* filename, T& val) {
sif::warning << "Xadc::readValFromFile: Failed to open file " << filename << std::endl;
return returnvalue::FAILED;
}
char valstring[MAX_STR_LENGTH] = "";
char valstring[MAX_STR_LENGTH]{};
char* returnVal = fgets(valstring, MAX_STR_LENGTH, fp);
if (returnVal == nullptr) {
sif::warning << "Xadc::readValFromFile: Failed to read string from file " << filename
@ -139,6 +139,11 @@ ReturnValue_t Xadc::readValFromFile(const char* filename, T& val) {
}
std::istringstream valSstream(valstring);
valSstream >> val;
if (valSstream.bad()) {
sif::warning << "Xadc: Conversion of value to target type failed" << std::endl;
fclose(fp);
return returnvalue::FAILED;
}
fclose(fp);
return returnvalue::OK;
}

View File

@ -1,6 +1,6 @@
#include "CoreControllerDummy.h"
#include <bsp_q7s/core/CoreDefinitions.h>
#include <bsp_q7s/core/defs.h>
#include <objects/systemObjectList.h>
#include <cmath>

View File

@ -7,15 +7,21 @@ using namespace returnvalue;
Max31865Dummy::Max31865Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie), set(this, EiveMax31855::EXCHANGE_SET_ID) {}
void Max31865Dummy::doStartUp() { setMode(MODE_ON); }
void Max31865Dummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
void Max31865Dummy::doShutDown() {
PoolReadGuard pg(&set);
set.setValidity(false, true);
setMode(MODE_OFF);
}
ReturnValue_t Max31865Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t Max31865Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) { return OK; }
ReturnValue_t Max31865Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t Max31865Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
return 0;
return NOTHING_TO_SEND;
}
ReturnValue_t Max31865Dummy::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {

View File

@ -7,9 +7,9 @@
#include <cstdlib>
#include <utility>
TemperatureSensorInserter::TemperatureSensorInserter(object_id_t objectId,
Max31865DummyMap tempSensorDummies_,
Tmp1075DummyMap tempTmpSensorDummies_)
TemperatureSensorInserter::TemperatureSensorInserter(
object_id_t objectId, Max31865DummyMap tempSensorDummies_,
std::optional<Tmp1075DummyMap> tempTmpSensorDummies_)
: SystemObject(objectId),
max31865DummyMap(std::move(tempSensorDummies_)),
tmp1075DummyMap(std::move(tempTmpSensorDummies_)) {}
@ -25,8 +25,10 @@ ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
for (auto& rtdDummy : max31865DummyMap) {
rtdDummy.second->setTemperature(10, true);
}
for (auto& tmpDummy : tmp1075DummyMap) {
tmpDummy.second->setTemperature(10, true);
if (tmp1075DummyMap.has_value()) {
for (auto& tmpDummy : tmp1075DummyMap.value()) {
tmpDummy.second->setTemperature(10, true);
}
}
tempsWereInitialized = true;
}
@ -124,6 +126,21 @@ ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
sif::debug << "Setting CAM temperature back to normal" << std::endl;
max31865DummyMap[objects::RTD_2_IC5_4K_CAMERA]->setTemperature(0, true);
}
break;
}
case (TestCase::COLD_PLOC_STAYS_COLD): {
if (cycles == 15) {
sif::debug << "Setting cold PLOC temperature" << std::endl;
max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(-40, true);
}
break;
}
case (TestCase::COLD_CAMERA_STAYS_COLD): {
if (cycles == 15) {
sif::debug << "Setting cold PLOC temperature" << std::endl;
max31865DummyMap[objects::RTD_2_IC5_4K_CAMERA]->setTemperature(-40, true);
}
break;
}
}
cycles++;

View File

@ -12,7 +12,7 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
using Max31865DummyMap = std::map<object_id_t, Max31865Dummy*>;
using Tmp1075DummyMap = std::map<object_id_t, Tmp1075Dummy*>;
explicit TemperatureSensorInserter(object_id_t objectId, Max31865DummyMap tempSensorDummies_,
Tmp1075DummyMap tempTmpSensorDummies_);
std::optional<Tmp1075DummyMap> tempTmpSensorDummies_);
ReturnValue_t initialize() override;
ReturnValue_t initializeAfterTaskCreation() override;
@ -22,7 +22,7 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
private:
Max31865DummyMap max31865DummyMap;
Tmp1075DummyMap tmp1075DummyMap;
std::optional<Tmp1075DummyMap> tmp1075DummyMap;
enum TestCase {
NONE = 0,
@ -33,6 +33,8 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
COLD_STR_CONSECUTIVE = 5,
COLD_CAMERA = 6,
COLD_PLOC_CONSECUTIVE = 7,
COLD_PLOC_STAYS_COLD = 8,
COLD_CAMERA_STAYS_COLD = 9
};
int iteration = 0;
uint32_t cycles = 0;

View File

@ -8,35 +8,57 @@ using namespace returnvalue;
Tmp1075Dummy::Tmp1075Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie), set(this) {}
void Tmp1075Dummy::doStartUp() { setMode(MODE_NORMAL); }
void Tmp1075Dummy::doShutDown() { setMode(MODE_OFF); }
void Tmp1075Dummy::doStartUp() { setMode(MODE_ON); }
void Tmp1075Dummy::doShutDown() {
PoolReadGuard pg(&set);
set.setValidity(false, true);
setMode(MODE_OFF);
}
ReturnValue_t Tmp1075Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t Tmp1075Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) { return OK; }
ReturnValue_t Tmp1075Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t Tmp1075Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
return 0;
return NOTHING_TO_SEND;
}
ReturnValue_t Tmp1075Dummy::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
return 0;
}
ReturnValue_t Tmp1075Dummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
return 0;
}
void Tmp1075Dummy::setTemperature(float temperature, bool valid) {
PoolReadGuard pg(&set);
set.temperatureCelcius.value = temperature;
set.setValidity(valid, true);
}
void Tmp1075Dummy::fillCommandAndReplyMap() {}
uint32_t Tmp1075Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 1000; }
ReturnValue_t Tmp1075Dummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(TMP1075::TEMPERATURE_C_TMP1075, new PoolEntry<float>({10.0}, true));
return OK;
}
ReturnValue_t Tmp1075Dummy::setHealth(HealthState health) {
if (health == FAULTY or health == PERMANENT_FAULTY) {
setMode(_MODE_SHUT_DOWN);
}
return DeviceHandlerBase::setHealth(health);
}
LocalPoolDataSetBase *Tmp1075Dummy::getDataSetHandle(sid_t sid) { return &set; }

View File

@ -26,6 +26,7 @@ class Tmp1075Dummy : public DeviceHandlerBase {
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
ReturnValue_t setHealth(HealthState health) override;
protected:
LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;

View File

@ -194,25 +194,36 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
objects::RTD_15_IC18_IMTQ,
new Max31865Dummy(objects::RTD_15_IC18_IMTQ, objects::DUMMY_COM_IF, comCookieDummy));
std::map<object_id_t, Tmp1075Dummy*> tmpSensorDummies;
tmpSensorDummies.emplace(
objects::TMP1075_HANDLER_TCS_0,
new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_0, objects::DUMMY_COM_IF, comCookieDummy));
tmpSensorDummies.emplace(
objects::TMP1075_HANDLER_TCS_1,
new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_1, objects::DUMMY_COM_IF, comCookieDummy));
tmpSensorDummies.emplace(
objects::TMP1075_HANDLER_PLPCDU_0,
new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_0, 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));
std::optional<TemperatureSensorInserter::Tmp1075DummyMap> tmpSensorDummies;
if (cfg.addTmpDummies) {
TemperatureSensorInserter::Tmp1075DummyMap tmpDummyMap;
if (cfg.tmp1075Cfg.addTcsBrd0) {
tmpDummyMap.emplace(objects::TMP1075_HANDLER_TCS_0,
new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_0, objects::DUMMY_COM_IF,
comCookieDummy));
}
if (cfg.tmp1075Cfg.addTcsBrd1) {
tmpDummyMap.emplace(objects::TMP1075_HANDLER_TCS_1,
new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_1, objects::DUMMY_COM_IF,
comCookieDummy));
}
if (cfg.tmp1075Cfg.addPlPcdu0) {
tmpDummyMap.emplace(objects::TMP1075_HANDLER_PLPCDU_0,
new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_0,
objects::DUMMY_COM_IF, comCookieDummy));
}
if (cfg.tmp1075Cfg.addPlPcdu1) {
tmpDummyMap.emplace(objects::TMP1075_HANDLER_PLPCDU_1,
new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1,
objects::DUMMY_COM_IF, comCookieDummy));
}
if (cfg.tmp1075Cfg.addIfBrd) {
tmpDummyMap.emplace(objects::TMP1075_HANDLER_IF_BOARD,
new Tmp1075Dummy(objects::TMP1075_HANDLER_IF_BOARD,
objects::DUMMY_COM_IF, comCookieDummy));
}
tmpSensorDummies = std::move(tmpDummyMap);
}
new TemperatureSensorInserter(objects::THERMAL_TEMP_INSERTER, rtdSensorDummies,
tmpSensorDummies);
TcsBoardAssembly* tcsBoardAssy =
@ -220,8 +231,10 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
for (auto& rtd : rtdSensorDummies) {
rtd.second->connectModeTreeParent(*tcsBoardAssy);
}
for (auto& tmp : tmpSensorDummies) {
tmp.second->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
if (tmpSensorDummies.has_value()) {
for (auto& tmp : tmpSensorDummies.value()) {
tmp.second->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
}
}
}
if (cfg.addCamSwitcherDummy) {

View File

@ -6,6 +6,14 @@ class GpioIF;
namespace dummy {
struct Tmp1075Cfg {
bool addTcsBrd0 = true;
bool addTcsBrd1 = true;
bool addPlPcdu0 = true;
bool addPlPcdu1 = true;
bool addIfBrd = true;
};
// Default values targeted towards EM.
struct DummyCfg {
bool addCoreCtrlCfg = true;
@ -20,6 +28,8 @@ struct DummyCfg {
bool addRtdComIFDummy = true;
bool addPlocDummies = true;
bool addStrDummy = true;
bool addTmpDummies = true;
Tmp1075Cfg tmp1075Cfg;
bool addCamSwitcherDummy = false;
};

2
fsfw

@ -1 +1 @@
Subproject commit 8da89eba80f73cb05e5c38fc012456f1d9569af5
Subproject commit 88e8665280a0381c41b724ab035a8c3eff1a23c1

View File

@ -280,6 +280,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
14106;0x371a;PCDU_SYSTEM_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
14107;0x371b;HEATER_NOT_OFF_FOR_OFF_MODE;MEDIUM;No description;mission/controller/tcsDefs.h
14108;0x371c;MGT_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
14109;0x371d;TCS_SWITCHING_HEATER_ON;INFO;P1: Module index. P2: Heater index;mission/controller/tcsDefs.h
14110;0x371e;TCS_SWITCHING_HEATER_OFF;INFO;P1: Module index. P2: Heater index;mission/controller/tcsDefs.h
14111;0x371f;TCS_HEATER_MAX_BURN_TIME_REACHED;MEDIUM;P1: Heater index. P2: Maximum burn time for heater.;mission/controller/tcsDefs.h
14201;0x3779;TX_TIMER_EXPIRED;INFO;The transmit timer to protect the Syrlinks expired P1: The current timer value;mission/system/com/ComSubsystem.h
14202;0x377a;BIT_LOCK_TX_ON;INFO;Transmitter will be turned on due to detection of bitlock;mission/system/com/ComSubsystem.h
14300;0x37dc;POSSIBLE_FILE_CORRUPTION;LOW;P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp.;mission/persistentTmStoreDefs.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
280 14106 0x371a PCDU_SYSTEM_OVERHEATING HIGH No description mission/controller/tcsDefs.h
281 14107 0x371b HEATER_NOT_OFF_FOR_OFF_MODE MEDIUM No description mission/controller/tcsDefs.h
282 14108 0x371c MGT_OVERHEATING HIGH No description mission/controller/tcsDefs.h
283 14109 0x371d TCS_SWITCHING_HEATER_ON INFO P1: Module index. P2: Heater index mission/controller/tcsDefs.h
284 14110 0x371e TCS_SWITCHING_HEATER_OFF INFO P1: Module index. P2: Heater index mission/controller/tcsDefs.h
285 14111 0x371f TCS_HEATER_MAX_BURN_TIME_REACHED MEDIUM P1: Heater index. P2: Maximum burn time for heater. mission/controller/tcsDefs.h
286 14201 0x3779 TX_TIMER_EXPIRED INFO The transmit timer to protect the Syrlinks expired P1: The current timer value mission/system/com/ComSubsystem.h
287 14202 0x377a BIT_LOCK_TX_ON INFO Transmitter will be turned on due to detection of bitlock mission/system/com/ComSubsystem.h
288 14300 0x37dc POSSIBLE_FILE_CORRUPTION LOW P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp. mission/persistentTmStoreDefs.h

View File

@ -280,6 +280,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
14106;0x371a;PCDU_SYSTEM_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
14107;0x371b;HEATER_NOT_OFF_FOR_OFF_MODE;MEDIUM;No description;mission/controller/tcsDefs.h
14108;0x371c;MGT_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
14109;0x371d;TCS_SWITCHING_HEATER_ON;INFO;P1: Module index. P2: Heater index;mission/controller/tcsDefs.h
14110;0x371e;TCS_SWITCHING_HEATER_OFF;INFO;P1: Module index. P2: Heater index;mission/controller/tcsDefs.h
14111;0x371f;TCS_HEATER_MAX_BURN_TIME_REACHED;MEDIUM;P1: Heater index. P2: Maximum burn time for heater.;mission/controller/tcsDefs.h
14201;0x3779;TX_TIMER_EXPIRED;INFO;The transmit timer to protect the Syrlinks expired P1: The current timer value;mission/system/com/ComSubsystem.h
14202;0x377a;BIT_LOCK_TX_ON;INFO;Transmitter will be turned on due to detection of bitlock;mission/system/com/ComSubsystem.h
14300;0x37dc;POSSIBLE_FILE_CORRUPTION;LOW;P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp.;mission/persistentTmStoreDefs.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
280 14106 0x371a PCDU_SYSTEM_OVERHEATING HIGH No description mission/controller/tcsDefs.h
281 14107 0x371b HEATER_NOT_OFF_FOR_OFF_MODE MEDIUM No description mission/controller/tcsDefs.h
282 14108 0x371c MGT_OVERHEATING HIGH No description mission/controller/tcsDefs.h
283 14109 0x371d TCS_SWITCHING_HEATER_ON INFO P1: Module index. P2: Heater index mission/controller/tcsDefs.h
284 14110 0x371e TCS_SWITCHING_HEATER_OFF INFO P1: Module index. P2: Heater index mission/controller/tcsDefs.h
285 14111 0x371f TCS_HEATER_MAX_BURN_TIME_REACHED MEDIUM P1: Heater index. P2: Maximum burn time for heater. mission/controller/tcsDefs.h
286 14201 0x3779 TX_TIMER_EXPIRED INFO The transmit timer to protect the Syrlinks expired P1: The current timer value mission/system/com/ComSubsystem.h
287 14202 0x377a BIT_LOCK_TX_ON INFO Transmitter will be turned on due to detection of bitlock mission/system/com/ComSubsystem.h
288 14300 0x37dc POSSIBLE_FILE_CORRUPTION LOW P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp. mission/persistentTmStoreDefs.h

View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 296 translations.
* @brief Auto-generated event translation file. Contains 299 translations.
* @details
* Generated on: 2023-06-21 19:01:02
* Generated on: 2023-07-07 12:06:06
*/
#include "translateEvents.h"
@ -286,6 +286,9 @@ const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
const char *MGT_OVERHEATING_STRING = "MGT_OVERHEATING";
const char *TCS_SWITCHING_HEATER_ON_STRING = "TCS_SWITCHING_HEATER_ON";
const char *TCS_SWITCHING_HEATER_OFF_STRING = "TCS_SWITCHING_HEATER_OFF";
const char *TCS_HEATER_MAX_BURN_TIME_REACHED_STRING = "TCS_HEATER_MAX_BURN_TIME_REACHED";
const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
@ -866,6 +869,12 @@ const char *translateEvents(Event event) {
return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
case (14108):
return MGT_OVERHEATING_STRING;
case (14109):
return TCS_SWITCHING_HEATER_ON_STRING;
case (14110):
return TCS_SWITCHING_HEATER_OFF_STRING;
case (14111):
return TCS_HEATER_MAX_BURN_TIME_REACHED_STRING;
case (14201):
return TX_TIMER_EXPIRED_STRING;
case (14202):

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@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 175 translations.
* Generated on: 2023-06-21 19:01:02
* Generated on: 2023-07-07 12:06:06
*/
#include "translateObjects.h"

View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 296 translations.
* @brief Auto-generated event translation file. Contains 299 translations.
* @details
* Generated on: 2023-06-21 19:01:02
* Generated on: 2023-07-07 12:06:06
*/
#include "translateEvents.h"
@ -286,6 +286,9 @@ const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
const char *MGT_OVERHEATING_STRING = "MGT_OVERHEATING";
const char *TCS_SWITCHING_HEATER_ON_STRING = "TCS_SWITCHING_HEATER_ON";
const char *TCS_SWITCHING_HEATER_OFF_STRING = "TCS_SWITCHING_HEATER_OFF";
const char *TCS_HEATER_MAX_BURN_TIME_REACHED_STRING = "TCS_HEATER_MAX_BURN_TIME_REACHED";
const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
@ -866,6 +869,12 @@ const char *translateEvents(Event event) {
return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
case (14108):
return MGT_OVERHEATING_STRING;
case (14109):
return TCS_SWITCHING_HEATER_ON_STRING;
case (14110):
return TCS_SWITCHING_HEATER_OFF_STRING;
case (14111):
return TCS_HEATER_MAX_BURN_TIME_REACHED_STRING;
case (14201):
return TX_TIMER_EXPIRED_STRING;
case (14202):

View File

@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 175 translations.
* Generated on: 2023-06-21 19:01:02
* Generated on: 2023-07-07 12:06:06
*/
#include "translateObjects.h"

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@ -33,10 +33,21 @@ ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
} else {
return DirectTmSinkIF::IS_BUSY;
}
if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
abortPacketTransfer();
return returnvalue::FAILED;
}
for (size_t idx = 0; idx < size; idx++) {
// if (pollInterfaceReadiness(2, false) == returnvalue::OK) {
if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
abortPacketTransfer();
return returnvalue::FAILED;
}
*(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(data[idx]);
}
if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
abortPacketTransfer();
return returnvalue::FAILED;
}
completePacketTransfer();
return returnvalue::OK;
}
@ -51,7 +62,6 @@ bool PapbVcInterface::pollReadyForPacket() const {
// Check if PAPB interface is ready to receive data. Use the configuration register for this.
// Bit 5, see PTME ptme_001_01-0-7-r2 Table 31.
uint32_t reg = *vcBaseReg;
// bool busy = (reg >> 5) & 0b1;
return (reg >> 6) & 0b1;
}
@ -77,6 +87,20 @@ bool PapbVcInterface::isBusy() const { return not pollReadyForPacket(); }
void PapbVcInterface::cancelTransfer() { abortPacketTransfer(); }
inline bool PapbVcInterface::pollReadyForOctet(uint32_t maxCycles) const {
uint32_t reg;
uint32_t idx = 0;
while (idx < maxCycles) {
reg = *vcBaseReg;
// Busy bit.
if (not((reg >> 5) & 0b1)) {
return true;
}
idx++;
}
return false;
}
ReturnValue_t PapbVcInterface::sendTestFrame() {
/** Size of one complete transfer frame data field amounts to 1105 bytes */
uint8_t testPacket[1105];

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@ -80,6 +80,7 @@ class PapbVcInterface : public VirtualChannelIF {
static constexpr long int FIRST_DELAY_PAPB_POLLING_NS = 10;
static constexpr long int MAX_DELAY_PAPB_POLLING_NS = 40;
static constexpr uint32_t MAX_BUSY_POLLS = 1000;
LinuxLibgpioIF* gpioComIF = nullptr;
/** High when external buffer memory of virtual channel is empty */
@ -118,6 +119,8 @@ class PapbVcInterface : public VirtualChannelIF {
*/
inline bool pollReadyForPacket() const;
inline bool pollReadyForOctet(uint32_t maxCycles) const;
/**
* @brief This function can be used for debugging to check whether there are packets in
* the packet buffer of the virtual channel or not.

View File

@ -19,13 +19,8 @@ LiveTmTask::LiveTmTask(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunne
ReturnValue_t LiveTmTask::performOperation(uint8_t opCode) {
readCommandQueue();
while (true) {
bool performWriteOp = true;
if (mode == MODE_OFF or ptmeLocked) {
performWriteOp = false;
}
// The funnel tasks are scheduled here directly as well.
ReturnValue_t result = channel.handleNextTm(performWriteOp);
ReturnValue_t result = channel.handleNextTm(!ptmeLocked);
if (result == DirectTmSinkIF::IS_BUSY) {
sif::error << "Lost live TM, PAPB busy" << std::endl;
}

File diff suppressed because it is too large Load Diff

View File

@ -1,7 +1,7 @@
#ifndef MISSION_CONTROLLER_THERMALCONTROLLER_H_
#define MISSION_CONTROLLER_THERMALCONTROLLER_H_
#include <bsp_q7s/core/CoreDefinitions.h>
#include <bsp_q7s/core/defs.h>
#include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/devicehandlers/DeviceHandlerThermalSet.h>
#include <fsfw/timemanager/Countdown.h>
@ -24,74 +24,7 @@
#include <atomic>
#include <list>
/**
* NOP Limit: Hard limit for device, usually from datasheet. Device damage is possible lif NOP limit
* is exceeded.
* OP Limit: Soft limit. Device should be switched off or TCS controller should take action if the
* limit is exceeded to avoid reaching NOP limit
*/
struct TempLimits {
TempLimits(float nopLowerLimit, float opLowerLimit, float cutOffLimit, float opUpperLimit,
float nopUpperLimit)
: opLowerLimit(opLowerLimit),
opUpperLimit(opUpperLimit),
cutOffLimit(cutOffLimit),
nopLowerLimit(nopLowerLimit),
nopUpperLimit(nopUpperLimit) {}
float opLowerLimit;
float opUpperLimit;
float cutOffLimit;
float nopLowerLimit;
float nopUpperLimit;
};
struct ThermalState {
uint8_t errorCounter;
// 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 {
bool switchTransition;
HeaterHandler::SwitchState target;
uint8_t heaterSwitchControlCycles;
};
using HeaterSwitchStates = std::array<HeaterHandler::SwitchState, heater::NUMBER_OF_SWITCHES>;
enum ThermalComponents : uint8_t {
NONE = 0,
ACS_BOARD = 1,
MGT = 2,
RW = 3,
STR = 4,
IF_BOARD = 5,
TCS_BOARD = 6,
OBC = 7,
OBCIF_BOARD = 8,
SBAND_TRANSCEIVER = 9,
PCDUP60_BOARD = 10,
PCDUACU = 11,
PCDUPDU = 12,
PLPCDU_BOARD = 13,
PLOCMISSION_BOARD = 14,
PLOCPROCESSING_BOARD = 15,
DAC = 16,
CAMERA = 17,
DRO = 18,
X8 = 19,
HPA = 20,
TX = 21,
MPA = 22,
SCEX_BOARD = 23,
NUM_ENTRIES
};
#include <optional>
class ThermalController : public ExtendedControllerBase {
public:
@ -102,8 +35,28 @@ class ThermalController : public ExtendedControllerBase {
static constexpr int16_t SANITY_LIMIT_LOWER_TEMP = -80;
static constexpr int16_t SANITY_LIMIT_UPPER_TEMP = 160;
// 1 hour
static constexpr uint32_t DEFAULT_MAX_HEATER_ON_DURATION_MS = 60 * 60 * 1000;
static constexpr uint32_t MAX_HEATER_ON_DURATIONS_MS[8] = {// PLOC PROC board
DEFAULT_MAX_HEATER_ON_DURATION_MS,
// PCDU PDU
DEFAULT_MAX_HEATER_ON_DURATION_MS,
// ACS Board
DEFAULT_MAX_HEATER_ON_DURATION_MS,
// OBC Board
DEFAULT_MAX_HEATER_ON_DURATION_MS,
// Camera
DEFAULT_MAX_HEATER_ON_DURATION_MS,
// STR
DEFAULT_MAX_HEATER_ON_DURATION_MS,
// DRO
DEFAULT_MAX_HEATER_ON_DURATION_MS,
// S-Band
DEFAULT_MAX_HEATER_ON_DURATION_MS};
ThermalController(object_id_t objectId, HeaterHandler& heater,
const std::atomic_bool& tcsBoardShortUnavailable);
const std::atomic_bool& tcsBoardShortUnavailable, bool pollPcdu1Tmp);
virtual ~ThermalController();
ReturnValue_t initialize() override;
@ -111,16 +64,16 @@ class ThermalController : public ExtendedControllerBase {
struct HeaterContext {
public:
HeaterContext(heater::Switch switchNr, heater::Switch redundantSwitchNr,
const TempLimits& tempLimit)
const tcsCtrl::TempLimits& tempLimit)
: switchNr(switchNr), redSwitchNr(redundantSwitchNr), tempLimit(tempLimit) {}
bool doHeaterHandling = true;
heater::Switch switchNr;
HeaterHandler::SwitchState switchState = HeaterHandler::SwitchState::OFF;
heater::SwitchState switchState = heater::SwitchState::OFF;
heater::Switch redSwitchNr;
const TempLimits& tempLimit;
const tcsCtrl::TempLimits& tempLimit;
};
void performThermalModuleCtrl(const HeaterSwitchStates& heaterSwitchStates);
void performThermalModuleCtrl(const tcsCtrl::HeaterSwitchStates& heaterSwitchStates);
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -142,12 +95,12 @@ class ThermalController : public ExtendedControllerBase {
HeaterHandler& heaterHandler;
bool pollPcdu1Tmp;
tcsCtrl::SensorTemperatures sensorTemperatures;
tcsCtrl::SusTemperatures susTemperatures;
tcsCtrl::DeviceTemperatures deviceTemperatures;
tcsCtrl::HeaterInfo heaterInfo;
lp_vec_t<int16_t, 9> currentVecPdu2 =
lp_vec_t<int16_t, 9>(gp_id_t(objects::PDU2_HANDLER, PDU::pool::PDU_CURRENTS));
tcsCtrl::TcsCtrlInfo tcsCtrlInfo;
DeviceHandlerThermalSet imtqThermalSet;
@ -173,7 +126,7 @@ class ThermalController : public ExtendedControllerBase {
TMP1075::Tmp1075Dataset tmp1075SetTcs1;
TMP1075::Tmp1075Dataset tmp1075SetPlPcdu0;
// damaged
// TMP1075::Tmp1075Dataset tmp1075SetPlPcdu1;
TMP1075::Tmp1075Dataset* tmp1075SetPlPcdu1;
TMP1075::Tmp1075Dataset tmp1075SetIfBoard;
// SUS
@ -227,57 +180,67 @@ class ThermalController : public ExtendedControllerBase {
lp_var_t<float> tempMgm2 =
lp_var_t<float>(objects::MGM_2_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
lp_var_t<float> tempAdcPayloadPcdu = lp_var_t<float>(objects::PLPCDU_HANDLER, plpcdu::TEMP);
lp_vec_t<int16_t, 9> currentVecPdu2 =
lp_vec_t<int16_t, 9>(gp_id_t(objects::PDU2_HANDLER, PDU::pool::PDU_CURRENTS));
// TempLimits
TempLimits acsBoardLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
TempLimits mgtLimits = TempLimits(-40.0, -40.0, 65.0, 70.0, 70.0);
TempLimits rwLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
TempLimits strLimits = TempLimits(-30.0, -20.0, 65.0, 70.0, 80.0);
TempLimits ifBoardLimits = TempLimits(-65.0, -40.0, 80.0, 85.0, 150.0);
TempLimits tcsBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 130.0);
TempLimits obcLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
TempLimits obcIfBoardLimits = TempLimits(-65.0, -40.0, 80.0, 85.0, 125.0);
TempLimits sBandTransceiverLimits = TempLimits(-40.0, -25.0, 35.0, 40.0, 65.0);
TempLimits pcduP60BoardLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
TempLimits pcduAcuLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
TempLimits pcduPduLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
TempLimits plPcduBoardLimits = TempLimits(-55.0, -40.0, 80.0, 85.0, 125.0);
TempLimits plocMissionBoardLimits = TempLimits(-30.0, -10.0, 40.0, 45.0, 60);
TempLimits plocProcessingBoardLimits = TempLimits(-30.0, -10.0, 40.0, 45.0, 60.0);
TempLimits dacLimits = TempLimits(-65.0, -40.0, 113.0, 118.0, 150.0);
TempLimits cameraLimits = TempLimits(-40.0, -30.0, 60.0, 65.0, 85.0);
TempLimits droLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
TempLimits x8Limits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
TempLimits hpaLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
TempLimits txLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
TempLimits mpaLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
TempLimits scexBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 150.0);
tcsCtrl::TempLimits acsBoardLimits = tcsCtrl::TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
tcsCtrl::TempLimits mgtLimits = tcsCtrl::TempLimits(-40.0, -40.0, 65.0, 70.0, 70.0);
tcsCtrl::TempLimits rwLimits = tcsCtrl::TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
tcsCtrl::TempLimits strLimits = tcsCtrl::TempLimits(-30.0, -20.0, 65.0, 70.0, 80.0);
tcsCtrl::TempLimits ifBoardLimits = tcsCtrl::TempLimits(-65.0, -40.0, 80.0, 85.0, 150.0);
tcsCtrl::TempLimits tcsBoardLimits = tcsCtrl::TempLimits(-60.0, -40.0, 80.0, 85.0, 130.0);
tcsCtrl::TempLimits obcLimits = tcsCtrl::TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
tcsCtrl::TempLimits obcIfBoardLimits = tcsCtrl::TempLimits(-65.0, -40.0, 80.0, 85.0, 125.0);
tcsCtrl::TempLimits sBandTransceiverLimits = tcsCtrl::TempLimits(-40.0, -25.0, 35.0, 40.0, 65.0);
tcsCtrl::TempLimits pcduP60BoardLimits = tcsCtrl::TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
tcsCtrl::TempLimits pcduAcuLimits = tcsCtrl::TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
tcsCtrl::TempLimits pcduPduLimits = tcsCtrl::TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
tcsCtrl::TempLimits plPcduBoardLimits = tcsCtrl::TempLimits(-55.0, -40.0, 80.0, 85.0, 125.0);
tcsCtrl::TempLimits plocMissionBoardLimits = tcsCtrl::TempLimits(-30.0, -10.0, 40.0, 45.0, 60);
tcsCtrl::TempLimits plocProcessingBoardLimits =
tcsCtrl::TempLimits(-30.0, -10.0, 40.0, 45.0, 60.0);
tcsCtrl::TempLimits dacLimits = tcsCtrl::TempLimits(-65.0, -40.0, 113.0, 118.0, 150.0);
tcsCtrl::TempLimits cameraLimits = tcsCtrl::TempLimits(-40.0, -30.0, 60.0, 65.0, 85.0);
tcsCtrl::TempLimits droLimits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
tcsCtrl::TempLimits x8Limits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
tcsCtrl::TempLimits hpaLimits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
tcsCtrl::TempLimits txLimits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
tcsCtrl::TempLimits mpaLimits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
tcsCtrl::TempLimits scexBoardLimits = tcsCtrl::TempLimits(-60.0, -40.0, 80.0, 85.0, 150.0);
struct CtrlContext {
double sensorTemp = INVALID_TEMPERATURE;
uint8_t currentSensorIndex = 0;
tcsCtrl::ThermalComponents thermalComponent = tcsCtrl::NONE;
bool redSwitchNrInUse = false;
bool componentAboveCutOffLimit = false;
bool componentAboveUpperLimit = false;
Event overHeatEventToTrigger;
} ctrlCtx;
double sensorTemp = INVALID_TEMPERATURE;
ThermalComponents thermalComponent = NONE;
bool redSwitchNrInUse = false;
MessageQueueId_t camId = MessageQueueIF::NO_QUEUE;
bool componentAboveCutOffLimit = false;
bool componentAboveUpperLimit = false;
Event overHeatEventToTrigger;
bool eBandTooHotFlag = false;
bool camTooHotOneShotFlag = false;
bool scexTooHotFlag = false;
bool plocTooHotFlag = false;
bool pcduSystemTooHotFlag = false;
bool syrlinksTooHotFlag = false;
bool obcTooHotFlag = false;
bool mgtTooHotFlag = false;
bool strTooHotFlag = false;
bool rwTooHotFlag = false;
struct TooHotFlags {
bool eBandTooHotFlag = false;
bool camTooHotOneShotFlag = false;
bool scexTooHotFlag = false;
bool plocTooHotFlag = false;
bool pcduSystemTooHotFlag = false;
bool syrlinksTooHotFlag = false;
bool obcTooHotFlag = false;
bool mgtTooHotFlag = false;
bool strTooHotFlag = false;
bool rwTooHotFlag = false;
} tooHotFlags;
bool transitionWhenHeatersOff = false;
uint32_t transitionWhenHeatersOffCycles = 0;
Mode_t targetMode = MODE_OFF;
Submode_t targetSubmode = SUBMODE_NONE;
uint32_t cycles = 0;
std::array<ThermalState, ThermalComponents::NUM_ENTRIES> thermalStates{};
std::array<HeaterState, heater::NUMBER_OF_SWITCHES> heaterStates{};
std::array<tcsCtrl::ThermalState, tcsCtrl::NUM_THERMAL_COMPONENTS> thermalStates{};
std::array<tcsCtrl::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.
@ -298,6 +261,12 @@ class ThermalController : public ExtendedControllerBase {
PoolEntry<uint8_t> heaterSwitchStates = PoolEntry<uint8_t>(heater::NUMBER_OF_SWITCHES);
PoolEntry<int16_t> heaterCurrent = PoolEntry<int16_t>();
PoolEntry<uint8_t> tcsCtrlHeaterOn = PoolEntry<uint8_t>(tcsCtrl::NUM_THERMAL_COMPONENTS);
PoolEntry<uint8_t> tcsCtrlSensorIdx = PoolEntry<uint8_t>(tcsCtrl::NUM_THERMAL_COMPONENTS);
PoolEntry<uint8_t> tcsCtrlHeaterIdx = PoolEntry<uint8_t>(tcsCtrl::NUM_THERMAL_COMPONENTS);
PoolEntry<uint32_t> tcsCtrlStartTimes = PoolEntry<uint32_t>(tcsCtrl::NUM_THERMAL_COMPONENTS);
PoolEntry<uint32_t> tcsCtrlEndTimes = PoolEntry<uint32_t>(tcsCtrl::NUM_THERMAL_COMPONENTS);
static constexpr dur_millis_t MUTEX_TIMEOUT = 50;
void startTransition(Mode_t mode, Submode_t submode) override;
@ -319,8 +288,8 @@ class ThermalController : public ExtendedControllerBase {
bool selectAndReadSensorTemp(HeaterContext& htrCtx);
void heaterSwitchHelperAllOff();
void heaterSwitchHelper(heater::Switch switchNr, HeaterHandler::SwitchState state,
unsigned componentIdx);
void heaterSwitchHelper(heater::Switch switchNr, heater::SwitchState state,
std::optional<unsigned> componentIdx);
void ctrlAcsBoard();
void ctrlMgt();
@ -329,7 +298,6 @@ class ThermalController : public ExtendedControllerBase {
void ctrlIfBoard();
void ctrlTcsBoard();
void ctrlObc();
void ctrlObcIfBoard();
void ctrlSBandTransceiver();
void ctrlPcduP60Board();
void ctrlPcduAcu();
@ -345,7 +313,22 @@ class ThermalController : public ExtendedControllerBase {
void ctrlTx();
void ctrlMpa();
void ctrlScexBoard();
void heaterTransitionControl(const HeaterSwitchStates& currentHeaterStates);
/**
* The transition of heaters might take some time. As long as a transition is
* going on, the TCS controller works in a reduced form. This function takes care
* of tracking transition and capturing their completion.
* @param currentHeaterStates
*/
void heaterTransitionControl(const tcsCtrl::HeaterSwitchStates& currentHeaterStates);
/**
* Control tasks to prevent heaters being on for prolonged periods. Ideally, this
* should never happen, but this task prevents bugs from causing heaters to stay on
* for a long time, which draws a lot of power.
* @param currentHeaterStates
*/
void heaterMaxDurationControl(const tcsCtrl::HeaterSwitchStates& currentHeaterStates);
void crossCheckHeaterStateOfComponentsWhenHeaterGoesOff(heater::Switch switchIdx);
void setMode(Mode_t mode, Submode_t submode);
uint32_t tempFloatToU32() const;
bool tooHotHandler(object_id_t object, bool& oneShotFlag);

View File

@ -9,6 +9,85 @@
namespace tcsCtrl {
/**
* NOP Limit: Hard limit for device, usually from datasheet. Device damage is possible lif NOP limit
* is exceeded.
* OP Limit: Soft limit. Device should be switched off or TCS controller should take action if the
* limit is exceeded to avoid reaching NOP limit
*/
struct TempLimits {
TempLimits(float nopLowerLimit, float opLowerLimit, float cutOffLimit, float opUpperLimit,
float nopUpperLimit)
: opLowerLimit(opLowerLimit),
opUpperLimit(opUpperLimit),
cutOffLimit(cutOffLimit),
nopLowerLimit(nopLowerLimit),
nopUpperLimit(nopUpperLimit) {}
float opLowerLimit;
float opUpperLimit;
float cutOffLimit;
float nopLowerLimit;
float nopUpperLimit;
};
/**
* Abstraction for the state of a single thermal component
*/
struct ThermalState {
uint8_t noSensorAvailableCounter;
// Which sensor is used for this component?
uint8_t sensorIndex = 0;
// Is heating on for that thermal module?
bool heating = false;
// Which switch is being used for heating the component
heater::Switch heaterSwitch = heater::Switch::HEATER_NONE;
// 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;
};
/**
* Abstraction for the state of a single heater.
*/
struct HeaterState {
bool switchTransition = false;
heater::SwitchState target = heater::SwitchState::OFF;
uint8_t heaterSwitchControlCycles = 0;
bool trackHeaterMaxBurnTime = false;
Countdown heaterOnMaxBurnTime;
};
using HeaterSwitchStates = std::array<heater::SwitchState, heater::NUMBER_OF_SWITCHES>;
enum ThermalComponents : uint8_t {
NONE = 0,
ACS_BOARD = 1,
MGT = 2,
RW = 3,
STR = 4,
IF_BOARD = 5,
TCS_BOARD = 6,
OBC = 7,
LEGACY_OBCIF_BOARD = 8,
SBAND_TRANSCEIVER = 9,
PCDUP60_BOARD = 10,
PCDUACU = 11,
PCDUPDU = 12,
PLPCDU_BOARD = 13,
PLOCMISSION_BOARD = 14,
PLOCPROCESSING_BOARD = 15,
DAC = 16,
CAMERA = 17,
DRO = 18,
X8 = 19,
HPA = 20,
TX = 21,
MPA = 22,
SCEX_BOARD = 23,
NUM_THERMAL_COMPONENTS
};
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_CONTROLLER;
static constexpr Event NO_VALID_SENSOR_TEMPERATURE = MAKE_EVENT(0, severity::MEDIUM);
static constexpr Event NO_HEALTHY_HEATER_AVAILABLE = MAKE_EVENT(1, severity::MEDIUM);
@ -18,6 +97,12 @@ static constexpr Event CAMERA_OVERHEATING = MAKE_EVENT(5, severity::HIGH);
static constexpr Event PCDU_SYSTEM_OVERHEATING = MAKE_EVENT(6, severity::HIGH);
static constexpr Event HEATER_NOT_OFF_FOR_OFF_MODE = MAKE_EVENT(7, severity::MEDIUM);
static constexpr Event MGT_OVERHEATING = MAKE_EVENT(8, severity::HIGH);
//! [EXPORT] : [COMMENT] P1: Module index. P2: Heater index
static constexpr Event TCS_SWITCHING_HEATER_ON = MAKE_EVENT(9, severity::INFO);
//! [EXPORT] : [COMMENT] P1: Module index. P2: Heater index
static constexpr Event TCS_SWITCHING_HEATER_OFF = MAKE_EVENT(10, severity::INFO);
//! [EXPORT] : [COMMENT] P1: Heater index. P2: Maximum burn time for heater.
static constexpr Event TCS_HEATER_MAX_BURN_TIME_REACHED = MAKE_EVENT(11, severity::MEDIUM);
enum SetId : uint32_t {
SENSOR_TEMPERATURES = 0,
@ -25,6 +110,7 @@ enum SetId : uint32_t {
SUS_TEMPERATURES = 2,
COMPONENT_TEMPERATURES = 3,
HEATER_SET = 4,
TCS_CTRL_INFO = 5
};
enum PoolIds : lp_id_t {
@ -92,7 +178,13 @@ enum PoolIds : lp_id_t {
TEMP_ADC_PAYLOAD_PCDU,
HEATER_SWITCH_LIST,
HEATER_CURRENT
HEATER_CURRENT,
HEATER_ON_FOR_COMPONENT_VEC,
SENSOR_USED_FOR_TCS_CTRL,
HEATER_IDX_USED_FOR_TCS_CTRL,
HEATER_START_TIME,
HEATER_END_TIME
};
static const uint8_t ENTRIES_SENSOR_TEMPERATURE_SET = 25;
@ -232,6 +324,29 @@ class HeaterInfo : public StaticLocalDataSet<3> {
lp_var_t<int16_t> heaterCurrent = lp_var_t<int16_t>(sid.objectId, PoolIds::HEATER_CURRENT, this);
};
class TcsCtrlInfo : public StaticLocalDataSet<6> {
public:
explicit TcsCtrlInfo(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TCS_CTRL_INFO) {}
explicit TcsCtrlInfo(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TCS_CTRL_INFO)) {}
lp_vec_t<uint8_t, tcsCtrl::NUM_THERMAL_COMPONENTS> heatingOnVec =
lp_vec_t<uint8_t, tcsCtrl::NUM_THERMAL_COMPONENTS>(
sid.objectId, PoolIds::HEATER_ON_FOR_COMPONENT_VEC, this);
lp_vec_t<uint8_t, tcsCtrl::NUM_THERMAL_COMPONENTS> sensorIdxUsedForTcsCtrl =
lp_vec_t<uint8_t, tcsCtrl::NUM_THERMAL_COMPONENTS>(sid.objectId,
PoolIds::SENSOR_USED_FOR_TCS_CTRL, this);
lp_vec_t<uint8_t, tcsCtrl::NUM_THERMAL_COMPONENTS> heaterSwitchIdx =
lp_vec_t<uint8_t, tcsCtrl::NUM_THERMAL_COMPONENTS>(
sid.objectId, PoolIds::HEATER_IDX_USED_FOR_TCS_CTRL, this);
lp_vec_t<uint32_t, tcsCtrl::NUM_THERMAL_COMPONENTS> heaterStartTimes =
lp_vec_t<uint32_t, tcsCtrl::NUM_THERMAL_COMPONENTS>(sid.objectId, PoolIds::HEATER_START_TIME,
this);
lp_vec_t<uint32_t, tcsCtrl::NUM_THERMAL_COMPONENTS> heaterEndTimes =
lp_vec_t<uint32_t, tcsCtrl::NUM_THERMAL_COMPONENTS>(sid.objectId, PoolIds::HEATER_END_TIME,
this);
};
} // namespace tcsCtrl
#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_THERMALCONTROLLERDEFINITIONS_H_ */

View File

@ -311,9 +311,9 @@ void ObjectFactory::createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF&
heaterHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
}
void ObjectFactory::createThermalController(HeaterHandler& heaterHandler) {
void ObjectFactory::createThermalController(HeaterHandler& heaterHandler, bool pollPlPcduTmp1) {
auto* tcsCtrl = new ThermalController(objects::THERMAL_CONTROLLER, heaterHandler,
tcs::TCS_BOARD_SHORTLY_UNAVAILABLE);
tcs::TCS_BOARD_SHORTLY_UNAVAILABLE, pollPlPcduTmp1);
tcsCtrl->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
}
void ObjectFactory::createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t theSwitch,

View File

@ -50,7 +50,7 @@ void produceGenericObjects(HealthTableIF** healthTable, PusTmFunnel** pusFunnel,
void createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF& pwrSwitcher,
HeaterHandler*& heaterHandler);
void createThermalController(HeaterHandler& heaterHandler);
void createThermalController(HeaterHandler& heaterHandler, bool pollPlPcduTmp1);
void createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t theSwitch,
std::array<DeviceHandlerBase*, 4> rws, std::array<object_id_t, 4> rwIds);
void createSusAssy(PowerSwitchIF& pwrSwitcher, std::array<DeviceHandlerBase*, 12> suses);

View File

@ -39,56 +39,67 @@ ReturnValue_t pst::pstSyrlinks(FixedTimeslotTaskIF *thisSequence) {
// I don't think this needs to be in a PST because linux takes care of bus serialization, but
// keep it like this for now, it works
ReturnValue_t pst::pstI2cProcessingSystem(FixedTimeslotTaskIF *thisSequence) {
ReturnValue_t pst::pstI2c(TmpSchedConfig schedConf, FixedTimeslotTaskIF *thisSequence) {
// Length of a communication cycle
uint32_t length = thisSequence->getPeriodMs();
static_cast<void>(length);
// 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 * 0.2,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.2, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.3, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.3, DeviceHandlerIF::GET_READ);
if (schedConf.scheduleTmpDev0) {
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.1, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.1, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.1, DeviceHandlerIF::GET_READ);
}
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::GET_READ);
if (schedConf.scheduleTmpDev1) {
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.2,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.2, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.3, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.3, DeviceHandlerIF::GET_READ);
}
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.6,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.6,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.6,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.7,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.7, DeviceHandlerIF::GET_READ);
// damaged
/*
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4, DeviceHandlerIF::GET_READ);
*/
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.9,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.9, DeviceHandlerIF::GET_READ);
if (schedConf.schedulePlPcduDev0) {
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.5,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.5,
DeviceHandlerIF::GET_READ);
}
if (schedConf.schedulePlPcduDev1) {
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.6,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.6,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.6,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.7,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.7,
DeviceHandlerIF::GET_READ);
}
if (schedConf.scheduleIfBoardDev) {
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.9,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.9,
DeviceHandlerIF::GET_READ);
}
static_cast<void>(length);
return thisSequence->checkSequence();
}

View File

@ -39,6 +39,16 @@ struct AcsPstCfg {
bool scheduleStr = true;
};
// Default config is for FM.
struct TmpSchedConfig {
bool scheduleTmpDev0 = true;
bool scheduleTmpDev1 = true;
bool schedulePlPcduDev0 = true;
// damaged on FM
bool schedulePlPcduDev1 = false;
bool scheduleIfBoardDev = true;
};
/**
* @brief This function creates the PST for all gomspace devices.
* @details
@ -51,7 +61,7 @@ ReturnValue_t pstSyrlinks(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstTcsAndAcs(FixedTimeslotTaskIF* thisSequence, AcsPstCfg cfg);
ReturnValue_t pstI2cProcessingSystem(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstI2c(TmpSchedConfig schedConf, FixedTimeslotTaskIF* thisSequence);
/**
* Generic test PST

View File

@ -31,12 +31,12 @@ void buildPtgInertialSequence(Subsystem& ss, ModeListEntry& eh);
static const auto OFF = HasModesIF::MODE_OFF;
static const auto NML = DeviceHandlerIF::MODE_NORMAL;
void satsystem::init() {
void satsystem::init(bool commandPlPcdu1) {
auto& acsSubsystem = acs::init();
acsSubsystem.connectModeTreeParent(EIVE_SYSTEM);
auto& payloadSubsystem = payload::init();
payloadSubsystem.connectModeTreeParent(EIVE_SYSTEM);
auto& tcsSubsystem = tcs::init();
auto& tcsSubsystem = tcs::init(commandPlPcdu1);
tcsSubsystem.connectModeTreeParent(EIVE_SYSTEM);
auto& comSubsystem = com::init();
comSubsystem.connectModeTreeParent(EIVE_SYSTEM);

View File

@ -5,7 +5,7 @@
namespace satsystem {
void init();
void init(bool commandPlPcdu1);
extern EiveSystem EIVE_SYSTEM;

View File

@ -20,7 +20,7 @@ ReturnValue_t TmpDevFdir::eventReceived(EventMessage* event) {
// We'll try a recovery as long as defined in MAX_REBOOT.
// Might cause some AssemblyBase cycles, so keep number low.
// Ignored for TMP device, no way to power cycle it without going to OFF/BOOT mode.
// handleRecovery(event->getEvent());
setFaulty(event->getEvent());
break;
case DeviceHandlerIF::DEVICE_INTERPRETING_REPLY_FAILED:
case DeviceHandlerIF::DEVICE_READING_REPLY_FAILED:
@ -28,8 +28,10 @@ ReturnValue_t TmpDevFdir::eventReceived(EventMessage* event) {
case DeviceHandlerIF::DEVICE_UNKNOWN_REPLY: // Some DH's generate generic reply-ids.
case DeviceHandlerIF::DEVICE_BUILDING_COMMAND_FAILED:
// These faults all mean that there were stupid replies from a device.
// With now way to do a recovery, set the device to faulty immediately.
setFaulty(event->getEvent());
// With no way to do a recovery, set the device to faulty instead of trying a recovery.
if (strangeReplyCount.incrementAndCheck()) {
setFaulty(event->getEvent());
}
break;
case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
@ -40,7 +42,9 @@ ReturnValue_t TmpDevFdir::eventReceived(EventMessage* event) {
break;
}
// else
setFaulty(event->getEvent());
if (missedReplyCount.incrementAndCheck()) {
setFaulty(event->getEvent());
}
break;
case StorageManagerIF::GET_DATA_FAILED:
case StorageManagerIF::STORE_DATA_FAILED:

View File

@ -10,8 +10,8 @@ TcsSubsystem satsystem::tcs::SUBSYSTEM(objects::TCS_SUBSYSTEM, 12, 24);
namespace {
// Alias for checker function
const auto check = subsystem::checkInsert;
void buildOffSequence(Subsystem& ss, ModeListEntry& eh);
void buildNormalSequence(Subsystem& ss, ModeListEntry& eh);
void buildOffSequence(Subsystem& ss, ModeListEntry& eh, bool commandPlPcdu1);
void buildNormalSequence(Subsystem& ss, ModeListEntry& eh, bool commandPlPcdu1);
} // namespace
static const auto OFF = HasModesIF::MODE_OFF;
@ -27,17 +27,17 @@ auto TCS_TABLE_NORMAL_TGT = std::make_pair((NML << 24) | 1, FixedArrayList<ModeL
auto TCS_TABLE_NORMAL_TRANS_0 = std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 7>());
auto TCS_TABLE_NORMAL_TRANS_1 = std::make_pair((NML << 24) | 3, FixedArrayList<ModeListEntry, 2>());
Subsystem& satsystem::tcs::init() {
Subsystem& satsystem::tcs::init(bool commandPlPcdu1) {
ModeListEntry entry;
buildOffSequence(SUBSYSTEM, entry);
buildNormalSequence(SUBSYSTEM, entry);
buildOffSequence(SUBSYSTEM, entry, commandPlPcdu1);
buildNormalSequence(SUBSYSTEM, entry, commandPlPcdu1);
SUBSYSTEM.setInitialMode(OFF);
return SUBSYSTEM;
}
namespace {
void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
void buildOffSequence(Subsystem& ss, ModeListEntry& eh, bool commandPlPcdu1) {
std::string context = "satsystem::tcs::buildOffSequence";
auto ctxc = context.c_str();
// Insert Helper Table
@ -67,7 +67,9 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::TMP1075_HANDLER_TCS_0, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
iht(objects::TMP1075_HANDLER_TCS_1, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
iht(objects::TMP1075_HANDLER_PLPCDU_0, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
// TMP PL PCDU 1 is damaged
if (commandPlPcdu1) {
iht(objects::TMP1075_HANDLER_PLPCDU_1, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
}
iht(objects::TMP1075_HANDLER_IF_BOARD, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
check(ss.addTable(TableEntry(TCS_TABLE_OFF_TRANS_1.first, &TCS_TABLE_OFF_TRANS_1.second)), ctxc);
@ -79,7 +81,7 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
ctxc);
}
void buildNormalSequence(Subsystem& ss, ModeListEntry& eh) {
void buildNormalSequence(Subsystem& ss, ModeListEntry& eh, bool commandPlPcdu1) {
std::string context = "satsystem::tcs::buildNormalSequence";
auto ctxc = context.c_str();
// Insert Helper Table
@ -105,7 +107,9 @@ void buildNormalSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::TMP1075_HANDLER_TCS_0, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
iht(objects::TMP1075_HANDLER_TCS_1, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
iht(objects::TMP1075_HANDLER_PLPCDU_0, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
// TMP PL PCDU 1 is damaged
if (commandPlPcdu1) {
iht(objects::TMP1075_HANDLER_PLPCDU_1, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
}
iht(objects::TMP1075_HANDLER_IF_BOARD, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
check(ss.addTable(TableEntry(TCS_TABLE_NORMAL_TRANS_0.first, &TCS_TABLE_NORMAL_TRANS_0.second)),
ctxc);

View File

@ -7,7 +7,7 @@ namespace satsystem {
namespace tcs {
extern TcsSubsystem SUBSYSTEM;
Subsystem& init();
Subsystem& init(bool commandPlPcdu1);
} // namespace tcs
} // namespace satsystem

View File

@ -97,7 +97,7 @@ ReturnValue_t HeaterHandler::initialize() {
ReturnValue_t HeaterHandler::initializeHeaterMap() {
for (power::Switch_t switchNr = 0; switchNr < heater::NUMBER_OF_SWITCHES; switchNr++) {
heaterVec.push_back(HeaterWrapper(helper.heaters[switchNr], SwitchState::OFF));
heaterVec.push_back(HeaterWrapper(helper.heaters[switchNr], heater::SwitchState::OFF));
}
return returnvalue::OK;
}
@ -214,7 +214,7 @@ ReturnValue_t HeaterHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t o
void HeaterHandler::handleSwitchHandling() {
for (uint8_t idx = 0; idx < heater::NUMBER_OF_SWITCHES; idx++) {
auto health = heaterVec[idx].healthDevice->getHealth();
if (heaterVec[idx].switchState == SwitchState::ON) {
if (heaterVec[idx].switchState == heater::SwitchState::ON) {
// If a heater is still on but the device was marked faulty by the operator, the SW
// will shut down the heater
if (health == HasHealthIF::FAULTY or health == HasHealthIF::PERMANENT_FAULTY) {
@ -277,7 +277,7 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switch heaterIdx) {
triggerEvent(HEATER_WENT_ON, heaterIdx, 0);
{
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
heater.switchState = ON;
heater.switchState = heater::SwitchState::ON;
}
EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
MODE_ON, 0);
@ -326,10 +326,10 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switch heaterIdx) {
}
if (result == returnvalue::OK) {
// Check whether switch is already off
if (getSwitchState(heaterIdx) == SwitchState::ON) {
if (getSwitchState(heaterIdx) == heater::SwitchState::ON) {
{
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
heater.switchState = OFF;
heater.switchState = heater::SwitchState::OFF;
}
triggerEvent(HEATER_WENT_OFF, heaterIdx, 0);
} else {
@ -356,15 +356,15 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switch heaterIdx) {
heater.cmdActive = false;
}
HeaterHandler::SwitchState HeaterHandler::getSwitchState(heater::Switch switchNr) const {
heater::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::Switch heater, SwitchState switchState) {
if (switchState == SwitchState::ON) {
ReturnValue_t HeaterHandler::switchHeater(heater::Switch heater, heater::SwitchState switchState) {
if (switchState == heater::SwitchState::ON) {
return sendSwitchCommand(heater, PowerSwitchIF::SWITCH_ON);
} else if (switchState == SwitchState::OFF) {
} else if (switchState == heater::SwitchState::OFF) {
return sendSwitchCommand(heater, PowerSwitchIF::SWITCH_OFF);
}
return returnvalue::FAILED;
@ -373,10 +373,10 @@ ReturnValue_t HeaterHandler::switchHeater(heater::Switch heater, SwitchState swi
void HeaterHandler::announceMode(bool recursive) {
triggerEvent(MODE_INFO, mode, submode);
std::array<SwitchState, 8> states;
std::array<heater::SwitchState, 8> states;
getAllSwitchStates(states);
for (unsigned idx = 0; idx < helper.heaters.size(); idx++) {
if (states[idx] == ON) {
if (states[idx] == heater::SwitchState::ON) {
EventManagerIF::triggerEvent(helper.heaters[idx].first->getObjectId(), MODE_INFO, MODE_ON, 0);
} else {
EventManagerIF::triggerEvent(helper.heaters[idx].first->getObjectId(), MODE_INFO, MODE_OFF,
@ -405,7 +405,7 @@ ModeTreeChildIF& HeaterHandler::getModeTreeChildIF() { return *this; }
object_id_t HeaterHandler::getObjectId() const { return SystemObject::getObjectId(); }
ReturnValue_t HeaterHandler::getAllSwitchStates(std::array<SwitchState, 8>& statesBuf) {
ReturnValue_t HeaterHandler::getAllSwitchStates(std::array<heater::SwitchState, 8>& statesBuf) {
{
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
@ -419,13 +419,13 @@ ReturnValue_t HeaterHandler::getAllSwitchStates(std::array<SwitchState, 8>& stat
}
bool HeaterHandler::allSwitchesOff() {
bool allSwitchesOrd = false;
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
/* Or all switches. As soon one switch is on, allSwitchesOrd will be true */
for (power::Switch_t switchNr = 0; switchNr < heater::NUMBER_OF_SWITCHES; switchNr++) {
allSwitchesOrd = allSwitchesOrd || heaterVec.at(switchNr).switchState;
if (heaterVec.at(switchNr).switchState == heater::SwitchState::ON) {
return false;
}
}
return !allSwitchesOrd;
return true;
}
MessageQueueId_t HeaterHandler::getCommandQueue() const { return commandQueue->getId(); }
@ -440,7 +440,7 @@ ReturnValue_t HeaterHandler::getSwitchState(uint8_t switchNr) const {
if (switchNr > 7) {
return returnvalue::FAILED;
}
if (getSwitchState(static_cast<heater::Switch>(switchNr)) == SwitchState::ON) {
if (getSwitchState(static_cast<heater::Switch>(switchNr)) == heater::SwitchState::ON) {
return PowerSwitchIF::SWITCH_ON;
}
return PowerSwitchIF::SWITCH_OFF;

View File

@ -60,7 +60,6 @@ class HeaterHandler : public ExecutableObjectIF,
static const ReturnValue_t COMMAND_ALREADY_WAITING = MAKE_RETURN_CODE(0xA5);
enum CmdSourceParam : uint8_t { INTERNAL = 0, EXTERNAL = 1 };
enum SwitchState : uint8_t { ON = 1, OFF = 0 };
/** Device command IDs */
static const DeviceCommandId_t SWITCH_HEATER = 0x0;
@ -69,14 +68,14 @@ class HeaterHandler : public ExecutableObjectIF,
PowerSwitchIF* mainLineSwitcherObjectId, power::Switch_t mainLineSwitch);
ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
ReturnValue_t getAllSwitchStates(std::array<SwitchState, 8>& statesBuf);
ReturnValue_t getAllSwitchStates(std::array<heater::SwitchState, 8>& statesBuf);
virtual ~HeaterHandler();
protected:
enum SwitchAction : uint8_t { SET_SWITCH_OFF, SET_SWITCH_ON, NONE };
ReturnValue_t switchHeater(heater::Switch heater, SwitchState switchState);
ReturnValue_t switchHeater(heater::Switch heater, heater::SwitchState switchState);
HasHealthIF::HealthState getHealth(heater::Switch heater);
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
@ -121,14 +120,14 @@ class HeaterHandler : public ExecutableObjectIF,
* @param mainSwitchCountdown Sets timeout to wait for main switch being set on.
*/
struct HeaterWrapper {
HeaterWrapper(HeaterPair pair, SwitchState initState)
HeaterWrapper(HeaterPair pair, heater::SwitchState initState)
: healthDevice(pair.first), gpioId(pair.second), switchState(initState) {}
HealthDevice* healthDevice = nullptr;
gpioId_t gpioId = gpio::NO_GPIO;
SwitchAction action = SwitchAction::NONE;
MessageQueueId_t replyQueue = MessageQueueIF::NO_QUEUE;
bool cmdActive = false;
SwitchState switchState = SwitchState::OFF;
heater::SwitchState switchState = heater::SwitchState::OFF;
bool waitMainSwitchOn = false;
Countdown mainSwitchCountdown;
};
@ -177,7 +176,7 @@ 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::Switch switchNr) const;
heater::SwitchState getSwitchState(heater::Switch switchNr) const;
/**
* @brief This function runs commands waiting for execution.

View File

@ -1,4 +1,5 @@
#include <OBSWConfig.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <mission/tcs/Tmp1075Definitions.h>
#include <mission/tcs/Tmp1075Handler.h>
@ -11,14 +12,12 @@ Tmp1075Handler::Tmp1075Handler(object_id_t objectId, object_id_t comIF, CookieIF
Tmp1075Handler::~Tmp1075Handler() {}
void Tmp1075Handler::doStartUp() {
if (getMode() == _MODE_START_UP) {
setMode(MODE_ON);
}
}
void Tmp1075Handler::doStartUp() { setMode(MODE_ON); }
void Tmp1075Handler::doShutDown() {
communicationStep = CommunicationStep::START_ADC_CONVERSION;
PoolReadGuard pg(&dataset);
dataset.setValidity(false, true);
setMode(_MODE_POWER_DOWN);
}
@ -134,12 +133,14 @@ ReturnValue_t Tmp1075Handler::initializeLocalDataPool(localpool::DataPool &local
return returnvalue::OK;
}
void Tmp1075Handler::setModeNormal() { setMode(_MODE_TO_NORMAL); }
ReturnValue_t Tmp1075Handler::setHealth(HealthState health) {
if (health != FAULTY and health != PERMANENT_FAULTY and health != HEALTHY and
health != EXTERNAL_CONTROL) {
return returnvalue::FAILED;
}
return returnvalue::OK;
// Required because we do not have an assembly.
if (health == FAULTY or health == PERMANENT_FAULTY) {
setMode(_MODE_SHUT_DOWN);
}
return DeviceHandlerBase::setHealth(health);
}

View File

@ -20,8 +20,6 @@ class Tmp1075Handler : public DeviceHandlerBase {
Tmp1075Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie);
virtual ~Tmp1075Handler();
void setModeNormal();
protected:
void doStartUp() override;
void doShutDown() override;

View File

@ -4,6 +4,7 @@
#include <cstdint>
namespace heater {
enum Switch : uint8_t {
HEATER_0_PLOC_PROC_BRD,
HEATER_1_PCDU_PDU,
@ -13,9 +14,13 @@ enum Switch : uint8_t {
HEATER_5_STR,
HEATER_6_DRO,
HEATER_7_S_BAND,
NUMBER_OF_SWITCHES
NUMBER_OF_SWITCHES = 8,
HEATER_NONE = 0xff
};
}
enum SwitchState : uint8_t { ON = 1, OFF = 0 };
} // namespace heater
namespace tcs {

2
tmtc

@ -1 +1 @@
Subproject commit 18304c31fa423b1af6ff47764d4be81c7f20c8f2
Subproject commit 9be81f1725004b55e937718fbaddc4f4e4e74081

View File

@ -30,7 +30,8 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
// testEnvironment::initialize();
ThermalController controller(THERMAL_CONTROLLER_ID, *heaterHandler, tcsBrdShortlyUnavailable);
ThermalController controller(THERMAL_CONTROLLER_ID, *heaterHandler, tcsBrdShortlyUnavailable,
true);
ReturnValue_t result = controller.initialize();
REQUIRE(result == returnvalue::OK);