eive/eive-obsw
eive/eive-obsw
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This commit is contained in:
Robin Müller 2023-03-08 18:09:50 +01:00
parent a6dfe02128
commit b261a4ecfa
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GPG Key ID: 11D4952C8CCEF814
13 changed files with 56 additions and 30 deletions
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3
bsp_q7s/core/ObjectFactory.cpp
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@ -7,6 +7,7 @@
#include <mission/devices/GyrL3gCustomHandler.h>
#include <mission/devices/MgmLis3CustomHandler.h>
#include <mission/devices/MgmRm3100CustomHandler.h>
#include <mission/system/fdir/StrFdir.h>
#include <mission/system/objects/CamSwitcher.h>
#include <mission/system/objects/ImtqAssembly.h>
#include <mission/system/objects/StrAssembly.h>
@ -925,11 +926,13 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
if (paramJsonFile == nullptr) {
sif::error << "No valid Star Tracker parameter JSON file" << std::endl;
}
auto strFdir = new StrFdir(objects::STAR_TRACKER);
auto starTracker =
new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
paramJsonFile, strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
starTracker->setPowerSwitcher(pwrSwitcher);
starTracker->connectModeTreeParent(*strAssy);
starTracker->setCustomFdir(strFdir);
}
void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {

2
linux/devices/startracker/StarTrackerHandler.cpp
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@ -1677,7 +1677,7 @@ void StarTrackerHandler::prepareHistogramRequest() {
ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData,
size_t commandDataLen,
ArcsecJsonParamBase& paramSet) {
Stopwatch watch;
// Stopwatch watch;
ReturnValue_t result = returnvalue::OK;
if (commandDataLen > MAX_PATH_SIZE) {
return FILE_PATH_TOO_LONG;

2
mission/acsDefs.h
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@ -18,6 +18,8 @@ enum AcsMode : Mode_t {
PTG_INERTIAL = 16,
};
// static constexpr uint8_t ACS_SYSTEM_DETUMBLE_SUBMODE = 1;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
//!< The limits for the rotation in safe mode were violated.
static const Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);

7
mission/controller/AcsController.cpp
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@ -264,8 +264,9 @@ void AcsController::performPointingCtrl() {
triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true;
}
if (mekfInvalidCounter > 4) {
triggerEvent(acs::MEKF_INVALID_MODE_VIOLATION);
if (mekfInvalidCounter == 5) {
// Trigger this so STR FDIR can set the device faulty.
EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0);
}
mekfInvalidCounter++;
// commandActuators(0, 0, 0, acsParameters.magnetorquesParameter.torqueDuration,
@ -281,7 +282,7 @@ void AcsController::performPointingCtrl() {
double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
if (result == returnvalue::FAILED) {
if (multipleRwUnavailableCounter > 4) {
if (multipleRwUnavailableCounter == 5) {
triggerEvent(acs::MULTIPLE_RW_INVALID);
}
multipleRwUnavailableCounter++;

1
mission/controller/AcsController.h
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@ -4,6 +4,7 @@
#include <eive/objects.h>
#include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/health/HealthTable.h>
#include <fsfw/parameters/ParameterHelper.h>
#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
#include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>

5
mission/devices/RwHandler.cpp
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@ -366,9 +366,8 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
statusSet.setValidity(true, true);
if (statusSet.state == rws::STATE_ERROR) {
// This requires the commanding of the init reaction wheel controller command to recover
// from error state which must be handled by the FDIR instance.
triggerEvent(rws::ERROR_STATE, statusSet.state.value, 0);
// Trigger FDIR reaction, first recovery, then faulty if it doesnt fix the issue.
triggerEvent(DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT, statusSet.state.value, 0);
sif::error << "RwHandler::handleGetRwStatusReply: Reaction wheel in error state" << std::endl;
}

5
mission/system/fdir/CMakeLists.txt
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@ -1,3 +1,4 @@
target_sources(
${LIB_EIVE_MISSION} PRIVATE AcsBoardFdir.cpp RtdFdir.cpp SusFdir.cpp
SyrlinksFdir.cpp GomspacePowerFdir.cpp)
${LIB_EIVE_MISSION}
PRIVATE AcsBoardFdir.cpp RtdFdir.cpp StrFdir.cpp SusFdir.cpp SyrlinksFdir.cpp
GomspacePowerFdir.cpp)

14
mission/system/fdir/StrFdir.cpp Normal file
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@ -0,0 +1,14 @@
#include "StrFdir.h"
#include "mission/acsDefs.h"
StrFdir::StrFdir(object_id_t strObject)
: DeviceHandlerFailureIsolation(strObject, objects::NO_OBJECT) {}
ReturnValue_t StrFdir::eventReceived(EventMessage* event) {
if (event->getEvent() == acs::MEKF_INVALID_MODE_VIOLATION) {
setFaulty(event->getEvent());
return returnvalue::OK;
}
return DeviceHandlerFailureIsolation::eventReceived(event);
}

12
mission/system/fdir/StrFdir.h Normal file
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@ -0,0 +1,12 @@
#ifndef MISSION_SYSTEM_FDIR_STRFDIR_H_
#define MISSION_SYSTEM_FDIR_STRFDIR_H_
#include <fsfw/devicehandlers/DeviceHandlerFailureIsolation.h>
class StrFdir : public DeviceHandlerFailureIsolation {
public:
StrFdir(object_id_t strObject);
ReturnValue_t eventReceived(EventMessage* event) override;
};
#endif /* MISSION_SYSTEM_FDIR_STRFDIR_H_ */

4
mission/system/objects/AcsSubsystem.cpp
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@ -75,9 +75,7 @@ void AcsSubsystem::handleEventMessages() {
sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
}
}
if (event.getEvent() == acs::SAFE_RATE_RECOVERY ||
event.getEvent() == acs::MULTIPLE_RW_INVALID ||
event.getEvent() == acs::MEKF_INVALID_MODE_VIOLATION) {
if (event.getEvent() == acs::SAFE_RATE_RECOVERY) {
CommandMessage msg;
ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
status = commandQueue->sendMessage(commandQueue->getId(), &msg);

2
mission/system/objects/StrAssembly.cpp
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@ -2,7 +2,7 @@
#include <eive/objects.h>
StrAssembly::StrAssembly(object_id_t objectId): AssemblyBase(objectId) {
StrAssembly::StrAssembly(object_id_t objectId) : AssemblyBase(objectId) {
ModeListEntry entry;
entry.setObject(objects::STAR_TRACKER);
entry.setMode(MODE_OFF);

1
mission/system/tree/acsModeTree.cpp
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@ -319,6 +319,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_IDLE, ACS_TABLE_IDLE_TGT.second);
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true);
ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);

28
mission/system/tree/system.cpp
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@ -62,10 +62,14 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::buildSafeSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table,
bool allowAllSubmodes = false) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
if (allowAllSubmodes) {
eh.allowAllSubmodes();
}
check(table.insert(eh), ctxc);
};
// Insert Helper Sequence
@ -79,7 +83,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
// Do no track ACS for now because it might jump to detumble mode and back to safe as part of
// normal operations.
// iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TGT.second);
// iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TGT.second, true);
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TGT.second);
check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TGT.first, &EIVE_TABLE_SAFE_TGT.second)), ctxc);
@ -88,18 +92,13 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second);
iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_SAFE_TRANS_0.second);
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_0.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_0.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_0.second, true);
check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_0.first, &EIVE_TABLE_SAFE_TRANS_0.second)),
ctxc);
// Build SAFE transition 1
// check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_1.first, &EIVE_TABLE_SAFE_TRANS_1.second)),
// ctxc);
// Build Safe sequence
ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TGT.first, 0, false);
ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_0.first, 0, false);
// ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_1.first, 0, false);
check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_SAFE.first, &EIVE_SEQUENCE_SAFE.second,
EIVE_SEQUENCE_SAFE.first)),
ctxc);
@ -127,21 +126,16 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TGT.second);
check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TGT.first, &EIVE_TABLE_IDLE_TGT.second)), ctxc);
// Build SAFE transition 0
// Build IDLE transition 0
iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_IDLE_TRANS_0.second);
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_IDLE_TRANS_1.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TRANS_1.second);
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_IDLE_TRANS_0.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TRANS_0.second);
check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_0.first, &EIVE_TABLE_IDLE_TRANS_0.second)),
ctxc);
// Build SAFE transition 1
// check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_1.first, &EIVE_TABLE_IDLE_TRANS_1.second)),
// ctxc);
// Build Safe sequence
// Build IDLE sequence
ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TGT.first, 0, false);
ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_0.first, 0, false);
// ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_1.first, 0, false);
check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_IDLE.first, &EIVE_SEQUENCE_IDLE.second,
EIVE_SEQUENCE_SAFE.first)),
ctxc);