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Merge remote-tracking branch 'origin/develop' into mekf-invalid-reset-counter

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This commit is contained in:
Robin Müller
2023-03-24 15:01:01 +01:00
parent 7bca418db8 82a9dbd632
commit b32e0ef4fb
83 changed files with 1530 additions and 880 deletions
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39
mission/controller/ThermalController.cpp
View File

@ -605,7 +605,6 @@ void ThermalController::copySus() {
}
void ThermalController::copyDevices() {
lp_var_t<float> tempQ7s = lp_var_t<float>(objects::CORE_CONTROLLER, core::PoolIds::TEMPERATURE);
{
PoolReadGuard pg(&tempQ7s, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() == returnvalue::OK) {
@ -618,8 +617,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int16_t> battTemp1 =
lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_1);
PoolReadGuard pg(&battTemp1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read battery temperature 1" << std::endl;
@ -632,8 +629,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int16_t> battTemp2 =
lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_2);
PoolReadGuard pg(&battTemp2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read battery temperature 2" << std::endl;
@ -646,8 +641,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int16_t> battTemp3 =
lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_3);
PoolReadGuard pg(&battTemp3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read battery temperature 3" << std::endl;
@ -660,8 +653,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int16_t> battTemp4 =
lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_4);
PoolReadGuard pg(&battTemp4, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read battery temperature 4" << std::endl;
@ -674,7 +665,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, rws::TEMPERATURE_C);
PoolReadGuard pg(&tempRw1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read reaction wheel 1 temperature" << std::endl;
@ -687,7 +677,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, rws::TEMPERATURE_C);
PoolReadGuard pg(&tempRw2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read reaction wheel 2 temperature" << std::endl;
@ -700,7 +689,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, rws::TEMPERATURE_C);
PoolReadGuard pg(&tempRw3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read reaction wheel 3 temperature" << std::endl;
@ -713,7 +701,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int32_t> tempRw4 = lp_var_t<int32_t>(objects::RW4, rws::TEMPERATURE_C);
PoolReadGuard pg(&tempRw4, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read reaction wheel 4 temperature" << std::endl;
@ -726,8 +713,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempStartracker =
lp_var_t<float>(objects::STAR_TRACKER, startracker::MCU_TEMPERATURE);
PoolReadGuard pg(&tempStartracker, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read startracker temperature" << std::endl;
@ -740,8 +725,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempSyrlinksPowerAmplifier =
lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER);
PoolReadGuard pg(&tempSyrlinksPowerAmplifier, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read syrlinks power amplifier temperature"
@ -755,8 +738,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempSyrlinksBasebandBoard =
lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
PoolReadGuard pg(&tempSyrlinksBasebandBoard, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read syrlinks baseband board temperature"
@ -770,7 +751,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int16_t> tempMgt = lp_var_t<int16_t>(objects::IMTQ_HANDLER, imtq::MCU_TEMPERATURE);
PoolReadGuard pg(&tempMgt, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read MGT temperature" << std::endl;
@ -783,8 +763,6 @@ void ThermalController::copyDevices() {
}
{
lp_vec_t<float, 3> tempAcu =
lp_vec_t<float, 3>(objects::ACU_HANDLER, ACU::pool::ACU_TEMPERATURES);
PoolReadGuard pg(&tempAcu, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read ACU temperatures" << std::endl;
@ -799,7 +777,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempPdu1 = lp_var_t<float>(objects::PDU1_HANDLER, PDU::pool::PDU_TEMPERATURE);
PoolReadGuard pg(&tempPdu1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read PDU1 temperature" << std::endl;
@ -812,7 +789,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempPdu2 = lp_var_t<float>(objects::PDU2_HANDLER, PDU::pool::PDU_TEMPERATURE);
PoolReadGuard pg(&tempPdu2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read PDU2 temperature" << std::endl;
@ -825,8 +801,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> temp1P60dock =
lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_1);
PoolReadGuard pg(&temp1P60dock, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read P60 dock temperature 1" << std::endl;
@ -839,8 +813,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> temp2P60dock =
lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_2);
PoolReadGuard pg(&temp2P60dock, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read P60 dock temperature 2" << std::endl;
@ -853,8 +825,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempGyro0 =
lp_var_t<float>(objects::GYRO_0_ADIS_HANDLER, adis1650x::TEMPERATURE);
PoolReadGuard pg(&tempGyro0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read gyro 0 temperature" << std::endl;
@ -867,7 +837,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempGyro1 = lp_var_t<float>(objects::GYRO_1_L3G_HANDLER, l3gd20h::TEMPERATURE);
PoolReadGuard pg(&tempGyro1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read gyro 1 temperature" << std::endl;
@ -880,8 +849,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempGyro2 =
lp_var_t<float>(objects::GYRO_2_ADIS_HANDLER, adis1650x::TEMPERATURE);
PoolReadGuard pg(&tempGyro2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read gyro 2 temperature" << std::endl;
@ -894,7 +861,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempGyro3 = lp_var_t<float>(objects::GYRO_3_L3G_HANDLER, l3gd20h::TEMPERATURE);
PoolReadGuard pg(&tempGyro3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read gyro 3 temperature" << std::endl;
@ -907,8 +873,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempMgm0 =
lp_var_t<float>(objects::MGM_0_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
PoolReadGuard pg(&tempMgm0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read MGM 0 temperature" << std::endl;
@ -921,8 +885,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempMgm2 =
lp_var_t<float>(objects::MGM_2_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
PoolReadGuard pg(&tempMgm2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read MGM 2 temperature" << std::endl;
@ -935,7 +897,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempAdcPayloadPcdu = lp_var_t<float>(objects::PLPCDU_HANDLER, plpcdu::TEMP);
PoolReadGuard pg(&tempAdcPayloadPcdu, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read payload PCDU ADC temperature" << std::endl;

48
mission/controller/ThermalController.h
View File

@ -1,12 +1,22 @@
#ifndef MISSION_CONTROLLER_THERMALCONTROLLER_H_
#define MISSION_CONTROLLER_THERMALCONTROLLER_H_
#include <bsp_q7s/core/CoreDefinitions.h>
#include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/devicehandlers/DeviceHandlerThermalSet.h>
#include <fsfw/timemanager/Countdown.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
#include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
#include <mission/controller/controllerdefinitions/ThermalControllerDefinitions.h>
#include <mission/devices/devicedefinitions/BpxBatteryDefinitions.h>
#include <mission/devices/devicedefinitions/Max31865Definitions.h>
#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
#include <mission/devices/devicedefinitions/Tmp1075Definitions.h>
#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
#include <mission/devices/devicedefinitions/imtqHelpers.h>
#include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
#include <mission/devices/devicedefinitions/susMax1227Helpers.h>
#include <list>
@ -125,6 +135,44 @@ class ThermalController : public ExtendedControllerBase {
susMax1227::SusDataset susSet10;
susMax1227::SusDataset susSet11;
lp_var_t<float> tempQ7s = lp_var_t<float>(objects::CORE_CONTROLLER, core::PoolIds::TEMPERATURE);
lp_var_t<int16_t> battTemp1 =
lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_1);
lp_var_t<int16_t> battTemp2 =
lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_2);
lp_var_t<int16_t> battTemp3 =
lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_3);
lp_var_t<int16_t> battTemp4 =
lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_4);
lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, rws::TEMPERATURE_C);
lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, rws::TEMPERATURE_C);
lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, rws::TEMPERATURE_C);
lp_var_t<int32_t> tempRw4 = lp_var_t<int32_t>(objects::RW4, rws::TEMPERATURE_C);
lp_var_t<float> tempStartracker =
lp_var_t<float>(objects::STAR_TRACKER, startracker::MCU_TEMPERATURE);
lp_var_t<float> tempSyrlinksPowerAmplifier =
lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER);
lp_var_t<float> tempSyrlinksBasebandBoard =
lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
lp_var_t<int16_t> tempMgt = lp_var_t<int16_t>(objects::IMTQ_HANDLER, imtq::MCU_TEMPERATURE);
lp_vec_t<float, 3> tempAcu =
lp_vec_t<float, 3>(objects::ACU_HANDLER, ACU::pool::ACU_TEMPERATURES);
lp_var_t<float> tempPdu1 = lp_var_t<float>(objects::PDU1_HANDLER, PDU::pool::PDU_TEMPERATURE);
lp_var_t<float> tempPdu2 = lp_var_t<float>(objects::PDU2_HANDLER, PDU::pool::PDU_TEMPERATURE);
lp_var_t<float> temp1P60dock =
lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_1);
lp_var_t<float> temp2P60dock =
lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_2);
lp_var_t<float> tempGyro0 = lp_var_t<float>(objects::GYRO_0_ADIS_HANDLER, adis1650x::TEMPERATURE);
lp_var_t<float> tempGyro1 = lp_var_t<float>(objects::GYRO_1_L3G_HANDLER, l3gd20h::TEMPERATURE);
lp_var_t<float> tempGyro2 = lp_var_t<float>(objects::GYRO_2_ADIS_HANDLER, adis1650x::TEMPERATURE);
lp_var_t<float> tempGyro3 = lp_var_t<float>(objects::GYRO_3_L3G_HANDLER, l3gd20h::TEMPERATURE);
lp_var_t<float> tempMgm0 =
lp_var_t<float>(objects::MGM_0_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
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);
// 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);

28
mission/core/pollingSeqTables.cpp
View File

@ -21,13 +21,15 @@
ReturnValue_t pst::pstSyrlinks(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
#if OBSW_ADD_SYRLINKS == 1
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.25, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.7, DeviceHandlerIF::GET_READ);
static_cast<void>(length);
@ -318,11 +320,23 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
}
if (cfg.scheduleStr) {
// 2 COM cycles for full PST for STR. The STR requests 2 packets types in NORMAL mode, this
// ensures we always get an updated STR dataset for a regular normal mode cycle.
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::GET_READ);
}
bool enableAside = true;

1
mission/devices/devicedefinitions/SyrlinksDefinitions.h
View File

@ -10,7 +10,6 @@ enum class ParameterId : uint8_t { DATARATE = 0 };
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYRLINKS;
static constexpr Event FDIR_REACTION_IGNORED = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
//! [EXPORT] : [COMMENT] Transmitter is on now. P1: Submode, P2: Current default datarate.
static constexpr Event TX_ON = event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO);
//! [EXPORT] : [COMMENT] Transmitter is off now.

14
mission/system/fdir/SyrlinksFdir.cpp
View File

@ -23,8 +23,7 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) {
case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT:
// We'll try a recovery as long as defined in MAX_REBOOT.
// Might cause some AssemblyBase cycles, so keep number low.
// handleRecovery(event->getEvent());
triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
handleRecovery(event->getEvent());
break;
case DeviceHandlerIF::DEVICE_INTERPRETING_REPLY_FAILED:
case DeviceHandlerIF::DEVICE_READING_REPLY_FAILED:
@ -33,8 +32,7 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) {
case DeviceHandlerIF::DEVICE_BUILDING_COMMAND_FAILED:
// These faults all mean that there were stupid replies from a device.
if (strangeReplyCount.incrementAndCheck()) {
// handleRecovery(event->getEvent());
triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
handleRecovery(event->getEvent());
}
break;
case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
@ -48,7 +46,6 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) {
// else
if (missedReplyCount.incrementAndCheck()) {
handleRecovery(event->getEvent());
// triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
}
break;
case StorageManagerIF::GET_DATA_FAILED:
@ -81,7 +78,6 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) {
case Fuse::POWER_BELOW_LOW_LIMIT:
// Device might got stuck during boot, retry.
handleRecovery(event->getEvent());
triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
break;
//****Thermal*****
case ThermalComponentIF::COMPONENT_TEMP_LOW:
@ -113,14 +109,12 @@ void SyrlinksFdir::eventConfirmed(EventMessage* event) {
case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
case DeviceHandlerIF::DEVICE_MISSED_REPLY:
if (missedReplyCount.incrementAndCheck()) {
// handleRecovery(event->getEvent());
triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
handleRecovery(event->getEvent());
}
break;
case PowerSwitchIF::SWITCH_WENT_OFF:
// This means the switch went off only for one device.
// handleRecovery(event->getEvent());
triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
handleRecovery(event->getEvent());
break;
default:
break;

3
mission/tmtc/CcsdsIpCoreHandler.cpp
View File

@ -39,7 +39,6 @@ ReturnValue_t CcsdsIpCoreHandler::performOperation(uint8_t operationCode) {
}
ReturnValue_t CcsdsIpCoreHandler::initialize() {
AcceptsTelecommandsIF* tcDistributor =
ObjectManager::instance()->get<AcceptsTelecommandsIF>(tcDestination);
if (tcDistributor == nullptr) {
@ -207,6 +206,8 @@ ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueu
void CcsdsIpCoreHandler::updateLinkState() { linkState = LINK_UP; }
void CcsdsIpCoreHandler::enableTransmit() {
// Reset PTME on each transmit enable.
updateBatPriorityFromParam();
#ifndef TE0720_1CFA
gpioIF->pullHigh(ptmeGpios.enableTxClock);
gpioIF->pullHigh(ptmeGpios.enableTxData);

2
mission/tmtc/CcsdsIpCoreHandler.h
View File

@ -153,7 +153,7 @@ class CcsdsIpCoreHandler : public SystemObject,
PtmeConfig& ptmeConfig;
PtmeGpios ptmeGpios;
// BAT priority bit on by default to enable priority selection mode for the PTME.
uint8_t batPriorityParam = 1;
uint8_t batPriorityParam = 0;
bool updateBatPriorityOnTxOff = false;
GpioIF* gpioIF = nullptr;

3
mission/tmtc/LiveTmTask.cpp
View File

@ -11,6 +11,9 @@ ReturnValue_t LiveTmTask::performOperation(uint8_t opCode) {
while (true) {
// The funnel tasks are scheduled here directly as well.
ReturnValue_t result = channel.sendNextTm();
if (result == DirectTmSinkIF::IS_BUSY) {
sif::error << "Lost live TM, PAPB busy" << std::endl;
}
if (result == MessageQueueIF::EMPTY) {
if (tmFunnelCd.hasTimedOut()) {
pusFunnel.performOperation(0);

36
mission/tmtc/PersistentLogTmStoreTask.cpp
View File

@ -13,26 +13,32 @@ PersistentLogTmStoreTask::PersistentLogTmStoreTask(object_id_t objectId, Storage
miscStoreContext(persTmStore::DUMP_MISC_STORE_DONE) {}
ReturnValue_t PersistentLogTmStoreTask::performOperation(uint8_t opCode) {
bool someonesBusy = false;
auto stateHandlingForStore = [&](bool storeIsBusy) {
if (storeIsBusy) {
someonesBusy = true;
}
if (fileHasSwapped) {
someFileWasSwapped = fileHasSwapped;
}
};
while (true) {
if (not cyclicStoreCheck()) {
continue;
}
bool someonesBusy = false;
bool busy = false;
busy = handleOneStore(stores.okStore, okStoreContext);
if (busy) {
someonesBusy = true;
}
busy = handleOneStore(stores.notOkStore, notOkStoreContext);
if (busy) {
someonesBusy = true;
}
busy = handleOneStore(stores.miscStore, miscStoreContext);
if (busy) {
someonesBusy = true;
}
someonesBusy = false;
someFileWasSwapped = false;
stateHandlingForStore(handleOneStore(stores.okStore, okStoreContext));
stateHandlingForStore(handleOneStore(stores.notOkStore, notOkStoreContext));
stateHandlingForStore(handleOneStore(stores.miscStore, miscStoreContext));
if (not someonesBusy) {
TaskFactory::delayTask(40);
TaskFactory::delayTask(100);
} else /* and graceDelayDuringDumping.hasTimedOut()*/ {
if (someFileWasSwapped) {
TaskFactory::delayTask(20);
}
// TaskFactory::delayTask(2);
// graceDelayDuringDumping.resetTimer();
}
}
}

2
mission/tmtc/PersistentLogTmStoreTask.h
View File

@ -32,6 +32,8 @@ class PersistentLogTmStoreTask : public TmStoreTaskBase, public ExecutableObject
DumpContext notOkStoreContext;
DumpContext miscStoreContext;
Countdown tcHandlingCd = Countdown(400);
Countdown graceDelayDuringDumping = Countdown(200);
bool someFileWasSwapped = false;
bool initStoresIfPossible();
};

10
mission/tmtc/PersistentSingleTmStoreTask.cpp
View File

@ -17,7 +17,15 @@ ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) {
}
bool busy = handleOneStore(storeWithQueue, dumpContext);
if (not busy) {
TaskFactory::delayTask(40);
TaskFactory::delayTask(100);
} else {
if (fileHasSwapped) {
TaskFactory::delayTask(20);
}
// if (fileHasSwapped and graceDelayDuringDumping.hasTimedOut()) {
// TaskFactory::delayTask(2);
// graceDelayDuringDumping.resetTimer();
// }
}
}
}

1
mission/tmtc/PersistentSingleTmStoreTask.h
View File

@ -19,6 +19,7 @@ class PersistentSingleTmStoreTask : public TmStoreTaskBase, public ExecutableObj
PersistentTmStoreWithTmQueue& storeWithQueue;
DumpContext dumpContext;
Countdown tcHandlingCd = Countdown(400);
Countdown graceDelayDuringDumping = Countdown(100);
bool initStoresIfPossible();
};

18
mission/tmtc/PersistentTmStore.cpp
View File

@ -195,11 +195,7 @@ ReturnValue_t PersistentTmStore::startDumpFromUpTo(uint32_t fromUnixSeconds,
dumpParams.fromUnixTime = fromUnixSeconds;
dumpParams.untilUnixTime = upToUnixSeconds;
state = State::DUMPING;
if (loadNextDumpFile() == DUMP_DONE) {
// State will be set inside the function loading the next file.
return DUMP_DONE;
}
return returnvalue::OK;
return loadNextDumpFile();
}
ReturnValue_t PersistentTmStore::loadNextDumpFile() {
@ -218,7 +214,7 @@ ReturnValue_t PersistentTmStore::loadNextDumpFile() {
}
sif::debug << "Path: " << dumpParams.dirEntry.path() << std::endl;
// Can't even read CCSDS header.
// File empty or can't even read CCSDS header.
if (dumpParams.fileSize <= 6) {
continue;
}
@ -247,14 +243,12 @@ ReturnValue_t PersistentTmStore::loadNextDumpFile() {
static_cast<std::streamsize>(dumpParams.fileSize));
// Increment iterator for next cycle.
dumpParams.dirIter++;
break;
return returnvalue::OK;
}
}
if (dumpParams.dirIter == directory_iterator()) {
state = State::IDLE;
return DUMP_DONE;
}
return returnvalue::OK;
// Directory iterator was consumed and we are done.
state = State::IDLE;
return DUMP_DONE;
}
ReturnValue_t PersistentTmStore::dumpNextPacket(DirectTmSinkIF& tmSink, size_t& dumpedLen,

11
mission/tmtc/TmStoreTaskBase.cpp
View File

@ -25,10 +25,12 @@ bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store,
// Dump TMs when applicable
if (store.getState() == PersistentTmStore::State::DUMPING) {
size_t dumpedLen = 0;
bool fileHasSwapped;
if (not channel.isBusy()) {
tmSinkBusyCd.resetTimer();
result = store.dumpNextPacket(channel, dumpedLen, fileHasSwapped);
if (result == DirectTmSinkIF::IS_BUSY) {
sif::warning << "Unexpected PAPB busy" << std::endl;
}
if ((result == PersistentTmStore::DUMP_DONE or result == returnvalue::OK) and dumpedLen > 0) {
dumpContext.dumpedBytes += dumpedLen;
dumpContext.numberOfDumpedPackets += 1;
@ -43,6 +45,13 @@ bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store,
} else if (result == returnvalue::OK) {
dumpsPerformed = true;
}
} else {
dumpContext.ptmeBusyCounter++;
if (dumpContext.ptmeBusyCounter == 50) {
sif::warning << "PTME busy for longer period. Dumped length so far: "
<< dumpContext.dumpedBytes << std::endl;
dumpContext.ptmeBusyCounter = 0;
}
}
if (cancelDumpCd.hasTimedOut() or tmSinkBusyCd.hasTimedOut()) {
triggerEvent(persTmStore::DUMP_WAS_CANCELLED, store.getObjectId());

2
mission/tmtc/TmStoreTaskBase.h
View File

@ -16,6 +16,7 @@ class TmStoreTaskBase : public SystemObject {
const Event eventIfDone;
uint32_t numberOfDumpedPackets = 0;
uint32_t dumpedBytes = 0;
uint32_t ptmeBusyCounter = 0;
};
TmStoreTaskBase(object_id_t objectId, StorageManagerIF& ipcStore, VirtualChannel& channel,
@ -45,6 +46,7 @@ class TmStoreTaskBase : public SystemObject {
Countdown tmSinkBusyCd = Countdown(60 * 1000);
VirtualChannel& channel;
bool storesInitialized = false;
bool fileHasSwapped = false;
SdCardMountedIF& sdcMan;
};

10
mission/tmtc/VirtualChannel.cpp
View File

@ -25,4 +25,12 @@ uint8_t VirtualChannel::getVcid() const { return vcId; }
const char* VirtualChannel::getName() const { return vcName.c_str(); }
bool VirtualChannel::isBusy() const { return ptme.isBusy(vcId); }
bool VirtualChannel::isBusy() const {
// Data is discarded, so channel is not busy.
if (linkStateProvider.load()) {
return false;
}
return ptme.isBusy(vcId);
}
void VirtualChannel::cancelTransfer() { ptme.cancelTransfer(vcId); }

1
mission/tmtc/VirtualChannel.h
View File

@ -28,6 +28,7 @@ class VirtualChannel : public SystemObject, public VirtualChannelIF {
ReturnValue_t sendNextTm(const uint8_t* data, size_t size);
bool isBusy() const override;
ReturnValue_t write(const uint8_t* data, size_t size) override;
void cancelTransfer() override;
uint8_t getVcid() const;
const char* getName() const;

5
mission/tmtc/VirtualChannelWithQueue.cpp
View File

@ -36,7 +36,10 @@ ReturnValue_t VirtualChannelWithQueue::sendNextTm() {
return result;
}
write(data, size);
result = write(data, size);
if (result != returnvalue::OK) {
return result;
}
tmStore.deleteData(storeId);
if (result != returnvalue::OK) {
return result;