Merge remote-tracking branch 'origin/main' into cfdp-source-handler

CHANGELOG.md

@@ -25,11 +25,18 @@ will consitute of a breaking change warranting a new major release:
 
 - Host build fixes
 
+# [v6.5.0] 2023-09-12
+
 ## Changed
 
+- Relaxed SUS FDIR. The devices have shown to be glitchy in orbit, but still seem to deliver
+  sensible raw values most of the time. Some further testing is necessary, but some changes in the
+  code should cause the SUS devices to remain healthy for now.
 - The primary and the secondary temperature sensors for the PLOC mission boards are exchanged.
 - ACS parameters for the SUSMGM (FLP) safe mode have been adjusted. This safe mode is now the
   default one.
+- MGM3100 Startup Configuration: Ignore bit 1 of the CMM reply, which is sometimes set to
+  1 in the reply for some reason.
 
 # [v6.4.1] 2023-08-21
 

CMakeLists.txt

@@ -10,7 +10,7 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 6)
-set(OBSW_VERSION_MINOR 4)
+set(OBSW_VERSION_MINOR 5)
 set(OBSW_VERSION_REVISION 1)
 
 # set(CMAKE_VERBOSE TRUE)

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 305 translations.
+ * @brief    Auto-generated event translation file. Contains 307 translations.
  * @details
- * Generated on: 2023-09-07 16:12:51
+ * Generated on: 2023-09-12 10:51:47
  */
 #include "translateEvents.h"
 
@@ -310,6 +310,8 @@ const char *DUMP_NOK_CANCELLED_STRING = "DUMP_NOK_CANCELLED";
 const char *DUMP_MISC_CANCELLED_STRING = "DUMP_MISC_CANCELLED";
 const char *DUMP_HK_CANCELLED_STRING = "DUMP_HK_CANCELLED";
 const char *DUMP_CFDP_CANCELLED_STRING = "DUMP_CFDP_CANCELLED";
+const char *TEMPERATURE_ALL_ONES_START_STRING = "TEMPERATURE_ALL_ONES_START";
+const char *TEMPERATURE_ALL_ONES_RECOVERY_STRING = "TEMPERATURE_ALL_ONES_RECOVERY";
 
 const char *translateEvents(Event event) {
   switch ((event & 0xFFFF)) {
@@ -923,6 +925,10 @@ const char *translateEvents(Event event) {
       return DUMP_HK_CANCELLED_STRING;
     case (14314):
       return DUMP_CFDP_CANCELLED_STRING;
+    case (14500):
+      return TEMPERATURE_ALL_ONES_START_STRING;
+    case (14501):
+      return TEMPERATURE_ALL_ONES_RECOVERY_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 171 translations.
- * Generated on: 2023-09-07 16:12:51
+ * Generated on: 2023-09-12 10:51:47
  */
 #include "translateObjects.h"
 

common/config/eive/eventSubsystemIds.h

@@ -40,6 +40,7 @@ enum : uint8_t {
   COM_SUBSYSTEM = 142,
   PERSISTENT_TM_STORE = 143,
   SYRLINKS_COM = 144,
+  SUS_HANDLER = 145,
   COMMON_SUBSYSTEM_ID_END
 
 };

generators/bsp_hosted_events.csv

@@ -304,3 +304,5 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14312;0x37e8;DUMP_MISC_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
 14313;0x37e9;DUMP_HK_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
 14314;0x37ea;DUMP_CFDP_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
+14500;0x38a4;TEMPERATURE_ALL_ONES_START;MEDIUM;Detected invalid values, starting invalid message counting;mission/acs/SusHandler.h
+14501;0x38a5;TEMPERATURE_ALL_ONES_RECOVERY;INFO;Detected valid values again, resetting invalid message counter. P1: Invalid message counter.;mission/acs/SusHandler.h

generators/bsp_hosted_subsystems.csv

@@ -60,3 +60,4 @@
 142;COM_SUBSYSTEM
 143;PERSISTENT_TM_STORE
 144;SYRLINKS_COM
+145;SUS_HANDLER

generators/bsp_q7s_events.csv

@@ -304,3 +304,5 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14312;0x37e8;DUMP_MISC_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
 14313;0x37e9;DUMP_HK_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
 14314;0x37ea;DUMP_CFDP_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
+14500;0x38a4;TEMPERATURE_ALL_ONES_START;MEDIUM;Detected invalid values, starting invalid message counting;mission/acs/SusHandler.h
+14501;0x38a5;TEMPERATURE_ALL_ONES_RECOVERY;INFO;Detected valid values again, resetting invalid message counter. P1: Invalid message counter.;mission/acs/SusHandler.h

generators/bsp_q7s_subsystems.csv

@@ -60,3 +60,4 @@
 142;COM_SUBSYSTEM
 143;PERSISTENT_TM_STORE
 144;SYRLINKS_COM
+145;SUS_HANDLER

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 305 translations.
+ * @brief    Auto-generated event translation file. Contains 307 translations.
  * @details
- * Generated on: 2023-09-07 16:12:51
+ * Generated on: 2023-09-12 10:51:47
  */
 #include "translateEvents.h"
 
@@ -310,6 +310,8 @@ const char *DUMP_NOK_CANCELLED_STRING = "DUMP_NOK_CANCELLED";
 const char *DUMP_MISC_CANCELLED_STRING = "DUMP_MISC_CANCELLED";
 const char *DUMP_HK_CANCELLED_STRING = "DUMP_HK_CANCELLED";
 const char *DUMP_CFDP_CANCELLED_STRING = "DUMP_CFDP_CANCELLED";
+const char *TEMPERATURE_ALL_ONES_START_STRING = "TEMPERATURE_ALL_ONES_START";
+const char *TEMPERATURE_ALL_ONES_RECOVERY_STRING = "TEMPERATURE_ALL_ONES_RECOVERY";
 
 const char *translateEvents(Event event) {
   switch ((event & 0xFFFF)) {
@@ -923,6 +925,10 @@ const char *translateEvents(Event event) {
       return DUMP_HK_CANCELLED_STRING;
     case (14314):
       return DUMP_CFDP_CANCELLED_STRING;
+    case (14500):
+      return TEMPERATURE_ALL_ONES_START_STRING;
+    case (14501):
+      return TEMPERATURE_ALL_ONES_RECOVERY_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-09-07 16:12:51
+ * Generated on: 2023-09-12 10:51:47
  */
 #include "translateObjects.h"
 

linux/acs/AcsBoardPolling.cpp

@@ -767,6 +767,9 @@ void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
         mgm.replyResult = result;
         return;
       }
+      // For some reason, bit 1 is sometimes set on the reply, even if it is not set for the
+      // command.. Ignore it for now by clearing it.
+      rawReply[1] &= ~(1 << 1);
       if (rawReply[1] != mgmRm3100::CMM_VALUE) {
         sif::error << "AcsBoardPolling: MGM RM3100 read back CMM invalid" << std::endl;
         mgm.replyResult = result;

linux/acs/SusPolling.cpp

@@ -170,11 +170,6 @@ ReturnValue_t SusPolling::handleSusPolling() {
       }
       MutexGuard mg(ipcLock);
       susDevs[idx].ownReply.tempRaw = ((rawReply[0] & 0x0f) << 8) | rawReply[1];
-      // Reply is all ones. Sensor is probably off or faulty when
-      // it should not be.
-      if (susDevs[idx].ownReply.tempRaw == 0x0fff) {
-        susDevs[idx].replyResult = returnvalue::FAILED;
-      } else {
       susDevs[idx].replyResult = returnvalue::OK;
       for (unsigned chIdx = 0; chIdx < 6; chIdx++) {
         susDevs[idx].ownReply.channelsRaw[chIdx] =
@@ -183,7 +178,6 @@ ReturnValue_t SusPolling::handleSusPolling() {
       susDevs[idx].ownReply.dataWasSet = true;
     }
   }
-  }
   return OK;
 }
 

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 305 translations.
+ * @brief    Auto-generated event translation file. Contains 307 translations.
  * @details
- * Generated on: 2023-09-07 16:12:51
+ * Generated on: 2023-09-12 10:51:47
  */
 #include "translateEvents.h"
 
@@ -310,6 +310,8 @@ const char *DUMP_NOK_CANCELLED_STRING = "DUMP_NOK_CANCELLED";
 const char *DUMP_MISC_CANCELLED_STRING = "DUMP_MISC_CANCELLED";
 const char *DUMP_HK_CANCELLED_STRING = "DUMP_HK_CANCELLED";
 const char *DUMP_CFDP_CANCELLED_STRING = "DUMP_CFDP_CANCELLED";
+const char *TEMPERATURE_ALL_ONES_START_STRING = "TEMPERATURE_ALL_ONES_START";
+const char *TEMPERATURE_ALL_ONES_RECOVERY_STRING = "TEMPERATURE_ALL_ONES_RECOVERY";
 
 const char *translateEvents(Event event) {
   switch ((event & 0xFFFF)) {
@@ -923,6 +925,10 @@ const char *translateEvents(Event event) {
       return DUMP_HK_CANCELLED_STRING;
     case (14314):
       return DUMP_CFDP_CANCELLED_STRING;
+    case (14500):
+      return TEMPERATURE_ALL_ONES_START_STRING;
+    case (14501):
+      return TEMPERATURE_ALL_ONES_RECOVERY_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-09-07 16:12:51
+ * Generated on: 2023-09-12 10:51:47
  */
 #include "translateObjects.h"
 

mission/acs/SusHandler.cpp

@@ -20,6 +20,9 @@ void SusHandler::doStartUp() {
   }
   if (internalState == InternalState::STARTUP) {
     if (commandExecuted) {
+      if (waitingForRecovery) {
+        waitingForRecovery = false;
+      }
       setMode(MODE_ON);
       internalState = InternalState::NONE;
       commandExecuted = false;
@@ -83,15 +86,36 @@ ReturnValue_t SusHandler::scanForReply(const uint8_t *start, size_t len, DeviceC
 }
 ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
   const auto *reply = reinterpret_cast<const acs::SusReply *>(packet);
-  if (reply->dataWasSet) {
+  if (!reply->dataWasSet) {
+    return returnvalue::OK;
+  }
   if (internalState == InternalState::STARTUP) {
     commandExecuted = true;
   }
   PoolReadGuard pg(&dataset);
+  // Simple FDIR variant to make the handler more robust to invalid messages which
+  // appear sometimes for the SUS device: Allow invalid message up to a certain threshold
+  // before triggering FDIR reactions.
+  if (reply->tempRaw == 0xfff and not waitingForRecovery) {
+    if (invalidMsgCounter == 0) {
+      triggerEvent(TEMPERATURE_ALL_ONES_START);
+    } else if (invalidMsgCounter == susMax1227::MAX_INVALID_MSG_COUNT) {
+      triggerEvent(DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT);
+      waitingForRecovery = true;
+    }
+    invalidMsgCounter++;
+    dataset.setValidity(false, true);
+    dataset.tempC = thermal::INVALID_TEMPERATURE;
+    std::memset(dataset.channels.value, 0, sizeof(dataset.channels.value));
+    return returnvalue::OK;
+  }
+  if (invalidMsgCounter > 0) {
+    triggerEvent(TEMPERATURE_ALL_ONES_RECOVERY, invalidMsgCounter);
+    invalidMsgCounter = 0;
+  }
   dataset.setValidity(true, true);
   dataset.tempC = max1227::getTemperature(reply->tempRaw);
   std::memcpy(dataset.channels.value, reply->channelsRaw, sizeof(reply->channelsRaw));
-  }
   return returnvalue::OK;
 }
 

mission/acs/SusHandler.h

@@ -15,7 +15,15 @@ class SusHandler : public DeviceHandlerBase {
   static constexpr DeviceCommandId_t REPLY = 0x77;
 
   static const uint8_t INTERFACE_ID = CLASS_ID::SUS_HANDLER;
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SUS_BOARD_ASS;
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SUS_HANDLER;
+
+  //! [EXPORT] : [COMMENT] Detected invalid values, starting invalid message counting
+  static constexpr Event TEMPERATURE_ALL_ONES_START =
+      event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
+  //! [EXPORT] : [COMMENT] Detected valid values again, resetting invalid message counter.
+  //! P1: Invalid message counter.
+  static constexpr Event TEMPERATURE_ALL_ONES_RECOVERY =
+      event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO);
 
   SusHandler(uint32_t objectId, uint8_t susIdx, object_id_t deviceCommunication,
              CookieIF *comCookie);
@@ -46,6 +54,8 @@ class SusHandler : public DeviceHandlerBase {
   susMax1227::SusDataset dataset;
   acs::SusRequest request{};
   uint8_t susIdx;
+  bool waitingForRecovery = true;
+  uint32_t invalidMsgCounter = 0;
 
   uint32_t transitionDelay = 1000;
   bool goToNormalMode = false;

mission/acs/susMax1227Helpers.h

@@ -8,6 +8,14 @@
 
 namespace susMax1227 {
 
+// This is 16 seconds for a polling frequency of 0.4 seconds.
+static constexpr uint32_t MAX_INVALID_MSG_COUNT = 40;
+// Using a decrement time of 32 seconds should cause faulty device incrementation to best faster
+// the decrementation, so that FDIR reactions will eventuall be triggered.
+// NOTE: Not used currently, we perform the strange reply check logic in the handler and trigger
+// a reboot directly using the appropriate event.
+static constexpr uint32_t FAULTY_COM_DECREMENT_TIME_MS = 32000;
+
 static const DeviceCommandId_t NONE = 0x0;  // Set when no command is pending
 
 static const DeviceCommandId_t WRITE_SETUP = 1;

mission/system/acs/SusFdir.cpp

@@ -1,6 +1,7 @@
 #include "SusFdir.h"
 
 #include "eive/objects.h"
+#include "mission/acs/susMax1227Helpers.h"
 
 SusFdir::SusFdir(object_id_t sensorId)
     : DeviceHandlerFailureIsolation(sensorId, objects::SUS_BOARD_ASS) {}

tmtc

@@ -1 +1 @@
-Subproject commit 5fc3d8de996e5640adb7205cd3897d499eb3da60
+Subproject commit 68138c6e798537dee7dbf6f9956af6235cd65d6d