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Merge pull request 'update HK frequencies' (#568) from update_hk_frequencies into develop
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Reviewed-on: #568
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>
This commit is contained in:
Marius Eggert 2023-04-05 09:21:35 +02:00
commit babc4f80a8
14 changed files with 44 additions and 34 deletions
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5
CHANGELOG.md
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@ -16,6 +16,11 @@ will consitute of a breaking change warranting a new major release:
# [unreleased]
## Changed
- Adapted HK data rates to new table for LEOP SAFE mode.
- GPS controller HK is now generated periodically as well.
# [v1.43.1] 2023-04-04
## Fixed

2
bsp_q7s/core/CoreController.cpp
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@ -138,7 +138,7 @@ ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &local
localDataPoolMap.emplace(core::TEMPERATURE, &tempPoolEntry);
localDataPoolMap.emplace(core::PS_VOLTAGE, &psVoltageEntry);
localDataPoolMap.emplace(core::PL_VOLTAGE, &plVoltageEntry);
poolManager.subscribeForRegularPeriodicPacket({hkSet.getSid(), enableHkSet, 12.0});
poolManager.subscribeForRegularPeriodicPacket({hkSet.getSid(), enableHkSet, 60.0});
return returnvalue::OK;
}

7
bsp_q7s/core/ObjectFactory.cpp
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@ -360,7 +360,8 @@ void ObjectFactory::createAcsBoardGpios(GpioCookie& cookie) {
}
void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF,
SerialComIF* uartComIF, PowerSwitchIF& pwrSwitcher) {
SerialComIF* uartComIF, PowerSwitchIF& pwrSwitcher,
bool enableHkSets) {
using namespace gpio;
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
createAcsBoardGpios(*gpioCookieAcsBoard);
@ -514,8 +515,8 @@ void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF*
#endif
RESET_ARGS_GNSS.gpioComIF = gpioComIF;
RESET_ARGS_GNSS.waitPeriodMs = 100;
auto gpsCtrl =
new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
auto gpsCtrl = new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT,
enableHkSets, debugGps);
gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyChildren, gpsCtrl, gpioComIF);

2
bsp_q7s/core/ObjectFactory.h
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@ -62,7 +62,7 @@ void createTmpComponents();
ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
void createAcsBoardGpios(GpioCookie& cookie);
void createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
PowerSwitchIF& pwrSwitcher);
PowerSwitchIF& pwrSwitcher, bool enableHkSets);
void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
HeaterHandler*& heaterHandler);
void createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets);

9
linux/acs/GpsHyperionLinuxController.cpp
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@ -18,8 +18,11 @@
#include <ctime>
GpsHyperionLinuxController::GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
bool debugHyperionGps)
: ExtendedControllerBase(objectId), gpsSet(this), debugHyperionGps(debugHyperionGps) {}
bool enableHkSets, bool debugHyperionGps)
: ExtendedControllerBase(objectId),
gpsSet(this),
enableHkSets(enableHkSets),
debugHyperionGps(debugHyperionGps) {}
GpsHyperionLinuxController::~GpsHyperionLinuxController() {
gps_stream(&gps, WATCH_DISABLE, nullptr);
@ -86,7 +89,7 @@ ReturnValue_t GpsHyperionLinuxController::initializeLocalDataPool(
localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
poolManager.subscribeForRegularPeriodicPacket({gpsSet.getSid(), false, 30.0});
poolManager.subscribeForRegularPeriodicPacket({gpsSet.getSid(), enableHkSets, 30.0});
return returnvalue::OK;
}

3
linux/acs/GpsHyperionLinuxController.h
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@ -29,7 +29,7 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
enum ReadModes { SHM = 0, SOCKET = 1 };
GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId, bool enableHkSets,
bool debugHyperionGps = false);
virtual ~GpsHyperionLinuxController();
@ -58,6 +58,7 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
private:
GpsPrimaryDataset gpsSet;
gps_data_t gps = {};
bool enableHkSets = false;
const char* currentClientBuf = nullptr;
ReadModes readMode = ReadModes::SOCKET;
Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);

4
mission/acs/ImtqHandler.cpp
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@ -795,9 +795,9 @@ ReturnValue_t ImtqHandler::initializeLocalDataPool(localpool::DataPool& localDat
localDataPoolMap.emplace(imtq::FINA_NEG_Z_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), enableHkSets, 12.0));
subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), enableHkSets, 30.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), enableHkSets, 12.0));
subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), enableHkSets, 30.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(rawMtmNoTorque.getSid(), false, 10.0));
poolManager.subscribeForDiagPeriodicPacket(

2
mission/com/SyrlinksHandler.cpp
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@ -664,7 +664,7 @@ ReturnValue_t SyrlinksHandler::initializeLocalDataPool(localpool::DataPool& loca
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(rxDataset.getSid(), enableHkSets, 60.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(temperatureSet.getSid(), enableHkSets, 60.0));
subdp::RegularHkPeriodicParams(temperatureSet.getSid(), enableHkSets, 120.0));
return returnvalue::OK;
}

20
mission/controller/AcsController.cpp
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@ -565,7 +565,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_RM3100_UT, &mgm3VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_NT, &imtqMgmVecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_ACT_STATUS, &imtqCalActStatus);
poolManager.subscribeForRegularPeriodicPacket({mgmDataRaw.getSid(), false, 5.0});
poolManager.subscribeForRegularPeriodicPacket({mgmDataRaw.getSid(), false, 10.0});
// MGM Processed
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_VEC, &mgm0VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_VEC, &mgm1VecProc);
@ -575,7 +575,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT, &mgmVecTot);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT_DERIVATIVE, &mgmVecTotDer);
localDataPoolMap.emplace(acsctrl::PoolIds::MAG_IGRF_MODEL, &magIgrf);
poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), enableHkSets, 12.0});
poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), enableHkSets, 10.0});
// SUS Raw
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_N_LOC_XFYFZM_PT_XF, &sus0ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_N_LOC_XBYFZM_PT_XB, &sus1ValRaw);
@ -589,7 +589,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_9_R_LOC_XBYBZB_PT_YF, &sus9ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_10_N_LOC_XMYBZF_PT_ZF, &sus10ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_11_R_LOC_XBYMZB_PT_ZB, &sus11ValRaw);
poolManager.subscribeForRegularPeriodicPacket({susDataRaw.getSid(), false, 5.0});
poolManager.subscribeForRegularPeriodicPacket({susDataRaw.getSid(), false, 10.0});
// SUS Processed
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_VEC, &sus0VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_VEC, &sus1VecProc);
@ -606,43 +606,43 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT, &susVecTot);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT_DERIVATIVE, &susVecTotDer);
localDataPoolMap.emplace(acsctrl::PoolIds::SUN_IJK_MODEL, &sunIjk);
poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), enableHkSets, 12.0});
poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), enableHkSets, 10.0});
// GYR Raw
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_ADIS, &gyr0VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_L3, &gyr1VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_ADIS, &gyr2VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_L3, &gyr3VecRaw);
poolManager.subscribeForDiagPeriodicPacket({gyrDataRaw.getSid(), false, 5.0});
poolManager.subscribeForDiagPeriodicPacket({gyrDataRaw.getSid(), false, 10.0});
// GYR Processed
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_VEC, &gyr0VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_VEC, &gyr1VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_VEC, &gyr2VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_VEC, &gyr3VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_VEC_TOT, &gyrVecTot);
poolManager.subscribeForDiagPeriodicPacket({gyrDataProcessed.getSid(), enableHkSets, 12.0});
poolManager.subscribeForDiagPeriodicPacket({gyrDataProcessed.getSid(), enableHkSets, 10.0});
// GPS Processed
localDataPoolMap.emplace(acsctrl::PoolIds::GC_LATITUDE, &gcLatitude);
localDataPoolMap.emplace(acsctrl::PoolIds::GD_LONGITUDE, &gdLongitude);
localDataPoolMap.emplace(acsctrl::PoolIds::ALTITUDE, &altitude);
localDataPoolMap.emplace(acsctrl::PoolIds::GPS_POSITION, &gpsPosition);
localDataPoolMap.emplace(acsctrl::PoolIds::GPS_VELOCITY, &gpsVelocity);
poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), enableHkSets, 12.0});
poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), enableHkSets, 30.0});
// MEKF
localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
localDataPoolMap.emplace(acsctrl::PoolIds::SAT_ROT_RATE_MEKF, &satRotRateMekf);
localDataPoolMap.emplace(acsctrl::PoolIds::MEKF_STATUS, &mekfStatus);
poolManager.subscribeForDiagPeriodicPacket({mekfData.getSid(), enableHkSets, 12.0});
poolManager.subscribeForDiagPeriodicPacket({mekfData.getSid(), enableHkSets, 10.0});
// Ctrl Values
localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat);
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_QUAT, &errQuat);
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_ANG, &errAng);
localDataPoolMap.emplace(acsctrl::PoolIds::TGT_ROT_RATE, &tgtRotRate);
poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), enableHkSets, 12.0});
poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), enableHkSets, 10.0});
// Actuator CMD
localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_TORQUE, &rwTargetTorque);
localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_SPEED, &rwTargetSpeed);
localDataPoolMap.emplace(acsctrl::PoolIds::MTQ_TARGET_DIPOLE, &mtqTargetDipole);
poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), enableHkSets, 12.0});
poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), enableHkSets, 10.0});
return returnvalue::OK;
}

8
mission/controller/ThermalController.cpp
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@ -260,13 +260,13 @@ ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& lo
enableHkSets = true;
#endif
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(sensorTemperatures.getSid(), enableHkSets, 60.0));
subdp::RegularHkPeriodicParams(sensorTemperatures.getSid(), enableHkSets, 120.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(susTemperatures.getSid(), enableHkSets, 60.0));
subdp::RegularHkPeriodicParams(susTemperatures.getSid(), enableHkSets, 240.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(deviceTemperatures.getSid(), enableHkSets, 60.0));
subdp::RegularHkPeriodicParams(deviceTemperatures.getSid(), enableHkSets, 120.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(heaterInfo.getSid(), enableHkSets, 30.0));
subdp::DiagnosticsHkPeriodicParams(heaterInfo.getSid(), enableHkSets, 120.0));
return returnvalue::OK;
}

4
mission/power/AcuHandler.cpp
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@ -149,9 +149,9 @@ ReturnValue_t ACUHandler::initializeLocalDataPool(localpool::DataPool &localData
localDataPoolMap.emplace(pool::ACU_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 20.0));
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 30.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 3000.0));
subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 6000.0));
return returnvalue::OK;
}

4
mission/power/P60DockHandler.cpp
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@ -166,9 +166,9 @@ ReturnValue_t P60DockHandler::initializeLocalDataPool(localpool::DataPool &local
localDataPoolMap.emplace(pool::P60DOCK_ANT6_DEPL, new PoolEntry<int8_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_AR6_DEPL, new PoolEntry<int8_t>({0}));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 20.0));
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 30.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 3000.0));
subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 6000.0));
return returnvalue::OK;
}

4
mission/power/Pdu1Handler.cpp
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@ -90,9 +90,9 @@ ReturnValue_t Pdu1Handler::initializeLocalDataPool(localpool::DataPool &localDat
LocalDataPoolManager &poolManager) {
initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU1);
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 20.0));
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 30.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 3000.0));
subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 6000.0));
return returnvalue::OK;
}

4
mission/power/Pdu2Handler.cpp
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@ -49,9 +49,9 @@ ReturnValue_t Pdu2Handler::initializeLocalDataPool(localpool::DataPool &localDat
LocalDataPoolManager &poolManager) {
initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU2);
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 10.0));
subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 30.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 30.0));
subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 6000.0));
return returnvalue::OK;
}