Merge pull request 'update HK frequencies' (#568) from update_hk_frequencies into develop

Reviewed-on: #568
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -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

bsp_q7s/core/CoreController.cpp

@@ -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;
 }
 

bsp_q7s/core/ObjectFactory.cpp

@@ -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 =
+  auto gpsCtrl = new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT,
-      new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
+                                                enableHkSets, debugGps);
   gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
 
   ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyChildren, gpsCtrl, gpioComIF);

bsp_q7s/core/ObjectFactory.h

@@ -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);

linux/acs/GpsHyperionLinuxController.cpp

@@ -18,8 +18,11 @@
 #include <ctime>
 
 GpsHyperionLinuxController::GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
-                                                       bool debugHyperionGps)
+                                                       bool enableHkSets, bool debugHyperionGps)
-    : ExtendedControllerBase(objectId), gpsSet(this), debugHyperionGps(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;
 }
 

linux/acs/GpsHyperionLinuxController.h

@@ -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);

mission/acs/ImtqHandler.cpp

@@ -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(

mission/com/SyrlinksHandler.cpp

@@ -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;
 }
 

mission/controller/AcsController.cpp

@@ -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;
 }
 

mission/controller/ThermalController.cpp

@@ -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;
 }

mission/power/AcuHandler.cpp

@@ -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;
 }
 

mission/power/P60DockHandler.cpp

@@ -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;
 }
 

mission/power/Pdu1Handler.cpp

@@ -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;
 }
 

mission/power/Pdu2Handler.cpp

@@ -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;
 }