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Merge remote-tracking branch 'origin/develop' into heater_handling
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This commit is contained in:
Robin Müller
2023-02-08 16:54:07 +01:00
parent 9cf65be1be e1e6ce5d34
commit c04936d0dc
66 changed files with 2978 additions and 2066 deletions
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106
bsp_q7s/core/scheduling.cpp
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@ -145,11 +145,12 @@ void scheduling::initTasks() {
#endif
PeriodicTaskIF* comTask = factory->createPeriodicTask(
"CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
"COM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
result = comTask->addComponent(objects::COM_SUBSYSTEM);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("COM subsystem", objects::COM_SUBSYSTEM);
}
#if OBSW_ADD_CCSDS_IP_CORES == 1
result = comTask->addComponent(objects::CCSDS_HANDLER);
if (result != returnvalue::OK) {
@ -174,53 +175,17 @@ void scheduling::initTasks() {
}
#endif
PeriodicTaskIF* acsCtrlTask = factory->createPeriodicTask(
"ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
#if OBSW_ADD_GPS_CTRL == 1
result = acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
"GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = gpsTask->addComponent(objects::GPS_CONTROLLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
}
#endif /* OBSW_ADD_GPS_CTRL */
#if OBSW_ADD_ACS_CTRL == 1
acsCtrlTask->addComponent(objects::ACS_CONTROLLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
}
#endif
#if OBSW_Q7S_EM == 1
acsCtrlTask->addComponent(objects::MGM_0_LIS3_HANDLER);
acsCtrlTask->addComponent(objects::MGM_1_RM3100_HANDLER);
acsCtrlTask->addComponent(objects::MGM_2_LIS3_HANDLER);
acsCtrlTask->addComponent(objects::MGM_3_RM3100_HANDLER);
acsCtrlTask->addComponent(objects::IMTQ_HANDLER);
acsCtrlTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
acsCtrlTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
acsCtrlTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
acsCtrlTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
acsCtrlTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
acsCtrlTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
acsCtrlTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
acsCtrlTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
acsCtrlTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
acsCtrlTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
acsCtrlTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
acsCtrlTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
acsCtrlTask->addComponent(objects::GYRO_0_ADIS_HANDLER);
acsCtrlTask->addComponent(objects::GYRO_1_L3G_HANDLER);
acsCtrlTask->addComponent(objects::GYRO_2_ADIS_HANDLER);
acsCtrlTask->addComponent(objects::GYRO_3_L3G_HANDLER);
acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
acsCtrlTask->addComponent(objects::STAR_TRACKER);
acsCtrlTask->addComponent(objects::RW1);
acsCtrlTask->addComponent(objects::RW2);
acsCtrlTask->addComponent(objects::RW3);
acsCtrlTask->addComponent(objects::RW4);
#endif
PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
"SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
"SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
static_cast<void>(acsSysTask);
#if OBSW_ADD_ACS_BOARD == 1
result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
@ -390,7 +355,9 @@ void scheduling::initTasks() {
strHelperTask->startTask();
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
acsCtrlTask->startTask();
#if OBSW_ADD_GPS_CTRL == 1
gpsTask->startTask();
#endif
acsSysTask->startTask();
#if OBSW_ADD_RTD_DEVICES == 1
tcsPollingTask->startTask();
@ -414,11 +381,30 @@ void scheduling::initTasks() {
void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = returnvalue::OK;
#ifdef RELEASE_BUILD
static constexpr float acsPstPeriod = 0.4;
#else
static constexpr float acsPstPeriod = 0.6;
#endif
FixedTimeslotTaskIF* acsPst = factory.createFixedTimeslotTask(
"ACS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
result = pst::pstAcs(acsPst);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "scheduling::initTasks: ACS PST is empty" << std::endl;
} else {
sif::error << "scheduling::initTasks: Creating ACS PST failed!" << std::endl;
}
} else {
taskVec.push_back(acsPst);
}
/* Polling Sequence Table Default */
#if OBSW_ADD_SPI_TEST_CODE == 0
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"MAIN_SPI", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
result = pst::pstSpi(spiPst);
"MAIN_SPI", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
result = pst::pstSpiAndSyrlinks(spiPst);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
@ -430,37 +416,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
}
#endif
#if OBSW_ADD_RW == 1
FixedTimeslotTaskIF* rwPstTask = factory.createFixedTimeslotTask(
"RW_SPI", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
result = pst::pstSpiRw(rwPstTask);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
} else {
sif::error << "scheduling::initTasks: Creating SPI PST failed!" << std::endl;
}
} else {
taskVec.push_back(rwPstTask);
}
#endif
FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
"UART_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
result = pst::pstUart(uartPst);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "scheduling::initTasks: UART PST is empty" << std::endl;
} else {
sif::error << "scheduling::initTasks: Creating UART PST failed!" << std::endl;
}
} else {
taskVec.push_back(uartPst);
}
#if OBSW_ADD_I2C_TEST_CODE == 0
FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
"I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
"I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
result = pst::pstI2c(i2cPst);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@ -475,7 +433,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
#if OBSW_ADD_GOMSPACE_PCDU == 1
FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
"GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
"GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
result = pst::pstGompaceCan(gomSpacePstTask);
if (result != returnvalue::OK) {
if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {