From c2fb224feadabacabd41ae1e199d7dc34af0fd78 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 2 Feb 2023 17:06:26 +0100 Subject: [PATCH 01/17] ACS Update scheduling --- bsp_q7s/core/scheduling.cpp | 70 +- .../pollingSequenceFactory.cpp | 822 +++++++++--------- .../pollingsequence/pollingSequenceFactory.h | 4 +- mission/system/objects/AcsSubsystem.cpp | 18 +- 4 files changed, 462 insertions(+), 452 deletions(-) diff --git a/bsp_q7s/core/scheduling.cpp b/bsp_q7s/core/scheduling.cpp index d8136d3a..ad8990de 100644 --- a/bsp_q7s/core/scheduling.cpp +++ b/bsp_q7s/core/scheduling.cpp @@ -144,11 +144,25 @@ 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_SYRLINKS == 1 + comTask->addComponent(objects::SYRLINKS_HANDLER, DeviceHandlerIF::PERFORM_OPERATION); + comTask->addComponent(objects::SYRLINKS_HANDLER, DeviceHandlerIF::SEND_WRITE); + comTask->addComponent(objects::SYRLINKS_HANDLER, DeviceHandlerIF::GET_WRITE); + comTask->addComponent(objects::SYRLINKS_HANDLER, DeviceHandlerIF::SEND_READ); + comTask->addComponent(objects::SYRLINKS_HANDLER, DeviceHandlerIF::GET_READ); + comTask->addComponent(objects::SYRLINKS_HANDLER, DeviceHandlerIF::PERFORM_OPERATION); + comTask->addComponent(objects::SYRLINKS_HANDLER, DeviceHandlerIF::SEND_WRITE); + comTask->addComponent(objects::SYRLINKS_HANDLER, DeviceHandlerIF::GET_WRITE); + comTask->addComponent(objects::SYRLINKS_HANDLER, DeviceHandlerIF::SEND_READ); + comTask->addComponent(objects::SYRLINKS_HANDLER, DeviceHandlerIF::GET_READ); +#endif + #if OBSW_ADD_CCSDS_IP_CORES == 1 result = comTask->addComponent(objects::CCSDS_HANDLER); if (result != returnvalue::OK) { @@ -182,12 +196,6 @@ void scheduling::initTasks() { } #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); @@ -438,10 +446,24 @@ void scheduling::initTasks() { void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc, std::vector& taskVec) { ReturnValue_t result = returnvalue::OK; + + FixedTimeslotTaskIF* acsPst = factory.createFixedTimeslotTask( + "ACS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, 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); + "MAIN_SPI", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc); result = pst::pstSpi(spiPst); if (result != returnvalue::OK) { if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) { @@ -454,37 +476,9 @@ 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) { @@ -499,7 +493,7 @@ 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) { diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp index 5fec0cd6..0fd6cbfd 100644 --- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp +++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp @@ -15,36 +15,6 @@ #define RPI_TEST_GPS_HANDLER 0 #endif -ReturnValue_t pst::pstSpiRw(FixedTimeslotTaskIF *thisSequence) { - uint32_t length = thisSequence->getPeriodMs(); - static_cast(length); - thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - - thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE); - - thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_WRITE); - - thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::SEND_READ); - - thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ); - return thisSequence->checkSequence(); -} - ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { uint32_t length = thisSequence->getPeriodMs(); static_cast(length); @@ -56,271 +26,6 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_READ); #endif -#if OBSW_ADD_SUN_SENSORS == 1 - - bool addSus0 = true; - bool addSus1 = true; - bool addSus2 = true; - bool addSus3 = true; - bool addSus4 = true; - bool addSus5 = true; - bool addSus6 = true; - bool addSus7 = true; - bool addSus8 = true; - bool addSus9 = true; - bool addSus10 = true; - bool addSus11 = true; - - if (addSus0) { - /* Write setup */ - thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ); - - thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4, - DeviceHandlerIF::GET_READ); - } - if (addSus1) { - thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ); - - thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4, - DeviceHandlerIF::GET_READ); - } - if (addSus2) { - thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ); - - thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4, - DeviceHandlerIF::GET_READ); - } - if (addSus3) { - thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ); - - thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4, - DeviceHandlerIF::GET_READ); - } - if (addSus4) { - thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ); - - thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4, - DeviceHandlerIF::GET_READ); - } - if (addSus5) { - thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ); - - thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4, - DeviceHandlerIF::GET_READ); - } - - if (addSus6) { - thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ); - - thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4, - DeviceHandlerIF::GET_READ); - } - - if (addSus7) { - thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ); - - thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4, - DeviceHandlerIF::GET_READ); - } - - if (addSus8) { - thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ); - - thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4, - DeviceHandlerIF::GET_READ); - } - - if (addSus9) { - thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4, - DeviceHandlerIF::GET_READ); - } - - if (addSus10) { - thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, - DeviceHandlerIF::GET_READ); - - thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4, - DeviceHandlerIF::GET_READ); - } - - if (addSus11) { - thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, - DeviceHandlerIF::GET_READ); - - thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4, - DeviceHandlerIF::GET_READ); - } -#endif /* OBSW_ADD_SUN_SENSORS == 1 */ - #if OBSW_ADD_RAD_SENSORS == 1 /* Radiation sensor */ thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION); @@ -330,74 +35,6 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ); #endif -#if OBSW_ADD_ACS_BOARD == 1 - bool enableAside = true; - bool enableBside = true; - if (enableAside) { - // A side - thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); - - thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.25, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); - - thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); - - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); - } - - if (enableBside) { - // B side - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); - - thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.25, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); - - thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); - - thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); - } -#endif /* OBSW_ADD_ACS_BOARD == 1 */ - return thisSequence->checkSequence(); } @@ -407,23 +44,6 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) { // Length of a communication cycle uint32_t length = thisSequence->getPeriodMs(); static_cast(length); -#if OBSW_ADD_MGT == 1 - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ); -#endif #if OBSW_ADD_BPX_BATTERY_HANDLER == 1 thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2, DeviceHandlerIF::PERFORM_OPERATION); @@ -481,29 +101,6 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) { return thisSequence->checkSequence(); } -ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) { - // Length of a communication cycle - uint32_t length = thisSequence->getPeriodMs(); - static_cast(length); - -#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 * 0.4, 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 - -#if OBSW_ADD_STAR_TRACKER == 1 - thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::STAR_TRACKER, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::STAR_TRACKER, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::STAR_TRACKER, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::STAR_TRACKER, length * 0.8, DeviceHandlerIF::GET_READ); -#endif - return thisSequence->checkSequence(); -} - ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) { uint32_t length = thisSequence->getPeriodMs(); // PCDU handlers receives two messages and both must be handled @@ -576,3 +173,422 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF *thisSequence) { } return returnvalue::OK; } + +ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) { + /* Length of a communication cycle */ + uint32_t length = thisSequence->getPeriodMs(); +#if OBSW_ADD_ACS_BOARD == 1 + bool enableAside = true; + bool enableBside = true; + if (enableAside) { + // A side + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625, + DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ); + } + + if (enableBside) { + // B side + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625, + DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ); + } +#endif /* OBSW_ADD_ACS_BOARD == 1 */ + // SUS: 16 ms +#if OBSW_ADD_SUN_SENSORS == 1 + + bool addSus0 = true; + bool addSus1 = true; + bool addSus2 = true; + bool addSus3 = true; + bool addSus4 = true; + bool addSus5 = true; + bool addSus6 = true; + bool addSus7 = true; + bool addSus8 = true; + bool addSus9 = true; + bool addSus10 = true; + bool addSus11 = true; + + if (addSus0) { + /* Write setup */ + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325, + DeviceHandlerIF::GET_READ); + } + if (addSus1) { + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325, + DeviceHandlerIF::GET_READ); + } + if (addSus2) { + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325, + DeviceHandlerIF::GET_READ); + } + if (addSus3) { + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325, + DeviceHandlerIF::GET_READ); + } + if (addSus4) { + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325, + DeviceHandlerIF::GET_READ); + } + if (addSus5) { + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325, + DeviceHandlerIF::GET_READ); + } + + if (addSus6) { + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325, + DeviceHandlerIF::GET_READ); + } + + if (addSus7) { + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325, + DeviceHandlerIF::GET_READ); + } + + if (addSus8) { + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325, + DeviceHandlerIF::GET_READ); + } + + if (addSus9) { + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325, + DeviceHandlerIF::GET_READ); + } + + if (addSus10) { + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, + DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325, + DeviceHandlerIF::GET_READ); + } + + if (addSus11) { + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, + DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325, + DeviceHandlerIF::GET_READ); + } +#endif /* OBSW_ADD_SUN_SENSORS == 1 */ + +#if OBSW_ADD_STAR_TRACKER == 1 + 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); +#endif + +#if OBSW_ADD_MGT == 1 + // This is the MTM measurement cycle + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ); +#endif + + thisSequence->addSlot(objects::ACS_CONTROLLER, length * 0.1, 0); + +#if OBSW_ADD_MGT == 1 + // This is the torquing cycle. + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::GET_READ); +#endif + +#if OBSW_ADD_RW == 1 + thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION); + + thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::SEND_WRITE); + + thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::GET_WRITE); + + thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::SEND_READ); + + thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::GET_READ); +#endif + return returnvalue::OK; +} diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h index 1b585d81..2eadd19d 100644 --- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h +++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h @@ -39,11 +39,9 @@ namespace pst { */ ReturnValue_t pstGompaceCan(FixedTimeslotTaskIF* thisSequence); -ReturnValue_t pstUart(FixedTimeslotTaskIF* thisSequence); - ReturnValue_t pstSpi(FixedTimeslotTaskIF* thisSequence); -ReturnValue_t pstSpiRw(FixedTimeslotTaskIF* thisSequence); +ReturnValue_t pstAcs(FixedTimeslotTaskIF* thisSequence); ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence); diff --git a/mission/system/objects/AcsSubsystem.cpp b/mission/system/objects/AcsSubsystem.cpp index 5ae387ac..f5b8a0ce 100644 --- a/mission/system/objects/AcsSubsystem.cpp +++ b/mission/system/objects/AcsSubsystem.cpp @@ -32,20 +32,22 @@ ReturnValue_t AcsSubsystem::initialize() { return ObjectManagerIF::CHILD_INIT_FAILED; ; } - result = manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_VIOLATION)); - if(result != returnvalue::OK) { - sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_VIOLATION failed" << std::endl; + result = + manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_VIOLATION)); + if (result != returnvalue::OK) { + sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_VIOLATION failed" << std::endl; } - result = manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_RECOVERY)); - if(result != returnvalue::OK) { - sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_RECOVERY failed" << std::endl; + result = + manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_RECOVERY)); + if (result != returnvalue::OK) { + sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_RECOVERY failed" << std::endl; } return Subsystem::initialize(); } void AcsSubsystem::performChildOperation() { - handleEventMessages(); - return Subsystem::performChildOperation(); + handleEventMessages(); + return Subsystem::performChildOperation(); } void AcsSubsystem::handleEventMessages() { From f6abe2b466d814b77b197580f2e7659bcdc965f2 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 2 Feb 2023 17:09:59 +0100 Subject: [PATCH 02/17] remove code --- mission/system/tree/acsModeTree.cpp | 11 ----------- 1 file changed, 11 deletions(-) diff --git a/mission/system/tree/acsModeTree.cpp b/mission/system/tree/acsModeTree.cpp index f5a1df23..4429d15c 100644 --- a/mission/system/tree/acsModeTree.cpp +++ b/mission/system/tree/acsModeTree.cpp @@ -66,17 +66,6 @@ auto ACS_TABLE_PTG_TARGET_TRANS_0 = auto ACS_TABLE_PTG_TARGET_TRANS_1 = std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 3, FixedArrayList()); -/* -auto ACS_SEQUENCE_PTG_TARGET = - std::make_pair(acs::CtrlSubmode::TARGET_PT, FixedArrayList()); -auto ACS_TABLE_TARGET_PT_TGT = - std::make_pair((acs::CtrlSubmode::TARGET_PT << 24) | 1, FixedArrayList()); -auto ACS_TABLE_TARGET_PT_TRANS_0 = - std::make_pair((acs::CtrlSubmode::TARGET_PT << 24) | 2, FixedArrayList()); -auto ACS_TABLE_TARGET_PT_TRANS_1 = - std::make_pair((acs::CtrlSubmode::TARGET_PT << 24) | 3, FixedArrayList()); -*/ - void satsystem::acs::init() { ModeListEntry entry; buildOffSequence(ACS_SUBSYSTEM, entry); From 4590e1d9c9d9b2d0265c2c5c9926b20e2cdfc1a5 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 2 Feb 2023 17:12:22 +0100 Subject: [PATCH 03/17] host compiles --- mission/acsDefs.h | 1 + 1 file changed, 1 insertion(+) diff --git a/mission/acsDefs.h b/mission/acsDefs.h index ab182112..d17351a6 100644 --- a/mission/acsDefs.h +++ b/mission/acsDefs.h @@ -1,6 +1,7 @@ #ifndef MISSION_ACSDEFS_H_ #define MISSION_ACSDEFS_H_ +#include #include namespace acs { From 1e0d9561a29d9e97f08ff9ddb7980443098f32c8 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 2 Feb 2023 17:16:15 +0100 Subject: [PATCH 04/17] changelog update --- CHANGELOG.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index fe417267..19d666a4 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -25,6 +25,9 @@ change warranting a new major release: ## Changed +- Update ACS scheduling to represent the actual ACS design. There is one ACS PST now for all + timing sensitive ACS operations. + PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365 - Update and tweak ACS subsystem to represent the actual ACS design - Event handling in the ACS subsystem for events triggered by the ACS controller. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365 From f9ae4860d94b751022343f0f86da875070e48b18 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 3 Feb 2023 14:31:22 +0100 Subject: [PATCH 05/17] typo --- mission/controller/AcsController.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp index 8ed396c5..d1039f8f 100644 --- a/mission/controller/AcsController.cpp +++ b/mission/controller/AcsController.cpp @@ -153,7 +153,7 @@ void AcsController::performSafe() { } if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) { detumbleCounter = 0; - // Triggers detubmle mode transition in subsystem + // Triggers detumble mode transition in subsystem triggerEvent(acs::SAFE_RATE_VIOLATION); } From e4a227359ba510e3b1a8e0610eba3f039c06fa4a Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 3 Feb 2023 15:02:08 +0100 Subject: [PATCH 06/17] some bugfixes, syrlinks needs to remain in PST cause of some bug --- bsp_q7s/core/scheduling.cpp | 15 +-------------- .../pollingsequence/pollingSequenceFactory.cpp | 13 +++++++++++-- .../pollingsequence/pollingSequenceFactory.h | 2 +- 3 files changed, 13 insertions(+), 17 deletions(-) diff --git a/bsp_q7s/core/scheduling.cpp b/bsp_q7s/core/scheduling.cpp index ad8990de..f5c7c558 100644 --- a/bsp_q7s/core/scheduling.cpp +++ b/bsp_q7s/core/scheduling.cpp @@ -150,19 +150,6 @@ void scheduling::initTasks() { scheduling::printAddObjectError("COM subsystem", objects::COM_SUBSYSTEM); } -#if OBSW_ADD_SYRLINKS == 1 - comTask->addComponent(objects::SYRLINKS_HANDLER, DeviceHandlerIF::PERFORM_OPERATION); - comTask->addComponent(objects::SYRLINKS_HANDLER, DeviceHandlerIF::SEND_WRITE); - comTask->addComponent(objects::SYRLINKS_HANDLER, DeviceHandlerIF::GET_WRITE); - comTask->addComponent(objects::SYRLINKS_HANDLER, DeviceHandlerIF::SEND_READ); - comTask->addComponent(objects::SYRLINKS_HANDLER, DeviceHandlerIF::GET_READ); - comTask->addComponent(objects::SYRLINKS_HANDLER, DeviceHandlerIF::PERFORM_OPERATION); - comTask->addComponent(objects::SYRLINKS_HANDLER, DeviceHandlerIF::SEND_WRITE); - comTask->addComponent(objects::SYRLINKS_HANDLER, DeviceHandlerIF::GET_WRITE); - comTask->addComponent(objects::SYRLINKS_HANDLER, DeviceHandlerIF::SEND_READ); - comTask->addComponent(objects::SYRLINKS_HANDLER, DeviceHandlerIF::GET_READ); -#endif - #if OBSW_ADD_CCSDS_IP_CORES == 1 result = comTask->addComponent(objects::CCSDS_HANDLER); if (result != returnvalue::OK) { @@ -464,7 +451,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction #if OBSW_ADD_SPI_TEST_CODE == 0 FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask( "MAIN_SPI", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc); - result = pst::pstSpi(spiPst); + result = pst::pstSpiAndSyrlinks(spiPst); if (result != returnvalue::OK) { if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) { sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl; diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp index 0fd6cbfd..efbb9578 100644 --- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp +++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp @@ -15,8 +15,17 @@ #define RPI_TEST_GPS_HANDLER 0 #endif -ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { +ReturnValue_t pst::pstSpiAndSyrlinks(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 * 0.4, 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 + static_cast(length); #if OBSW_ADD_PL_PCDU == 1 thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); @@ -312,7 +321,7 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) { DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4, + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325, DeviceHandlerIF::GET_READ); diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h index 2eadd19d..1dcfc30a 100644 --- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h +++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h @@ -39,7 +39,7 @@ namespace pst { */ ReturnValue_t pstGompaceCan(FixedTimeslotTaskIF* thisSequence); -ReturnValue_t pstSpi(FixedTimeslotTaskIF* thisSequence); +ReturnValue_t pstSpiAndSyrlinks(FixedTimeslotTaskIF* thisSequence); ReturnValue_t pstAcs(FixedTimeslotTaskIF* thisSequence); From b8130265cde105ed94aeafeca3206840d9c44705 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 3 Feb 2023 15:02:30 +0100 Subject: [PATCH 07/17] afmt --- mission/system/tree/acsModeTree.h | 1 - 1 file changed, 1 deletion(-) diff --git a/mission/system/tree/acsModeTree.h b/mission/system/tree/acsModeTree.h index c814ca3a..134a86a7 100644 --- a/mission/system/tree/acsModeTree.h +++ b/mission/system/tree/acsModeTree.h @@ -1,6 +1,5 @@ #include - namespace satsystem { namespace acs { From b6022d2ff15306aab9bce23019184824804405b5 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Feb 2023 10:34:09 +0100 Subject: [PATCH 08/17] should be covered by PST now --- bsp_q7s/core/scheduling.cpp | 29 ----------------------------- 1 file changed, 29 deletions(-) diff --git a/bsp_q7s/core/scheduling.cpp b/bsp_q7s/core/scheduling.cpp index c85c7ff0..150efa97 100644 --- a/bsp_q7s/core/scheduling.cpp +++ b/bsp_q7s/core/scheduling.cpp @@ -216,35 +216,6 @@ void scheduling::initTasks() { scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM); } -#if OBSW_Q7S_EM == 1 - acsSysTask->addComponent(objects::MGM_0_LIS3_HANDLER); - acsSysTask->addComponent(objects::MGM_1_RM3100_HANDLER); - acsSysTask->addComponent(objects::MGM_2_LIS3_HANDLER); - acsSysTask->addComponent(objects::MGM_3_RM3100_HANDLER); - acsSysTask->addComponent(objects::IMTQ_HANDLER); - acsSysTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF); - acsSysTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF); - acsSysTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB); - acsSysTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB); - acsSysTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB); - acsSysTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB); - acsSysTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF); - acsSysTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF); - acsSysTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF); - acsSysTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF); - acsSysTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB); - acsSysTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB); - acsSysTask->addComponent(objects::GYRO_0_ADIS_HANDLER); - acsSysTask->addComponent(objects::GYRO_1_L3G_HANDLER); - acsSysTask->addComponent(objects::GYRO_2_ADIS_HANDLER); - acsSysTask->addComponent(objects::GYRO_3_L3G_HANDLER); - acsSysTask->addComponent(objects::GPS_CONTROLLER); - acsSysTask->addComponent(objects::STAR_TRACKER); - acsSysTask->addComponent(objects::RW1); - acsSysTask->addComponent(objects::RW2); - acsSysTask->addComponent(objects::RW3); - acsSysTask->addComponent(objects::RW4); -#endif #if OBSW_ADD_RTD_DEVICES == 1 PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask( "TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc); From bc6cecc14a51ce39e6102c6154dffb9dd87223e0 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Feb 2023 17:02:22 +0100 Subject: [PATCH 09/17] bump tmtc --- tmtc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tmtc b/tmtc index d6445d38..8a96e21d 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit d6445d38a8eb644a5e1bd27f0fc56d29e93c030d +Subproject commit 8a96e21d1a1ca790cd1053594495dd74beb12133 From e8120fcdefc0d2a73bf3ee69d4538618691ab604 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Feb 2023 17:18:13 +0100 Subject: [PATCH 10/17] allow passsing TM dest names --- fsfw | 2 +- linux/ObjectFactory.cpp | 4 ++-- mission/core/GenericFactory.cpp | 8 ++++---- mission/tmtc/CfdpTmFunnel.cpp | 7 ++++--- mission/tmtc/PusTmFunnel.cpp | 7 ++++--- mission/tmtc/TmFunnelBase.cpp | 5 +++-- mission/tmtc/TmFunnelBase.h | 15 +++++++++++++-- 7 files changed, 31 insertions(+), 17 deletions(-) diff --git a/fsfw b/fsfw index 38789e05..69c94645 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 38789e053b65cfa14604fc625e7bcc8ca03a3f17 +Subproject commit 69c94645df81c2fc9d538a0f19d2c6552e1c73a7 diff --git a/linux/ObjectFactory.cpp b/linux/ObjectFactory.cpp index 469187a6..2f04b294 100644 --- a/linux/ObjectFactory.cpp +++ b/linux/ObjectFactory.cpp @@ -363,6 +363,6 @@ void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) { void ObjectFactory::addTmtcIpCoresToFunnels(CcsdsIpCoreHandler& ipCoreHandler, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel) { - cfdpFunnel.addDestination(ipCoreHandler, config::LIVE_TM); - pusFunnel.addDestination(ipCoreHandler, config::LIVE_TM); + cfdpFunnel.addDestination("PTME IP Core", ipCoreHandler, config::LIVE_TM); + pusFunnel.addDestination("PTME IP Core", ipCoreHandler, config::LIVE_TM); } diff --git a/mission/core/GenericFactory.cpp b/mission/core/GenericFactory.cpp index a5acd734..d486ed59 100644 --- a/mission/core/GenericFactory.cpp +++ b/mission/core/GenericFactory.cpp @@ -127,12 +127,12 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun config::MAX_PUS_FUNNEL_QUEUE_DEPTH); #if OBSW_ADD_TCPIP_SERVERS == 1 #if OBSW_ADD_TMTC_UDP_SERVER == 1 - (*cfdpFunnel)->addDestination(*udpBridge, 0); - (*pusFunnel)->addDestination(*udpBridge, 0); + (*cfdpFunnel)->addDestination("UDP Server", *udpBridge, 0); + (*pusFunnel)->addDestination("UDP Server", *udpBridge, 0); #endif #if OBSW_ADD_TMTC_TCP_SERVER == 1 - (*cfdpFunnel)->addDestination(*tcpBridge, 0); - (*pusFunnel)->addDestination(*tcpBridge, 0); + (*cfdpFunnel)->addDestination("TCP Server", *tcpBridge, 0); + (*pusFunnel)->addDestination("TCP Server", *tcpBridge, 0); #endif #endif // Every TM packet goes through this funnel diff --git a/mission/tmtc/CfdpTmFunnel.cpp b/mission/tmtc/CfdpTmFunnel.cpp index aff7c95d..f19d5360 100644 --- a/mission/tmtc/CfdpTmFunnel.cpp +++ b/mission/tmtc/CfdpTmFunnel.cpp @@ -68,7 +68,7 @@ ReturnValue_t CfdpTmFunnel::handlePacket(TmTcMessage& msg) { msg.setStorageId(newStoreId); store_address_t origStoreId = newStoreId; for (unsigned int idx = 0; idx < destinations.size(); idx++) { - const auto& destVcidPair = destinations[idx]; + const auto& dest = destinations[idx]; if (destinations.size() > 1) { if (idx < destinations.size() - 1) { // Create copy of data to ensure each TM recipient has its own copy. That way, we don't need @@ -87,10 +87,11 @@ ReturnValue_t CfdpTmFunnel::handlePacket(TmTcMessage& msg) { msg.setStorageId(origStoreId); } } - result = tmQueue->sendMessage(destVcidPair.first, &msg); + result = tmQueue->sendMessage(dest.queueId, &msg); if (result != returnvalue::OK) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PusTmFunnel::handlePacket: Error sending TM to downlink handler" << std::endl; + sif::error << "PusTmFunnel::handlePacket: Error sending TM to downlink handler " << dest.name + << " failed" << std::endl; #endif tmStore.deleteData(msg.getStorageId()); } diff --git a/mission/tmtc/PusTmFunnel.cpp b/mission/tmtc/PusTmFunnel.cpp index 5d6bbb4d..dda854a6 100644 --- a/mission/tmtc/PusTmFunnel.cpp +++ b/mission/tmtc/PusTmFunnel.cpp @@ -49,7 +49,7 @@ ReturnValue_t PusTmFunnel::handlePacket(TmTcMessage &message) { packet.updateErrorControl(); for (unsigned int idx = 0; idx < destinations.size(); idx++) { - const auto &destVcidPair = destinations[idx]; + const auto &dest = destinations[idx]; if (destinations.size() > 1) { if (idx < destinations.size() - 1) { // Create copy of data to ensure each TM recipient has its own copy. That way, we don't need @@ -68,10 +68,11 @@ ReturnValue_t PusTmFunnel::handlePacket(TmTcMessage &message) { message.setStorageId(origStoreId); } } - result = tmQueue->sendMessage(destVcidPair.first, &message); + result = tmQueue->sendMessage(dest.queueId, &message); if (result != returnvalue::OK) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PusTmFunnel::handlePacket: Error sending TM to downlink handler" << std::endl; + sif::error << "PusTmFunnel::handlePacket: Error sending TM to downlink handler " << dest.name + << " failed" << std::endl; #endif tmStore.deleteData(message.getStorageId()); } diff --git a/mission/tmtc/TmFunnelBase.cpp b/mission/tmtc/TmFunnelBase.cpp index fa0062e6..51bf93a1 100644 --- a/mission/tmtc/TmFunnelBase.cpp +++ b/mission/tmtc/TmFunnelBase.cpp @@ -13,7 +13,8 @@ MessageQueueId_t TmFunnelBase::getReportReceptionQueue(uint8_t virtualChannel) c return tmQueue->getId(); } -void TmFunnelBase::addDestination(const AcceptsTelemetryIF &downlinkDestination, uint8_t vcid) { +void TmFunnelBase::addDestination(const char *name, const AcceptsTelemetryIF &downlinkDestination, + uint8_t vcid) { auto queueId = downlinkDestination.getReportReceptionQueue(vcid); - destinations.emplace_back(queueId, vcid); + destinations.emplace_back(name, queueId, vcid); } diff --git a/mission/tmtc/TmFunnelBase.h b/mission/tmtc/TmFunnelBase.h index c630fefd..408244dd 100644 --- a/mission/tmtc/TmFunnelBase.h +++ b/mission/tmtc/TmFunnelBase.h @@ -10,14 +10,25 @@ class TmFunnelBase : public AcceptsTelemetryIF, public SystemObject { public: TmFunnelBase(object_id_t objectId, StorageManagerIF& tmStore, uint32_t tmMsgDepth); - void addDestination(const AcceptsTelemetryIF& downlinkDestination, uint8_t vcid = 0); + void addDestination(const char* name, const AcceptsTelemetryIF& downlinkDestination, + uint8_t vcid = 0); [[nodiscard]] MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) const override; virtual ~TmFunnelBase(); protected: StorageManagerIF& tmStore; - std::vector> destinations; + struct Destination { + Destination(const char* name, MessageQueueId_t queueId, uint8_t virtualChannel) + : name(name), queueId(queueId), virtualChannel(virtualChannel) {} + + const char* name; + MessageQueueId_t queueId; + uint8_t virtualChannel = 0; + }; + + std::vector destinations; + MessageQueueIF* tmQueue = nullptr; }; From 8bc71b268ebef87801a7e5a9e2b6120a5fa01ab6 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Feb 2023 17:28:59 +0100 Subject: [PATCH 11/17] some tests with subsystem --- bsp_q7s/core/scheduling.cpp | 2 +- mission/acsDefs.h | 3 +- mission/controller/AcsController.cpp | 2 +- mission/system/objects/AcsSubsystem.cpp | 4 +- mission/system/tree/acsModeTree.cpp | 88 ++++++++++++------------- 5 files changed, 50 insertions(+), 49 deletions(-) diff --git a/bsp_q7s/core/scheduling.cpp b/bsp_q7s/core/scheduling.cpp index 150efa97..e8f83f0e 100644 --- a/bsp_q7s/core/scheduling.cpp +++ b/bsp_q7s/core/scheduling.cpp @@ -414,7 +414,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction ReturnValue_t result = returnvalue::OK; FixedTimeslotTaskIF* acsPst = factory.createFixedTimeslotTask( - "ACS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc); + "ACS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc); result = pst::pstAcs(acsPst); if (result != returnvalue::OK) { if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) { diff --git a/mission/acsDefs.h b/mission/acsDefs.h index 8869d6ff..ca4ab77c 100644 --- a/mission/acsDefs.h +++ b/mission/acsDefs.h @@ -6,7 +6,8 @@ namespace acs { -enum CtrlSubmode { +// These modes are the submodes of the ACS controller and the modes of the ACS subsystem. +enum AcsModes { OFF = HasModesIF::MODE_OFF, SAFE = 10, DETUMBLE = 11, diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp index 7544c471..7d9cc015 100644 --- a/mission/controller/AcsController.cpp +++ b/mission/controller/AcsController.cpp @@ -426,7 +426,7 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode, return INVALID_SUBMODE; } } else if ((mode == MODE_ON) || (mode == MODE_NORMAL)) { - if ((submode > 6) || (submode < 2)) { + if (submode < acs::AcsModes::SAFE or submode > acs::AcsModes::PTG_TARGET_INERTIAL) { return INVALID_SUBMODE; } else { return returnvalue::OK; diff --git a/mission/system/objects/AcsSubsystem.cpp b/mission/system/objects/AcsSubsystem.cpp index f5b8a0ce..25b601ac 100644 --- a/mission/system/objects/AcsSubsystem.cpp +++ b/mission/system/objects/AcsSubsystem.cpp @@ -58,7 +58,7 @@ void AcsSubsystem::handleEventMessages() { case EventMessage::EVENT_MESSAGE: if (event.getEvent() == acs::SAFE_RATE_VIOLATION) { CommandMessage msg; - ModeMessage::setCmdModeModeMessage(msg, acs::CtrlSubmode::DETUMBLE, 0); + ModeMessage::setCmdModeModeMessage(msg, acs::AcsModes::DETUMBLE, 0); ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg); if (result != returnvalue::OK) { sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl; @@ -66,7 +66,7 @@ void AcsSubsystem::handleEventMessages() { } if (event.getEvent() == acs::SAFE_RATE_RECOVERY) { CommandMessage msg; - ModeMessage::setCmdModeModeMessage(msg, acs::CtrlSubmode::SAFE, 0); + ModeMessage::setCmdModeModeMessage(msg, acs::AcsModes::SAFE, 0); ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg); if (result != returnvalue::OK) { sif::error << "AcsSubsystem: sending IDLE mode cmd to self has failed" << std::endl; diff --git a/mission/system/tree/acsModeTree.cpp b/mission/system/tree/acsModeTree.cpp index 849959f9..db7d7a81 100644 --- a/mission/system/tree/acsModeTree.cpp +++ b/mission/system/tree/acsModeTree.cpp @@ -30,69 +30,69 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& entryHelper); static const auto OFF = HasModesIF::MODE_OFF; static const auto NML = DeviceHandlerIF::MODE_NORMAL; -auto ACS_SEQUENCE_OFF = std::make_pair(acs::CtrlSubmode::OFF, FixedArrayList()); +auto ACS_SEQUENCE_OFF = std::make_pair(acs::AcsModes::OFF, FixedArrayList()); auto ACS_TABLE_OFF_TGT = - std::make_pair((acs::CtrlSubmode::OFF << 24) | 1, FixedArrayList()); + std::make_pair((acs::AcsModes::OFF << 24) | 1, FixedArrayList()); auto ACS_TABLE_OFF_TRANS_0 = - std::make_pair((acs::CtrlSubmode::OFF << 24) | 2, FixedArrayList()); + std::make_pair((acs::AcsModes::OFF << 24) | 2, FixedArrayList()); auto ACS_TABLE_OFF_TRANS_1 = - std::make_pair((acs::CtrlSubmode::OFF << 24) | 3, FixedArrayList()); + std::make_pair((acs::AcsModes::OFF << 24) | 3, FixedArrayList()); auto ACS_SEQUENCE_DETUMBLE = - std::make_pair(acs::CtrlSubmode::DETUMBLE, FixedArrayList()); + std::make_pair(acs::AcsModes::DETUMBLE, FixedArrayList()); auto ACS_TABLE_DETUMBLE_TGT = - std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 1, FixedArrayList()); + std::make_pair((acs::AcsModes::DETUMBLE << 24) | 1, FixedArrayList()); auto ACS_TABLE_DETUMBLE_TRANS_0 = - std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 2, FixedArrayList()); + std::make_pair((acs::AcsModes::DETUMBLE << 24) | 2, FixedArrayList()); auto ACS_TABLE_DETUMBLE_TRANS_1 = - std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 3, FixedArrayList()); + std::make_pair((acs::AcsModes::DETUMBLE << 24) | 3, FixedArrayList()); -auto ACS_SEQUENCE_SAFE = std::make_pair(acs::CtrlSubmode::SAFE, FixedArrayList()); +auto ACS_SEQUENCE_SAFE = std::make_pair(acs::AcsModes::SAFE, FixedArrayList()); auto ACS_TABLE_SAFE_TGT = - std::make_pair((acs::CtrlSubmode::SAFE << 24) | 1, FixedArrayList()); + std::make_pair((acs::AcsModes::SAFE << 24) | 1, FixedArrayList()); auto ACS_TABLE_SAFE_TRANS_0 = - std::make_pair((acs::CtrlSubmode::SAFE << 24) | 2, FixedArrayList()); + std::make_pair((acs::AcsModes::SAFE << 24) | 2, FixedArrayList()); auto ACS_TABLE_SAFE_TRANS_1 = - std::make_pair((acs::CtrlSubmode::SAFE << 24) | 3, FixedArrayList()); + std::make_pair((acs::AcsModes::SAFE << 24) | 3, FixedArrayList()); -auto ACS_SEQUENCE_IDLE = std::make_pair(acs::CtrlSubmode::IDLE, FixedArrayList()); +auto ACS_SEQUENCE_IDLE = std::make_pair(acs::AcsModes::IDLE, FixedArrayList()); auto ACS_TABLE_IDLE_TGT = - std::make_pair((acs::CtrlSubmode::IDLE << 24) | 1, FixedArrayList()); + std::make_pair((acs::AcsModes::IDLE << 24) | 1, FixedArrayList()); auto ACS_TABLE_IDLE_TRANS_0 = - std::make_pair((acs::CtrlSubmode::IDLE << 24) | 2, FixedArrayList()); + std::make_pair((acs::AcsModes::IDLE << 24) | 2, FixedArrayList()); auto ACS_TABLE_IDLE_TRANS_1 = - std::make_pair((acs::CtrlSubmode::IDLE << 24) | 3, FixedArrayList()); + std::make_pair((acs::AcsModes::IDLE << 24) | 3, FixedArrayList()); auto ACS_TABLE_PTG_TRANS_0 = - std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 2, FixedArrayList()); + std::make_pair((acs::AcsModes::PTG_TARGET << 24) | 2, FixedArrayList()); auto ACS_SEQUENCE_PTG_TARGET = - std::make_pair(acs::CtrlSubmode::PTG_TARGET, FixedArrayList()); + std::make_pair(acs::AcsModes::PTG_TARGET, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_TGT = - std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 1, FixedArrayList()); + std::make_pair((acs::AcsModes::PTG_TARGET << 24) | 1, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_TRANS_1 = - std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 3, FixedArrayList()); + std::make_pair((acs::AcsModes::PTG_TARGET << 24) | 3, FixedArrayList()); auto ACS_SEQUENCE_PTG_TARGET_GS = - std::make_pair(acs::CtrlSubmode::PTG_TARGET_GS, FixedArrayList()); + std::make_pair(acs::AcsModes::PTG_TARGET_GS, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_GS_TGT = - std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 1, FixedArrayList()); + std::make_pair((acs::AcsModes::PTG_TARGET_GS << 24) | 1, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 = - std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 3, FixedArrayList()); + std::make_pair((acs::AcsModes::PTG_TARGET_GS << 24) | 3, FixedArrayList()); auto ACS_SEQUENCE_PTG_TARGET_NADIR = - std::make_pair(acs::CtrlSubmode::PTG_TARGET_NADIR, FixedArrayList()); -auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 1, + std::make_pair(acs::AcsModes::PTG_TARGET_NADIR, FixedArrayList()); +auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::AcsModes::PTG_TARGET_NADIR << 24) | 1, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 = std::make_pair( - (acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 3, FixedArrayList()); + (acs::AcsModes::PTG_TARGET_NADIR << 24) | 3, FixedArrayList()); auto ACS_SEQUENCE_PTG_TARGET_INERTIAL = - std::make_pair(acs::CtrlSubmode::PTG_TARGET_INERTIAL, FixedArrayList()); + std::make_pair(acs::AcsModes::PTG_TARGET_INERTIAL, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT = std::make_pair( - (acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 1, FixedArrayList()); + (acs::AcsModes::PTG_TARGET_INERTIAL << 24) | 1, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 = std::make_pair( - (acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 3, FixedArrayList()); + (acs::AcsModes::PTG_TARGET_INERTIAL << 24) | 3, FixedArrayList()); void satsystem::acs::init() { ModeListEntry entry; @@ -122,7 +122,7 @@ void satsystem::acs::init() { buildTargetPtGsSequence(ACS_SUBSYSTEM, entry); buildTargetPtNadirSequence(ACS_SUBSYSTEM, entry); buildTargetPtInertialSequence(ACS_SUBSYSTEM, entry); - ACS_SUBSYSTEM.setInitialMode(::acs::CtrlSubmode::SAFE); + ACS_SUBSYSTEM.setInitialMode(::acs::AcsModes::SAFE); } namespace { @@ -190,7 +190,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) { check(sequence.insert(eh), ctxc); }; // Build SAFE target - iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::SAFE, ACS_TABLE_SAFE_TGT.second); + iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::SAFE, ACS_TABLE_SAFE_TGT.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second); @@ -206,7 +206,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) { ctxc); // Build SAFE transition 1 - iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::SAFE, ACS_TABLE_SAFE_TRANS_1.second); + iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::SAFE, ACS_TABLE_SAFE_TRANS_1.second); check(ss.addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true), ctxc); @@ -239,7 +239,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) { check(sequence.insert(eh), ctxc); }; // Build DETUMBLE target - iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second); + iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second); @@ -257,7 +257,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) { ctxc); // Build DETUMBLE transition 1 - iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::DETUMBLE, ACS_TABLE_DETUMBLE_TRANS_1.second); + iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::DETUMBLE, ACS_TABLE_DETUMBLE_TRANS_1.second); check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false, true), ctxc); @@ -291,7 +291,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) { check(sequence.insert(eh), ctxc); }; // Build IDLE target - iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::IDLE, ACS_TABLE_IDLE_TGT.second); + iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::IDLE, ACS_TABLE_IDLE_TGT.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second); iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second); @@ -307,7 +307,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) { ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true); // Build IDLE transition 1 - iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::IDLE, ACS_TABLE_IDLE_TRANS_1.second); + iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::IDLE, ACS_TABLE_IDLE_TRANS_1.second); ss.addTable(&ACS_TABLE_IDLE_TRANS_1.second, ACS_TABLE_IDLE_TRANS_1.first, false, true); // Build IDLE sequence @@ -339,7 +339,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) { }; // Build TARGET PT table - iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second); + iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); @@ -350,7 +350,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) { // Transition 0 already built // Build TARGET PT transition 1 - iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET, + iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET, ACS_TABLE_PTG_TARGET_TRANS_1.second); check(ss.addTable(&ACS_TABLE_PTG_TARGET_TRANS_1.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, false, true), @@ -386,7 +386,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) { }; // Build TARGET PT table - iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET, + iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); @@ -399,7 +399,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) { // Transition 0 already built // Build TARGET PT transition 1 - iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_NADIR, + iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET_NADIR, ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second); check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first, &ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second)), @@ -436,7 +436,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) { }; // Build TARGET PT table - iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_GS, + iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET_GS, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); @@ -449,7 +449,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) { // Transition 0 already built // Build TARGET PT transition 1 - iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_GS, + iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET_GS, ACS_TABLE_PTG_TARGET_GS_TRANS_1.second); check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_GS_TRANS_1.first, &ACS_TABLE_PTG_TARGET_GS_TRANS_1.second)), @@ -485,7 +485,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) { }; // Build TARGET PT table - iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_INERTIAL, + iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET_INERTIAL, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); @@ -498,7 +498,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) { // Transition 0 already built // Build TARGET PT transition 1 - iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_INERTIAL, + iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET_INERTIAL, ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second); check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first, &ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second)), From 6829c16ced541ab772b41c158d4baf84a4454ef7 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Feb 2023 17:50:44 +0100 Subject: [PATCH 12/17] that seems to do the trick --- CMakeLists.txt | 6 +++--- bsp_q7s/OBSWConfig.h.in | 2 ++ cmake/BuildType.cmake | 3 +++ 3 files changed, 8 insertions(+), 3 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 97b1b2a0..69c3d8f8 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -301,6 +301,9 @@ else() endif() endif() +include(BuildType) +set_build_type() + # Configuration files configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h) configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h) @@ -559,6 +562,3 @@ add_custom_command( POST_BUILD COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX} COMMENT ${POST_BUILD_COMMENT}) - -include(BuildType) -set_build_type() diff --git a/bsp_q7s/OBSWConfig.h.in b/bsp_q7s/OBSWConfig.h.in index 5dff001c..be5c7dc9 100644 --- a/bsp_q7s/OBSWConfig.h.in +++ b/bsp_q7s/OBSWConfig.h.in @@ -10,6 +10,8 @@ #include "q7sConfig.h" #include "OBSWVersion.h" +#cmakedefine RELEASE_BUILD + /*******************************************************************/ /** All of the following flags should be enabled for mission code */ /*******************************************************************/ diff --git a/cmake/BuildType.cmake b/cmake/BuildType.cmake index e078e5c7..ee027d13 100644 --- a/cmake/BuildType.cmake +++ b/cmake/BuildType.cmake @@ -21,10 +21,13 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) ) endif() +set(RELEASE_BUILD 1 PARENT_SCOPE) + if(${CMAKE_BUILD_TYPE} MATCHES "Debug") message(STATUS "Building Debug application with flags: ${CMAKE_C_FLAGS_DEBUG}" ) + set(RELEASE_BUILD 0 PARENT_SCOPE) elseif(${CMAKE_BUILD_TYPE} MATCHES "RelWithDebInfo") message(STATUS "Building Release (Debug) application with " From 835d2277d8b530741e177d145b90a4c0635c51be Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Feb 2023 17:54:56 +0100 Subject: [PATCH 13/17] impl variable freq depending on build type --- bsp_q7s/core/scheduling.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/bsp_q7s/core/scheduling.cpp b/bsp_q7s/core/scheduling.cpp index e8f83f0e..42a11875 100644 --- a/bsp_q7s/core/scheduling.cpp +++ b/bsp_q7s/core/scheduling.cpp @@ -413,8 +413,13 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction std::vector& 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, 1.0, missedDeadlineFunc); + "ACS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc); result = pst::pstAcs(acsPst); if (result != returnvalue::OK) { if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) { From 6cda616236389c8a7719f828f8afc621dcd71220 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 7 Feb 2023 18:10:48 +0100 Subject: [PATCH 14/17] update changelog --- CHANGELOG.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 787c5d25..e6237272 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -53,7 +53,8 @@ eive-tmtc version: v2.12.0 ## Changed - Update ACS scheduling to represent the actual ACS design. There is one ACS PST now for all - timing sensitive ACS operations. + timing sensitive ACS operations. In the debug builds, the new ACS polling sequence table + will have a period of 0.6 seconds, but will remain 0.4 seconds for the release build. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365 - `ACS::SensorValues` is now an ACS controller member to reduce the risk of stack overflow. - ACS Subsystem Sequence Mode IDs updated. From e25eed76877b14afe9ddb43dc7b051c300d3f2fa Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 8 Feb 2023 13:17:47 +0100 Subject: [PATCH 15/17] now it compiles --- mission/system/objects/AcsSubsystem.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mission/system/objects/AcsSubsystem.cpp b/mission/system/objects/AcsSubsystem.cpp index 6f7bbf7c..800c4344 100644 --- a/mission/system/objects/AcsSubsystem.cpp +++ b/mission/system/objects/AcsSubsystem.cpp @@ -58,7 +58,7 @@ void AcsSubsystem::handleEventMessages() { case EventMessage::EVENT_MESSAGE: if (event.getEvent() == acs::SAFE_RATE_VIOLATION) { CommandMessage msg; - ModeMessage::setCmdModeMessage(msg, acs::CtrlSubmode::DETUMBLE, 0); + ModeMessage::setCmdModeMessage(msg, acs::AcsModes::DETUMBLE, 0); ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg); if (result != returnvalue::OK) { sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl; @@ -66,7 +66,7 @@ void AcsSubsystem::handleEventMessages() { } if (event.getEvent() == acs::SAFE_RATE_RECOVERY) { CommandMessage msg; - ModeMessage::setCmdModeMessage(msg, acs::CtrlSubmode::SAFE, 0); + ModeMessage::setCmdModeMessage(msg, acs::AcsModes::SAFE, 0); ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg); if (result != returnvalue::OK) { sif::error << "AcsSubsystem: sending IDLE mode cmd to self has failed" << std::endl; From bfa61632c2043478b8273fb14e9149428fd9352f Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 8 Feb 2023 13:18:45 +0100 Subject: [PATCH 16/17] use singular enum name --- mission/acsDefs.h | 2 +- mission/controller/AcsController.cpp | 2 +- mission/system/objects/AcsSubsystem.cpp | 4 +- mission/system/tree/acsModeTree.cpp | 88 ++++++++++++------------- 4 files changed, 48 insertions(+), 48 deletions(-) diff --git a/mission/acsDefs.h b/mission/acsDefs.h index ca4ab77c..170305bb 100644 --- a/mission/acsDefs.h +++ b/mission/acsDefs.h @@ -7,7 +7,7 @@ namespace acs { // These modes are the submodes of the ACS controller and the modes of the ACS subsystem. -enum AcsModes { +enum AcsMode { OFF = HasModesIF::MODE_OFF, SAFE = 10, DETUMBLE = 11, diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp index 50f22483..14069b0a 100644 --- a/mission/controller/AcsController.cpp +++ b/mission/controller/AcsController.cpp @@ -426,7 +426,7 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode, return INVALID_SUBMODE; } } else if ((mode == MODE_ON) || (mode == MODE_NORMAL)) { - if ((submode < acs::AcsModes::SAFE) or (submode > acs::AcsModes::PTG_TARGET_INERTIAL)) { + if ((submode < acs::AcsMode::SAFE) or (submode > acs::AcsMode::PTG_TARGET_INERTIAL)) { return INVALID_SUBMODE; } else { return returnvalue::OK; diff --git a/mission/system/objects/AcsSubsystem.cpp b/mission/system/objects/AcsSubsystem.cpp index 800c4344..dcf4e67b 100644 --- a/mission/system/objects/AcsSubsystem.cpp +++ b/mission/system/objects/AcsSubsystem.cpp @@ -58,7 +58,7 @@ void AcsSubsystem::handleEventMessages() { case EventMessage::EVENT_MESSAGE: if (event.getEvent() == acs::SAFE_RATE_VIOLATION) { CommandMessage msg; - ModeMessage::setCmdModeMessage(msg, acs::AcsModes::DETUMBLE, 0); + ModeMessage::setCmdModeMessage(msg, acs::AcsMode::DETUMBLE, 0); ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg); if (result != returnvalue::OK) { sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl; @@ -66,7 +66,7 @@ void AcsSubsystem::handleEventMessages() { } if (event.getEvent() == acs::SAFE_RATE_RECOVERY) { CommandMessage msg; - ModeMessage::setCmdModeMessage(msg, acs::AcsModes::SAFE, 0); + ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0); ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg); if (result != returnvalue::OK) { sif::error << "AcsSubsystem: sending IDLE mode cmd to self has failed" << std::endl; diff --git a/mission/system/tree/acsModeTree.cpp b/mission/system/tree/acsModeTree.cpp index db7d7a81..fe87dff5 100644 --- a/mission/system/tree/acsModeTree.cpp +++ b/mission/system/tree/acsModeTree.cpp @@ -30,69 +30,69 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& entryHelper); static const auto OFF = HasModesIF::MODE_OFF; static const auto NML = DeviceHandlerIF::MODE_NORMAL; -auto ACS_SEQUENCE_OFF = std::make_pair(acs::AcsModes::OFF, FixedArrayList()); +auto ACS_SEQUENCE_OFF = std::make_pair(acs::AcsMode::OFF, FixedArrayList()); auto ACS_TABLE_OFF_TGT = - std::make_pair((acs::AcsModes::OFF << 24) | 1, FixedArrayList()); + std::make_pair((acs::AcsMode::OFF << 24) | 1, FixedArrayList()); auto ACS_TABLE_OFF_TRANS_0 = - std::make_pair((acs::AcsModes::OFF << 24) | 2, FixedArrayList()); + std::make_pair((acs::AcsMode::OFF << 24) | 2, FixedArrayList()); auto ACS_TABLE_OFF_TRANS_1 = - std::make_pair((acs::AcsModes::OFF << 24) | 3, FixedArrayList()); + std::make_pair((acs::AcsMode::OFF << 24) | 3, FixedArrayList()); auto ACS_SEQUENCE_DETUMBLE = - std::make_pair(acs::AcsModes::DETUMBLE, FixedArrayList()); + std::make_pair(acs::AcsMode::DETUMBLE, FixedArrayList()); auto ACS_TABLE_DETUMBLE_TGT = - std::make_pair((acs::AcsModes::DETUMBLE << 24) | 1, FixedArrayList()); + std::make_pair((acs::AcsMode::DETUMBLE << 24) | 1, FixedArrayList()); auto ACS_TABLE_DETUMBLE_TRANS_0 = - std::make_pair((acs::AcsModes::DETUMBLE << 24) | 2, FixedArrayList()); + std::make_pair((acs::AcsMode::DETUMBLE << 24) | 2, FixedArrayList()); auto ACS_TABLE_DETUMBLE_TRANS_1 = - std::make_pair((acs::AcsModes::DETUMBLE << 24) | 3, FixedArrayList()); + std::make_pair((acs::AcsMode::DETUMBLE << 24) | 3, FixedArrayList()); -auto ACS_SEQUENCE_SAFE = std::make_pair(acs::AcsModes::SAFE, FixedArrayList()); +auto ACS_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList()); auto ACS_TABLE_SAFE_TGT = - std::make_pair((acs::AcsModes::SAFE << 24) | 1, FixedArrayList()); + std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList()); auto ACS_TABLE_SAFE_TRANS_0 = - std::make_pair((acs::AcsModes::SAFE << 24) | 2, FixedArrayList()); + std::make_pair((acs::AcsMode::SAFE << 24) | 2, FixedArrayList()); auto ACS_TABLE_SAFE_TRANS_1 = - std::make_pair((acs::AcsModes::SAFE << 24) | 3, FixedArrayList()); + std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList()); -auto ACS_SEQUENCE_IDLE = std::make_pair(acs::AcsModes::IDLE, FixedArrayList()); +auto ACS_SEQUENCE_IDLE = std::make_pair(acs::AcsMode::IDLE, FixedArrayList()); auto ACS_TABLE_IDLE_TGT = - std::make_pair((acs::AcsModes::IDLE << 24) | 1, FixedArrayList()); + std::make_pair((acs::AcsMode::IDLE << 24) | 1, FixedArrayList()); auto ACS_TABLE_IDLE_TRANS_0 = - std::make_pair((acs::AcsModes::IDLE << 24) | 2, FixedArrayList()); + std::make_pair((acs::AcsMode::IDLE << 24) | 2, FixedArrayList()); auto ACS_TABLE_IDLE_TRANS_1 = - std::make_pair((acs::AcsModes::IDLE << 24) | 3, FixedArrayList()); + std::make_pair((acs::AcsMode::IDLE << 24) | 3, FixedArrayList()); auto ACS_TABLE_PTG_TRANS_0 = - std::make_pair((acs::AcsModes::PTG_TARGET << 24) | 2, FixedArrayList()); + std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 2, FixedArrayList()); auto ACS_SEQUENCE_PTG_TARGET = - std::make_pair(acs::AcsModes::PTG_TARGET, FixedArrayList()); + std::make_pair(acs::AcsMode::PTG_TARGET, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_TGT = - std::make_pair((acs::AcsModes::PTG_TARGET << 24) | 1, FixedArrayList()); + std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 1, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_TRANS_1 = - std::make_pair((acs::AcsModes::PTG_TARGET << 24) | 3, FixedArrayList()); + std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 3, FixedArrayList()); auto ACS_SEQUENCE_PTG_TARGET_GS = - std::make_pair(acs::AcsModes::PTG_TARGET_GS, FixedArrayList()); + std::make_pair(acs::AcsMode::PTG_TARGET_GS, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_GS_TGT = - std::make_pair((acs::AcsModes::PTG_TARGET_GS << 24) | 1, FixedArrayList()); + std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 1, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 = - std::make_pair((acs::AcsModes::PTG_TARGET_GS << 24) | 3, FixedArrayList()); + std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 3, FixedArrayList()); auto ACS_SEQUENCE_PTG_TARGET_NADIR = - std::make_pair(acs::AcsModes::PTG_TARGET_NADIR, FixedArrayList()); -auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::AcsModes::PTG_TARGET_NADIR << 24) | 1, + std::make_pair(acs::AcsMode::PTG_TARGET_NADIR, FixedArrayList()); +auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::AcsMode::PTG_TARGET_NADIR << 24) | 1, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 = std::make_pair( - (acs::AcsModes::PTG_TARGET_NADIR << 24) | 3, FixedArrayList()); + (acs::AcsMode::PTG_TARGET_NADIR << 24) | 3, FixedArrayList()); auto ACS_SEQUENCE_PTG_TARGET_INERTIAL = - std::make_pair(acs::AcsModes::PTG_TARGET_INERTIAL, FixedArrayList()); + std::make_pair(acs::AcsMode::PTG_TARGET_INERTIAL, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT = std::make_pair( - (acs::AcsModes::PTG_TARGET_INERTIAL << 24) | 1, FixedArrayList()); + (acs::AcsMode::PTG_TARGET_INERTIAL << 24) | 1, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 = std::make_pair( - (acs::AcsModes::PTG_TARGET_INERTIAL << 24) | 3, FixedArrayList()); + (acs::AcsMode::PTG_TARGET_INERTIAL << 24) | 3, FixedArrayList()); void satsystem::acs::init() { ModeListEntry entry; @@ -122,7 +122,7 @@ void satsystem::acs::init() { buildTargetPtGsSequence(ACS_SUBSYSTEM, entry); buildTargetPtNadirSequence(ACS_SUBSYSTEM, entry); buildTargetPtInertialSequence(ACS_SUBSYSTEM, entry); - ACS_SUBSYSTEM.setInitialMode(::acs::AcsModes::SAFE); + ACS_SUBSYSTEM.setInitialMode(::acs::AcsMode::SAFE); } namespace { @@ -190,7 +190,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) { check(sequence.insert(eh), ctxc); }; // Build SAFE target - iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::SAFE, ACS_TABLE_SAFE_TGT.second); + iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TGT.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second); @@ -206,7 +206,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) { ctxc); // Build SAFE transition 1 - iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::SAFE, ACS_TABLE_SAFE_TRANS_1.second); + iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TRANS_1.second); check(ss.addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true), ctxc); @@ -239,7 +239,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) { check(sequence.insert(eh), ctxc); }; // Build DETUMBLE target - iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second); + iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second); @@ -257,7 +257,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) { ctxc); // Build DETUMBLE transition 1 - iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::DETUMBLE, ACS_TABLE_DETUMBLE_TRANS_1.second); + iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::DETUMBLE, ACS_TABLE_DETUMBLE_TRANS_1.second); check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false, true), ctxc); @@ -291,7 +291,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) { check(sequence.insert(eh), ctxc); }; // Build IDLE target - iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::IDLE, ACS_TABLE_IDLE_TGT.second); + iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::IDLE, ACS_TABLE_IDLE_TGT.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second); iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second); @@ -307,7 +307,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) { ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true); // Build IDLE transition 1 - iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::IDLE, ACS_TABLE_IDLE_TRANS_1.second); + iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::IDLE, ACS_TABLE_IDLE_TRANS_1.second); ss.addTable(&ACS_TABLE_IDLE_TRANS_1.second, ACS_TABLE_IDLE_TRANS_1.first, false, true); // Build IDLE sequence @@ -339,7 +339,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) { }; // Build TARGET PT table - iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second); + iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); @@ -350,7 +350,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) { // Transition 0 already built // Build TARGET PT transition 1 - iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET, + iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TRANS_1.second); check(ss.addTable(&ACS_TABLE_PTG_TARGET_TRANS_1.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, false, true), @@ -386,7 +386,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) { }; // Build TARGET PT table - iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET, + iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); @@ -399,7 +399,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) { // Transition 0 already built // Build TARGET PT transition 1 - iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET_NADIR, + iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_NADIR, ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second); check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first, &ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second)), @@ -436,7 +436,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) { }; // Build TARGET PT table - iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET_GS, + iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_GS, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); @@ -449,7 +449,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) { // Transition 0 already built // Build TARGET PT transition 1 - iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET_GS, + iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_GS, ACS_TABLE_PTG_TARGET_GS_TRANS_1.second); check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_GS_TRANS_1.first, &ACS_TABLE_PTG_TARGET_GS_TRANS_1.second)), @@ -485,7 +485,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) { }; // Build TARGET PT table - iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET_INERTIAL, + iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_INERTIAL, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); @@ -498,7 +498,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) { // Transition 0 already built // Build TARGET PT transition 1 - iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET_INERTIAL, + iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_INERTIAL, ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second); check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first, &ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second)), From 6ae0ee5b26812f5aab4e42e5c86d18be5d8b20ea Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 8 Feb 2023 13:23:05 +0100 Subject: [PATCH 17/17] small update --- CHANGELOG.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 35491ccf..9ccce344 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -19,7 +19,7 @@ change warranting a new major release: ## Changed -- Readded calibration matrices for MGM calibration +- Readded calibration matrices for MGM calibration. ## Fixed @@ -29,7 +29,7 @@ change warranting a new major release: stored as the git SHA hash in `commonConfig.h`. This will be an empty string now for regular versions. - Bump FSFW for important fix in PUS mode service. -- Bugfixes in 'SensofProcessing' where previously MGM values would be calibrated before being +- Bugfixes in 'SensorProcessing' where previously MGM values would be calibrated before being transformed in body RF. However, the calibration values are in the body RF. Also fixed the validity flag of 'mgmVecTotDerivative'.