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

CHANGELOG.md

@@ -16,27 +16,41 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
-- `eive-tmtc`:
+# [v6.4.0] 2023-08-16
 
-## Added
+- `eive-tmtc`: v5.4.3
-
-- SGP4 Propagator is now used for propagating the position of EIVE. It will only work once
-  a TLE has been uploaded with the newly added action command for the ACS Controller. In
-  return the actual GPS data will be ignored once SPG4 is running. However, by setting the
-  according parameter, the ACS Controller can be directed to ignore the SGP4 solution.
-- Skyview dataset for more GPS TM has been added
 
 ## Fixed
 
 - The handling function of the GPS data is only called once per GPS read. This should remove
   the fake fix-has-changed events.
-  
+
 ## Changed
 
+- PDEC FDIR rework: A full PDEC reboot will now only be performed after a regular PDEC reset has
+  failed 10 times. The mechanism will reset after no PDEC reset has happended for 2 minutes.
+  The PDEC reset will be performed when counting 4 dirty frame events 10 seconds after the count
+  was incremented initially.
 - GPS Fix has changed event is no longer triggered for the EM
 - MGM and SUS rates now will only be calculated, if 2 valid consecutive datapoints are available.
   The stored value of the last timestep will now be reset, if no actual value is available.
 
+## Added
+
+- The PLOC SUPV HK set is requested and downlinked periodically if the SUPV is on now.
+- SGP4 Propagator is now used for propagating the position of EIVE. It will only work once
+  a TLE has been uploaded with the newly added action command for the ACS Controller. In
+  return the actual GPS data will be ignored once SPG4 is running. However, by setting the
+  according parameter, the ACS Controller can be directed to ignore the SGP4 solution.
+- Skyview dataset for more GPS TM has been added
+- `PDEC_CONFIG_CORRUPTED` event which is triggered when the PDEC configuration does not match the
+  expected configuration. P1 will contain the readback of the first word and P2 will contain the
+  readback of the second word.
+- The MGM and SUS vectors being too close together does not prevent the usage of the safe
+  mode controller anymore.
+- Parameter to disable usage of MGM4, which is part of the MTQ and therefore cannot be
+  disabled without disabling the MTQ itself.
+
 # [v6.3.0] 2023-08-03
 
 ## Fixed

CMakeLists.txt

@@ -10,7 +10,7 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 6)
-set(OBSW_VERSION_MINOR 3)
+set(OBSW_VERSION_MINOR 4)
 set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 302 translations.
+ * @brief    Auto-generated event translation file. Contains 304 translations.
  * @details
- * Generated on: 2023-08-02 09:40:31
+ * Generated on: 2023-08-15 13:27:11
  */
 #include "translateEvents.h"
 
@@ -100,6 +100,7 @@ const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
 const char *MEKF_AUTOMATIC_RESET_STRING = "MEKF_AUTOMATIC_RESET";
 const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
 const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
+const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -167,6 +168,7 @@ const char *PDEC_TRYING_RESET_NO_INIT_STRING = "PDEC_TRYING_RESET_NO_INIT";
 const char *PDEC_RESET_FAILED_STRING = "PDEC_RESET_FAILED";
 const char *OPEN_IRQ_FILE_FAILED_STRING = "OPEN_IRQ_FILE_FAILED";
 const char *PDEC_INIT_FAILED_STRING = "PDEC_INIT_FAILED";
+const char *PDEC_CONFIG_CORRUPTED_STRING = "PDEC_CONFIG_CORRUPTED";
 const char *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
 const char *IMAGE_DOWNLOAD_FAILED_STRING = "IMAGE_DOWNLOAD_FAILED";
 const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
@@ -500,6 +502,8 @@ const char *translateEvents(Event event) {
       return MEKF_INVALID_MODE_VIOLATION_STRING;
     case (11207):
       return SAFE_MODE_CONTROLLER_FAILURE_STRING;
+    case (11208):
+      return TLE_TOO_OLD_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -634,6 +638,8 @@ const char *translateEvents(Event event) {
       return OPEN_IRQ_FILE_FAILED_STRING;
     case (12414):
       return PDEC_INIT_FAILED_STRING;
+    case (12415):
+      return PDEC_CONFIG_CORRUPTED_STRING;
     case (12500):
       return IMAGE_UPLOAD_FAILED_STRING;
     case (12501):

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 171 translations.
- * Generated on: 2023-08-02 09:40:31
+ * Generated on: 2023-08-15 13:27:11
  */
 #include "translateObjects.h"
 

generators/bsp_hosted_events.csv

@@ -94,6 +94,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11205;0x2bc5;MEKF_AUTOMATIC_RESET;INFO;MEKF performed an automatic reset after detection of nonfinite values.;mission/acs/defs.h
 11206;0x2bc6;MEKF_INVALID_MODE_VIOLATION;HIGH;MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time.;mission/acs/defs.h
 11207;0x2bc7;SAFE_MODE_CONTROLLER_FAILURE;HIGH;The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate;mission/acs/defs.h
+11208;0x2bc8;TLE_TOO_OLD;INFO;The TLE for the SGP4 Propagator has become too old.;mission/acs/defs.h
 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/power/defs.h
 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h
@@ -161,6 +162,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12412;0x307c;PDEC_RESET_FAILED;HIGH;Failed to pull PDEC reset to low;linux/ipcore/pdec.h
 12413;0x307d;OPEN_IRQ_FILE_FAILED;HIGH;Failed to open the IRQ uio file;linux/ipcore/pdec.h
 12414;0x307e;PDEC_INIT_FAILED;HIGH;PDEC initialization failed. This might also be due to the persistent confiuration never becoming available, for example due to SD card issues.;linux/ipcore/pdec.h
+12415;0x307f;PDEC_CONFIG_CORRUPTED;HIGH;The PDEC configuration area has been corrupted P1: The first configuration word P2: The second configuration word;linux/ipcore/pdec.h
 12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/acs/StrComHandler.h
 12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/acs/StrComHandler.h
 12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/acs/StrComHandler.h

generators/bsp_q7s_events.csv

@@ -94,6 +94,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11205;0x2bc5;MEKF_AUTOMATIC_RESET;INFO;MEKF performed an automatic reset after detection of nonfinite values.;mission/acs/defs.h
 11206;0x2bc6;MEKF_INVALID_MODE_VIOLATION;HIGH;MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time.;mission/acs/defs.h
 11207;0x2bc7;SAFE_MODE_CONTROLLER_FAILURE;HIGH;The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate;mission/acs/defs.h
+11208;0x2bc8;TLE_TOO_OLD;INFO;The TLE for the SGP4 Propagator has become too old.;mission/acs/defs.h
 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/power/defs.h
 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h
@@ -161,6 +162,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12412;0x307c;PDEC_RESET_FAILED;HIGH;Failed to pull PDEC reset to low;linux/ipcore/pdec.h
 12413;0x307d;OPEN_IRQ_FILE_FAILED;HIGH;Failed to open the IRQ uio file;linux/ipcore/pdec.h
 12414;0x307e;PDEC_INIT_FAILED;HIGH;PDEC initialization failed. This might also be due to the persistent confiuration never becoming available, for example due to SD card issues.;linux/ipcore/pdec.h
+12415;0x307f;PDEC_CONFIG_CORRUPTED;HIGH;The PDEC configuration area has been corrupted P1: The first configuration word P2: The second configuration word;linux/ipcore/pdec.h
 12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/acs/StrComHandler.h
 12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/acs/StrComHandler.h
 12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/acs/StrComHandler.h

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 302 translations.
+ * @brief    Auto-generated event translation file. Contains 304 translations.
  * @details
- * Generated on: 2023-08-02 09:40:31
+ * Generated on: 2023-08-15 13:27:11
  */
 #include "translateEvents.h"
 
@@ -100,6 +100,7 @@ const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
 const char *MEKF_AUTOMATIC_RESET_STRING = "MEKF_AUTOMATIC_RESET";
 const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
 const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
+const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -167,6 +168,7 @@ const char *PDEC_TRYING_RESET_NO_INIT_STRING = "PDEC_TRYING_RESET_NO_INIT";
 const char *PDEC_RESET_FAILED_STRING = "PDEC_RESET_FAILED";
 const char *OPEN_IRQ_FILE_FAILED_STRING = "OPEN_IRQ_FILE_FAILED";
 const char *PDEC_INIT_FAILED_STRING = "PDEC_INIT_FAILED";
+const char *PDEC_CONFIG_CORRUPTED_STRING = "PDEC_CONFIG_CORRUPTED";
 const char *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
 const char *IMAGE_DOWNLOAD_FAILED_STRING = "IMAGE_DOWNLOAD_FAILED";
 const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
@@ -500,6 +502,8 @@ const char *translateEvents(Event event) {
       return MEKF_INVALID_MODE_VIOLATION_STRING;
     case (11207):
       return SAFE_MODE_CONTROLLER_FAILURE_STRING;
+    case (11208):
+      return TLE_TOO_OLD_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -634,6 +638,8 @@ const char *translateEvents(Event event) {
       return OPEN_IRQ_FILE_FAILED_STRING;
     case (12414):
       return PDEC_INIT_FAILED_STRING;
+    case (12415):
+      return PDEC_CONFIG_CORRUPTED_STRING;
     case (12500):
       return IMAGE_UPLOAD_FAILED_STRING;
     case (12501):

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-08-02 09:40:31
+ * Generated on: 2023-08-15 13:27:11
  */
 #include "translateObjects.h"
 

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 302 translations.
+ * @brief    Auto-generated event translation file. Contains 304 translations.
  * @details
- * Generated on: 2023-08-02 09:40:31
+ * Generated on: 2023-08-15 13:27:11
  */
 #include "translateEvents.h"
 
@@ -100,6 +100,7 @@ const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
 const char *MEKF_AUTOMATIC_RESET_STRING = "MEKF_AUTOMATIC_RESET";
 const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
 const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
+const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -167,6 +168,7 @@ const char *PDEC_TRYING_RESET_NO_INIT_STRING = "PDEC_TRYING_RESET_NO_INIT";
 const char *PDEC_RESET_FAILED_STRING = "PDEC_RESET_FAILED";
 const char *OPEN_IRQ_FILE_FAILED_STRING = "OPEN_IRQ_FILE_FAILED";
 const char *PDEC_INIT_FAILED_STRING = "PDEC_INIT_FAILED";
+const char *PDEC_CONFIG_CORRUPTED_STRING = "PDEC_CONFIG_CORRUPTED";
 const char *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
 const char *IMAGE_DOWNLOAD_FAILED_STRING = "IMAGE_DOWNLOAD_FAILED";
 const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
@@ -500,6 +502,8 @@ const char *translateEvents(Event event) {
       return MEKF_INVALID_MODE_VIOLATION_STRING;
     case (11207):
       return SAFE_MODE_CONTROLLER_FAILURE_STRING;
+    case (11208):
+      return TLE_TOO_OLD_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -634,6 +638,8 @@ const char *translateEvents(Event event) {
       return OPEN_IRQ_FILE_FAILED_STRING;
     case (12414):
       return PDEC_INIT_FAILED_STRING;
+    case (12415):
+      return PDEC_CONFIG_CORRUPTED_STRING;
     case (12500):
       return IMAGE_UPLOAD_FAILED_STRING;
     case (12501):

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-08-02 09:40:31
+ * Generated on: 2023-08-15 13:27:11
  */
 #include "translateObjects.h"
 

linux/ipcore/PdecConfig.cpp

@@ -22,11 +22,11 @@ ReturnValue_t PdecConfig::write() {
   if (result != returnvalue::OK) {
     return result;
   }
-  result = writeFrameHeaderFirstOctet();
+  result = writeFrameHeaderFirstWord();
   if (result != returnvalue::OK) {
     return result;
   }
-  result = writeFrameHeaderSecondOctet();
+  result = writeFrameHeaderSecondWord();
   if (result != returnvalue::OK) {
     return result;
   }
@@ -77,7 +77,7 @@ ReturnValue_t PdecConfig::setPositiveWindow(uint8_t pw) {
     return result;
   }
   // Rewrite second config word which contains the positive window parameter
-  writeFrameHeaderSecondOctet();
+  writeFrameHeaderSecondWord();
   return returnvalue::OK;
 }
 
@@ -92,7 +92,7 @@ ReturnValue_t PdecConfig::setNegativeWindow(uint8_t nw) {
     return result;
   }
   // Rewrite second config word which contains the negative window parameter
-  writeFrameHeaderSecondOctet();
+  writeFrameHeaderSecondWord();
   return returnvalue::OK;
 }
 
@@ -114,43 +114,23 @@ ReturnValue_t PdecConfig::getNegativeWindow(uint8_t& negativeWindow) {
   return returnvalue::OK;
 }
 
-ReturnValue_t PdecConfig::writeFrameHeaderFirstOctet() {
+ReturnValue_t PdecConfig::writeFrameHeaderFirstWord() {
   uint32_t word = 0;
-  word |= (VERSION_ID << 30);
+  ReturnValue_t result = createFirstWord(&word);
-
-  // Setting the bypass flag and the control command flag should not have any
-  // implication on the operation of the PDEC IP Core
-  word |= (BYPASS_FLAG << 29);
-  word |= (CONTROL_COMMAND_FLAG << 28);
-
-  word |= (RESERVED_FIELD_A << 26);
-  word |= (SPACECRAFT_ID << 16);
-  word |= (VIRTUAL_CHANNEL << 10);
-  word |= (DUMMY_BITS << 8);
-  uint8_t positiveWindow = 0;
-  ReturnValue_t result =
-      localParameterHandler.getValue(pdecconfigdefs::paramkeys::POSITIVE_WINDOW, positiveWindow);
   if (result != returnvalue::OK) {
     return result;
   }
-  word |= static_cast<uint32_t>(positiveWindow);
+  *(memoryBaseAddress + FRAME_HEADER_OFFSET + OFFSET_FIRST_CONFIG_WORD) = word;
-  *(memoryBaseAddress + FRAME_HEADER_OFFSET) = word;
   return returnvalue::OK;
 }
 
-ReturnValue_t PdecConfig::writeFrameHeaderSecondOctet() {
+ReturnValue_t PdecConfig::writeFrameHeaderSecondWord() {
-  uint8_t negativeWindow = 0;
+  uint32_t word = 0;
-  ReturnValue_t result =
+  ReturnValue_t result = createSecondWord(&word);
-      localParameterHandler.getValue(pdecconfigdefs::paramkeys::NEGATIVE_WINDOW, negativeWindow);
   if (result != returnvalue::OK) {
     return result;
   }
-  uint32_t word = 0;
+  *(memoryBaseAddress + FRAME_HEADER_OFFSET + OFFSET_SECOND_CONFIG_WORD) = word;
-  word = 0;
-  word |= (static_cast<uint32_t>(negativeWindow) << 24);
-  word |= (HIGH_AU_MAP_ID << 16);
-  word |= (ENABLE_DERANDOMIZER << 8);
-  *(memoryBaseAddress + FRAME_HEADER_OFFSET + 1) = word;
   return returnvalue::OK;
 }
 
@@ -189,3 +169,49 @@ uint8_t PdecConfig::getOddParity(uint8_t number) {
   parityBit = ~(countBits & 0x1) & 0x1;
   return parityBit;
 }
+
+ReturnValue_t PdecConfig::createFirstWord(uint32_t* word) {
+  *word = 0;
+  *word |= (VERSION_ID << 30);
+
+  // Setting the bypass flag and the control command flag should not have any
+  // implication on the operation of the PDEC IP Core
+  *word |= (BYPASS_FLAG << 29);
+  *word |= (CONTROL_COMMAND_FLAG << 28);
+
+  *word |= (RESERVED_FIELD_A << 26);
+  *word |= (SPACECRAFT_ID << 16);
+  *word |= (VIRTUAL_CHANNEL << 10);
+  *word |= (DUMMY_BITS << 8);
+  uint8_t positiveWindow = 0;
+  ReturnValue_t result =
+      localParameterHandler.getValue(pdecconfigdefs::paramkeys::POSITIVE_WINDOW, positiveWindow);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  *word |= static_cast<uint32_t>(positiveWindow);
+  return returnvalue::OK;
+}
+
+ReturnValue_t PdecConfig::createSecondWord(uint32_t* word) {
+  uint8_t negativeWindow = 0;
+  ReturnValue_t result =
+      localParameterHandler.getValue(pdecconfigdefs::paramkeys::NEGATIVE_WINDOW, negativeWindow);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  *word = 0;
+  *word = 0;
+  *word |= (static_cast<uint32_t>(negativeWindow) << 24);
+  *word |= (HIGH_AU_MAP_ID << 16);
+  *word |= (ENABLE_DERANDOMIZER << 8);
+  return returnvalue::OK;
+}
+
+uint32_t PdecConfig::readbackFirstWord() {
+  return *(memoryBaseAddress + FRAME_HEADER_OFFSET + OFFSET_FIRST_CONFIG_WORD);
+}
+
+uint32_t PdecConfig::readbackSecondWord() {
+  return *(memoryBaseAddress + FRAME_HEADER_OFFSET + OFFSET_SECOND_CONFIG_WORD);
+}

linux/ipcore/PdecConfig.h

@@ -48,6 +48,39 @@ class PdecConfig {
   ReturnValue_t getPositiveWindow(uint8_t& positiveWindow);
   ReturnValue_t getNegativeWindow(uint8_t& negativeWindow);
 
+  /**
+   * @brief	Creates the first word of the PDEC configuration
+   *
+   * @param word	The created word will be written to this pointer
+   *
+   * @return OK if successful, otherwise error return value
+   *
+   */
+  ReturnValue_t createFirstWord(uint32_t* word);
+
+  /**
+   * @brief	Creates the second word of the PDEC configuration
+   *
+   * @param word	The created word will be written to this pointer
+   *
+   * @return OK if successful, otherwise error return value
+   */
+  ReturnValue_t createSecondWord(uint32_t* word);
+
+  /**
+   * @brief	Reads first config word from the config memory
+   *
+   * @return The config word
+   */
+  uint32_t readbackFirstWord();
+
+  /**
+   * @brief	Reads the second config word from the config memory
+   *
+   * @return The config word
+   */
+  uint32_t readbackSecondWord();
+
  private:
   // TC transfer frame configuration parameters
   static const uint8_t VERSION_ID = 0;
@@ -66,6 +99,8 @@ class PdecConfig {
 
   // 0x200 / 4 = 0x80
   static const uint32_t FRAME_HEADER_OFFSET = 0x80;
+  static const uint32_t OFFSET_FIRST_CONFIG_WORD = 0;
+  static const uint32_t OFFSET_SECOND_CONFIG_WORD = 1;
 
   static const uint32_t MAP_ADDR_LUT_OFFSET = 0xA0;
   static const uint32_t MAP_CLK_FREQ_OFFSET = 0x90;
@@ -102,8 +137,8 @@ class PdecConfig {
    */
   ReturnValue_t createPersistentConfig();
 
-  ReturnValue_t writeFrameHeaderFirstOctet();
+  ReturnValue_t writeFrameHeaderFirstWord();
-  ReturnValue_t writeFrameHeaderSecondOctet();
+  ReturnValue_t writeFrameHeaderSecondWord();
   void writeMapConfig();
 
   /**

linux/ipcore/PdecHandler.cpp

@@ -478,6 +478,7 @@ bool PdecHandler::checkFrameAna(uint32_t pdecFar) {
     }
     case (FrameAna_t::FRAME_DIRTY): {
       triggerEvent(INVALID_TC_FRAME, FRAME_DIRTY_RETVAL);
+      checkConfig();
       sif::warning << "PdecHandler::checkFrameAna: Frame dirty" << std::endl;
       break;
     }
@@ -577,6 +578,29 @@ void PdecHandler::handleIReason(uint32_t pdecFar, ReturnValue_t parameter1) {
   }
 }
 
+void PdecHandler::checkConfig() {
+  uint32_t firstWord = 0;
+  ReturnValue_t result = pdecConfig.createFirstWord(&firstWord);
+  if (result != returnvalue::OK) {
+    // This should normally never happen during runtime. So here is just
+    // output a warning
+    sif::warning << "PdecHandler::checkConfig: Failed to create first word" << std::endl;
+    return;
+  }
+  uint32_t secondWord = 0;
+  result = pdecConfig.createSecondWord(&secondWord);
+  if (result != returnvalue::OK) {
+    // This should normally never happen during runtime. So here is just
+    // output a warning
+    sif::warning << "PdecHandler::checkConfig: Failed to create second word" << std::endl;
+    return;
+  }
+  if (firstWord != pdecConfig.readbackFirstWord() or
+      secondWord != pdecConfig.readbackSecondWord()) {
+    triggerEvent(PDEC_CONFIG_CORRUPTED, firstWord, secondWord);
+  }
+}
+
 void PdecHandler::handleNewTc() {
   ReturnValue_t result = returnvalue::OK;
 

linux/ipcore/PdecHandler.h

@@ -282,6 +282,11 @@ class PdecHandler : public SystemObject,
    */
   void handleIReason(uint32_t pdecFar, ReturnValue_t parameter1);
 
+  /**
+   * @brief	Checks if PDEC configuration is still correct
+   */
+  void checkConfig();
+
   /**
    * @brief   Handles the reception of new TCs. Reads the pointer to the storage location of the
    *          new TC segment, extracts the PUS packet and forwards the data to the object

linux/ipcore/pdec.h

@@ -71,6 +71,10 @@ static constexpr Event OPEN_IRQ_FILE_FAILED = event::makeEvent(SUBSYSTEM_ID, 13,
 //! [EXPORT] : [COMMENT] PDEC initialization failed. This might also be due to the persistent
 //! confiuration never becoming available, for example due to SD card issues.
 static constexpr Event PDEC_INIT_FAILED = event::makeEvent(SUBSYSTEM_ID, 14, severity::HIGH);
+//! [EXPORT] : [COMMENT] The PDEC configuration area has been corrupted
+//! P1: The first configuration word
+//! P2: The second configuration word
+static constexpr Event PDEC_CONFIG_CORRUPTED = event::makeEvent(SUBSYSTEM_ID, 15, severity::HIGH);
 
 // Action IDs
 static constexpr ActionId_t PRINT_CLCW = 0;

linux/payload/PlocSupervisorHandler.cpp

@@ -155,12 +155,15 @@ void PlocSupervisorHandler::doStartUp() {
     startupState = StartupState::ON;
   }
   if (startupState == StartupState::ON) {
+    hkset.setReportingEnabled(true);
     setMode(_MODE_TO_ON);
   }
 }
 
 void PlocSupervisorHandler::doShutDown() {
   setMode(_MODE_POWER_DOWN);
+  hkset.setReportingEnabled(false);
+  hkset.setValidity(false, true);
   shutdownCmdSent = false;
   packetInBuffer = false;
   nextReplyId = supv::NONE;
@@ -170,6 +173,10 @@ void PlocSupervisorHandler::doShutDown() {
 }
 
 ReturnValue_t PlocSupervisorHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
+  if (not commandIsExecuting(GET_HK_REPORT)) {
+    *id = GET_HK_REPORT;
+    return buildCommandFromCommand(*id, nullptr, 0);
+  }
   return NOTHING_TO_SEND;
 }
 
@@ -430,7 +437,7 @@ void PlocSupervisorHandler::fillCommandAndReplyMap() {
   insertInReplyMap(MEMORY_CHECK, 5, nullptr, 0, false);
 
   // TM replies
-  insertInReplyMap(HK_REPORT, 3, &hkset, SIZE_HK_REPORT);
+  insertInReplyMap(HK_REPORT, 3, &hkset);
   insertInReplyMap(BOOT_STATUS_REPORT, 3, &bootStatusReport, SIZE_BOOT_STATUS_REPORT);
   insertInReplyMap(LATCHUP_REPORT, 3, &latchupStatusReport, SIZE_LATCHUP_STATUS_REPORT);
   insertInReplyMap(LOGGING_REPORT, 3, &loggingReport, SIZE_LOGGING_REPORT);
@@ -790,6 +797,8 @@ ReturnValue_t PlocSupervisorHandler::initializeLocalDataPool(localpool::DataPool
   localDataPoolMap.emplace(supv::ADC_ENG_14, new PoolEntry<uint16_t>({0}));
   localDataPoolMap.emplace(supv::ADC_ENG_15, new PoolEntry<uint16_t>({0}));
 
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(hkset.getSid(), false, 10.0));
   return returnvalue::OK;
 }
 
@@ -918,7 +927,7 @@ ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data)
 ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
   ReturnValue_t result = returnvalue::OK;
 
-  result = verifyPacket(data, supv::SIZE_HK_REPORT);
+  result = verifyPacket(data, tmReader.getFullPacketLen());
 
   if (result == result::CRC_FAILURE) {
     sif::error << "PlocSupervisorHandler::handleHkReport: Hk report has invalid crc" << std::endl;

linux/payload/plocSupvDefs.h

@@ -139,7 +139,6 @@ enum ReplyId : DeviceCommandId_t {
 // Size of complete space packet (6 byte header + size of data + 2 byte CRC)
 static const uint16_t SIZE_ACK_REPORT = 14;
 static const uint16_t SIZE_EXE_REPORT = 14;
-static const uint16_t SIZE_HK_REPORT = 52;
 static const uint16_t SIZE_BOOT_STATUS_REPORT = 24;
 static const uint16_t SIZE_LATCHUP_STATUS_REPORT = 31;
 static const uint16_t SIZE_LOGGING_REPORT = 73;

mission/controller/AcsController.cpp

@@ -204,8 +204,7 @@ void AcsController::performSafe() {
   acs::SafeModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy(
       mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag,
       gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(),
-      fusedRotRateData.rotRateOrthogonal.isValid(), fusedRotRateData.rotRateTotal.isValid(),
+      fusedRotRateData.rotRateTotal.isValid(), acsParameters.safeModeControllerParameters.useMekf,
-      acsParameters.safeModeControllerParameters.useMekf,
       acsParameters.safeModeControllerParameters.useGyr,
       acsParameters.safeModeControllerParameters.dampingDuringEclipse);
   switch (safeCtrlStrat) {
@@ -223,7 +222,8 @@ void AcsController::performSafe() {
       safeCtrlFailureCounter = 0;
       break;
     case (acs::SafeModeStrategy::SAFECTRL_SUSMGM):
-      safeCtrl.safeSusMgm(mgmDataProcessed.mgmVecTot.value, fusedRotRateData.rotRateParallel.value,
+      safeCtrl.safeSusMgm(mgmDataProcessed.mgmVecTot.value, fusedRotRateData.rotRateTotal.value,
+                          fusedRotRateData.rotRateParallel.value,
                           fusedRotRateData.rotRateOrthogonal.value,
                           susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
       safeCtrlFailureFlag = false;

mission/controller/acs/AcsParameters.cpp

@@ -113,6 +113,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x13:
           parameterWrapper->set(mgmHandlingParameters.mgmDerivativeFilterWeight);
           break;
+        case 0x14:
+          parameterWrapper->set(mgmHandlingParameters.useMgm4);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }

mission/controller/acs/AcsParameters.h

@@ -80,6 +80,7 @@ class AcsParameters : public HasParametersIF {
     float mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)};
     float mgmVectorFilterWeight = 0.85;
     float mgmDerivativeFilterWeight = 0.85;
+    uint8_t useMgm4 = false;
   } mgmHandlingParameters;
 
   struct SusHandlingParameters {

mission/controller/acs/SensorProcessing.cpp

@@ -101,7 +101,7 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
       sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
     }
   }
-  if (mgm4valid) {
+  if (mgm4valid and mgmParameters->useMgm4) {
     float mgm4ValueUT[3];
     VectorOperations<float>::mulScalar(mgm4Value, 1e-3, mgm4ValueUT, 3);  // nT to uT
     MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueUT,

mission/controller/acs/control/SafeCtrl.cpp

@@ -9,10 +9,12 @@ SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameter
 
 SafeCtrl::~SafeCtrl() {}
 
-acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(
+acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
-    const bool magFieldValid, const bool mekfValid, const bool satRotRateValid,
+                                                 const bool satRotRateValid, const bool sunDirValid,
-    const bool sunDirValid, const bool fusedRateSplitValid, const bool fusedRateTotalValid,
+                                                 const bool fusedRateTotalValid,
-    const uint8_t mekfEnabled, const uint8_t gyrEnabled, const uint8_t dampingEnabled) {
+                                                 const uint8_t mekfEnabled,
+                                                 const uint8_t gyrEnabled,
+                                                 const uint8_t dampingEnabled) {
   if (not magFieldValid) {
     return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
   } else if (mekfEnabled and mekfValid) {
@@ -20,7 +22,7 @@ acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(
   } else if (sunDirValid) {
     if (gyrEnabled and satRotRateValid) {
       return acs::SafeModeStrategy::SAFECTRL_GYR;
-    } else if (not gyrEnabled and fusedRateSplitValid) {
+    } else if (not gyrEnabled and fusedRateTotalValid) {
       return acs::SafeModeStrategy::SAFECTRL_SUSMGM;
     } else {
       return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
@@ -95,9 +97,10 @@ void SafeCtrl::safeGyr(const double *magFieldB, const double *satRotRateB, const
   calculateMagneticMoment(magMomB);
 }
 
-void SafeCtrl::safeSusMgm(const double *magFieldB, const double *rotRateParallelB,
+void SafeCtrl::safeSusMgm(const double *magFieldB, const double *rotRateTotalB,
-                          const double *rotRateOrthogonalB, const double *sunDirB,
+                          const double *rotRateParallelB, const double *rotRateOrthogonalB,
-                          const double *sunDirRefB, double *magMomB, double &errorAngle) {
+                          const double *sunDirB, const double *sunDirRefB, double *magMomB,
+                          double &errorAngle) {
   // convert magFieldB from uT to T
   VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
 
@@ -105,8 +108,14 @@ void SafeCtrl::safeSusMgm(const double *magFieldB, const double *rotRateParallel
   double dotSun = VectorOperations<double>::dot(sunDirRefB, sunDirB);
   errorAngle = acos(dotSun);
 
-  std::memcpy(satRotRateParallelB, rotRateParallelB, sizeof(satRotRateParallelB));
+  if (VectorOperations<double>::norm(rotRateParallelB, 3) != 0 and
-  std::memcpy(satRotRateOrthogonalB, rotRateOrthogonalB, sizeof(satRotRateOrthogonalB));
+      VectorOperations<double>::norm(rotRateOrthogonalB, 3) != 0) {
+    std::memcpy(satRotRateParallelB, rotRateParallelB, sizeof(satRotRateParallelB));
+    std::memcpy(satRotRateOrthogonalB, rotRateOrthogonalB, sizeof(satRotRateOrthogonalB));
+  } else {
+    splitRotationalRate(rotRateTotalB, sunDirB);
+  }
+
   calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelSusMgm,
                                 acsParameters->safeModeControllerParameters.k_orthoSusMgm);
   calculateAngleErrorTorque(sunDirB, sunDirRefB,

mission/controller/acs/control/SafeCtrl.h

@@ -14,7 +14,6 @@ class SafeCtrl {
 
   acs::SafeModeStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
                                          const bool satRotRateValid, const bool sunDirValid,
-                                         const bool fusedRateSplitValid,
                                          const bool fusedRateTotalValid, const uint8_t mekfEnabled,
                                          const uint8_t gyrEnabled, const uint8_t dampingEnabled);
 
@@ -25,9 +24,10 @@ class SafeCtrl {
   void safeGyr(const double *magFieldB, const double *satRotRateB, const double *sunDirB,
                const double *sunDirRefB, double *magMomB, double &errorAngle);
 
-  void safeSusMgm(const double *magFieldB, const double *rotRateParallelB,
+  void safeSusMgm(const double *magFieldB, const double *rotRateTotalB,
-                  const double *rotRateOrthogonalB, const double *sunDirB, const double *sunDirRefB,
+                  const double *rotRateParallelB, const double *rotRateOrthogonalB,
-                  double *magMomB, double &errorAngle);
+                  const double *sunDirB, const double *sunDirRefB, double *magMomB,
+                  double &errorAngle);
 
   void safeRateDampingGyr(const double *magFieldB, const double *satRotRateB,
                           const double *sunDirRefB, double *magMomB, double &errorAngle);

mission/system/EiveSystem.cpp

@@ -133,6 +133,10 @@ void EiveSystem::handleEventMessages() {
           case pdec::INVALID_TC_FRAME: {
             if (event.getParameter1() == pdec::FRAME_DIRTY_RETVAL) {
               frameDirtyErrorCounter++;
+              // Check whether threshold was reached after 10 seconds.
+              if (frameDirtyErrorCounter == 1) {
+                frameDirtyCheckCd.resetTimer();
+              }
             }
             break;
           }
@@ -296,42 +300,39 @@ ReturnValue_t EiveSystem::sendFullRebootCommand() {
 }
 
 void EiveSystem::pdecRecoveryLogic() {
-  if (pdecResetWasAttempted and pdecResetWasAttemptedCd.hasTimedOut()) {
+  // PDEC reset has happened too often in the last time. Perform reboot to same image.
-    pdecResetWasAttempted = false;
+  if (pdecResetCounter >= PDEC_RESET_MAX_COUNT_BEFORE_REBOOT) {
+    if (waitingForPdecReboot) {
+      return;
+    }
+    triggerEvent(core::PDEC_REBOOT);
+    // Some delay to ensure that the event is stored in the persistent TM store as well.
+    TaskFactory::delayTask(500);
+    // Send reboot command.
+    ReturnValue_t result = sendSelfRebootCommand();
+    if (result != returnvalue::OK) {
+      sif::error << "Sending a reboot command has failed" << std::endl;
+      // If the previous operation failed, it should be re-attempted the next task cycle.
+      pdecResetCounterResetCd.resetTimer();
+      return;
+    }
+    waitingForPdecReboot = true;
+    return;
   }
-  if (frameDirtyCheckCd.hasTimedOut()) {
+  if (pdecResetCounterResetCd.hasTimedOut()) {
+    pdecResetCounter = 0;
+  }
+  if (frameDirtyCheckCd.hasTimedOut() and frameDirtyErrorCounter > 0) {
     if (frameDirtyErrorCounter >= FRAME_DIRTY_COM_REBOOT_LIMIT) {
-      // If a PTME reset was already attempted and there is still an issue receiving TC frames,
+      // Try one full PDEC reset.
-      // reboot the system.
+      CommandMessage msg;
-      if (pdecResetWasAttempted) {
+      store_address_t dummy{};
-        if (waitingForPdecReboot) {
+      ActionMessage::setCommand(&msg, pdec::RESET_PDEC_WITH_REINIITALIZATION, dummy);
-          return;
+      commandQueue->sendMessage(pdecHandlerQueueId, &msg);
-        }
+      pdecResetCounterResetCd.resetTimer();
-        triggerEvent(core::PDEC_REBOOT);
+      pdecResetCounter++;
-        // Some delay to ensure that the event is stored in the persistent TM store as well.
-        TaskFactory::delayTask(500);
-        // Send reboot command.
-        ReturnValue_t result = sendSelfRebootCommand();
-        if (result != returnvalue::OK) {
-          sif::error << "Sending a reboot command has failed" << std::endl;
-          // If the previous operation failed, it should be re-attempted the next task cycle.
-          pdecResetWasAttemptedCd.resetTimer();
-          return;
-        }
-        waitingForPdecReboot = true;
-        return;
-      } else {
-        // Try one full PDEC reset.
-        CommandMessage msg;
-        store_address_t dummy{};
-        ActionMessage::setCommand(&msg, pdec::RESET_PDEC_WITH_REINIITALIZATION, dummy);
-        commandQueue->sendMessage(pdecHandlerQueueId, &msg);
-        pdecResetWasAttemptedCd.resetTimer();
-        pdecResetWasAttempted = true;
-      }
     }
     frameDirtyErrorCounter = 0;
-    frameDirtyCheckCd.resetTimer();
   }
 }
 

mission/system/EiveSystem.h

@@ -10,6 +10,7 @@
 class EiveSystem : public Subsystem, public HasActionsIF {
  public:
   static constexpr uint8_t FRAME_DIRTY_COM_REBOOT_LIMIT = 4;
+  static constexpr uint32_t PDEC_RESET_MAX_COUNT_BEFORE_REBOOT = 10;
 
   static constexpr ActionId_t EXECUTE_I2C_REBOOT = 10;
 
@@ -39,11 +40,11 @@ class EiveSystem : public Subsystem, public HasActionsIF {
   Countdown frameDirtyCheckCd = Countdown(10000);
   // If the PDEC reset was already attempted in the last 2 minutes, there is a high chance that
   // only a full reboot will fix the issue.
-  Countdown pdecResetWasAttemptedCd = Countdown(120000);
+  Countdown pdecResetCounterResetCd = Countdown(120000);
-  bool pdecResetWasAttempted = false;
   bool waitingForI2cReboot = false;
   bool waitingForPdecReboot = false;
 
+  uint32_t pdecResetCounter = 0;
   ActionHelper actionHelper;
   PowerSwitchIF* powerSwitcher = nullptr;
   std::atomic_uint16_t& i2cErrors;