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Merge remote-tracking branch 'origin/develop' into thermal_controller
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This commit is contained in:
Robin Müller
2023-03-31 19:18:05 +02:00
parent def7eca2f2 013692cc41
commit d1775a52aa
71 changed files with 1337 additions and 655 deletions
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1
linux/acs/GpsHyperionLinuxController.cpp
View File

@ -99,6 +99,7 @@ void GpsHyperionLinuxController::setResetPinTriggerFunction(gpioResetFunction_t
ReturnValue_t GpsHyperionLinuxController::performOperation(uint8_t opCode) {
handleQueue();
poolManager.performHkOperation();
while (true) {
#if OBSW_THREAD_TRACING == 1
trace::threadTrace(opCounter, "GPS CTRL");

31
linux/fsfwconfig/events/translateEvents.cpp
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@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 278 translations.
* @brief Auto-generated event translation file. Contains 284 translations.
* @details
* Generated on: 2023-03-26 16:47:32
* Generated on: 2023-03-31 19:17:49
*/
#include "translateEvents.h"
@ -209,11 +209,11 @@ const char *TRANSITION_OTHER_SIDE_FAILED_STRING = "TRANSITION_OTHER_SIDE_FAILED"
const char *NOT_ENOUGH_DEVICES_DUAL_MODE_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE";
const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
const char *DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY_STRING = "DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY";
const char *TRANSITION_OTHER_SIDE_FAILED_12900_STRING = "TRANSITION_OTHER_SIDE_FAILED_12900";
const char *NOT_ENOUGH_DEVICES_DUAL_MODE_12901_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE_12901";
const char *POWER_STATE_MACHINE_TIMEOUT_12902_STRING = "POWER_STATE_MACHINE_TIMEOUT_12902";
const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING =
"SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903";
const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903";
const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
const char *CANT_GET_FIX_STRING = "CANT_GET_FIX";
@ -273,17 +273,22 @@ const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
const char *OBC_OVERHEATING_STRING = "OBC_OVERHEATING";
const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
const char *FILE_TOO_LARGE_STRING = "FILE_TOO_LARGE";
const char *BUSY_DUMPING_EVENT_STRING = "BUSY_DUMPING_EVENT";
const char *DUMP_WAS_CANCELLED_STRING = "DUMP_WAS_CANCELLED";
const char *DUMP_OK_STORE_DONE_STRING = "DUMP_OK_STORE_DONE";
const char *DUMP_NOK_STORE_DONE_STRING = "DUMP_NOK_STORE_DONE";
const char *DUMP_MISC_STORE_DONE_STRING = "DUMP_MISC_STORE_DONE";
const char *DUMP_HK_STORE_DONE_STRING = "DUMP_HK_STORE_DONE";
const char *DUMP_CFDP_STORE_DONE_STRING = "DUMP_CFDP_STORE_DONE";
const char *DUMP_OK_CANCELLED_STRING = "DUMP_OK_CANCELLED";
const char *DUMP_NOK_CANCELLED_STRING = "DUMP_NOK_CANCELLED";
const char *DUMP_MISC_CANCELLED_STRING = "DUMP_MISC_CANCELLED";
const char *DUMP_HK_CANCELLED_STRING = "DUMP_HK_CANCELLED";
const char *DUMP_CFDP_CANCELLED_STRING = "DUMP_CFDP_CANCELLED";
const char *translateEvents(Event event) {
switch ((event & 0xFFFF)) {
@ -695,6 +700,8 @@ const char *translateEvents(Event event) {
return POWER_STATE_MACHINE_TIMEOUT_STRING;
case (12803):
return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING;
case (12804):
return DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY_STRING;
case (12900):
return TRANSITION_OTHER_SIDE_FAILED_12900_STRING;
case (12901):
@ -821,6 +828,8 @@ const char *translateEvents(Event event) {
return CAMERA_OVERHEATING_STRING;
case (14106):
return PCDU_SYSTEM_OVERHEATING_STRING;
case (14107):
return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
case (14201):
return TX_TIMER_EXPIRED_STRING;
case (14202):
@ -831,8 +840,6 @@ const char *translateEvents(Event event) {
return FILE_TOO_LARGE_STRING;
case (14302):
return BUSY_DUMPING_EVENT_STRING;
case (14303):
return DUMP_WAS_CANCELLED_STRING;
case (14305):
return DUMP_OK_STORE_DONE_STRING;
case (14306):
@ -843,6 +850,16 @@ const char *translateEvents(Event event) {
return DUMP_HK_STORE_DONE_STRING;
case (14309):
return DUMP_CFDP_STORE_DONE_STRING;
case (14310):
return DUMP_OK_CANCELLED_STRING;
case (14311):
return DUMP_NOK_CANCELLED_STRING;
case (14312):
return DUMP_MISC_CANCELLED_STRING;
case (14313):
return DUMP_HK_CANCELLED_STRING;
case (14314):
return DUMP_CFDP_CANCELLED_STRING;
default:
return "UNKNOWN_EVENT";
}

10
linux/fsfwconfig/objects/translateObjects.cpp
View File

@ -1,8 +1,8 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 173 translations.
* Generated on: 2023-03-26 16:47:32
* Contains 175 translations.
* Generated on: 2023-03-31 19:17:49
*/
#include "translateObjects.h"
@ -37,6 +37,8 @@ const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER";
const char *RW4_STRING = "RW4";
const char *STAR_TRACKER_STRING = "STAR_TRACKER";
const char *GPS_CONTROLLER_STRING = "GPS_CONTROLLER";
const char *GPS_0_HEALTH_DEV_STRING = "GPS_0_HEALTH_DEV";
const char *GPS_1_HEALTH_DEV_STRING = "GPS_1_HEALTH_DEV";
const char *IMTQ_POLLING_STRING = "IMTQ_POLLING";
const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
@ -244,6 +246,10 @@ const char *translateObject(object_id_t object) {
return STAR_TRACKER_STRING;
case 0x44130045:
return GPS_CONTROLLER_STRING;
case 0x44130046:
return GPS_0_HEALTH_DEV_STRING;
case 0x44130047:
return GPS_1_HEALTH_DEV_STRING;
case 0x44140013:
return IMTQ_POLLING_STRING;
case 0x44140014:

95
linux/ipcore/PapbVcInterface.cpp
View File

@ -2,6 +2,9 @@
#include <linux/ipcore/PapbVcInterface.h>
#include <unistd.h>
#include <cstring>
#include <ctime>
#include "fsfw/serviceinterface/ServiceInterface.h"
PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId,
@ -16,30 +19,71 @@ PapbVcInterface::~PapbVcInterface() {}
ReturnValue_t PapbVcInterface::initialize() {
UioMapper uioMapper(uioFile, mapNum);
uint32_t* baseReg;
ReturnValue_t result = uioMapper.getMappedAdress(&baseReg, UioMapper::Permissions::WRITE_ONLY);
ReturnValue_t result = uioMapper.getMappedAdress(const_cast<uint32_t**>(&vcBaseReg),
UioMapper::Permissions::WRITE_ONLY);
if (result != returnvalue::OK) {
return result;
}
vcBaseReg = baseReg;
return returnvalue::OK;
}
ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
if (pollPapbBusySignal(0, 0) == returnvalue::OK) {
startPacketTransfer();
// There are no packets smaller than 4, this is considered a configuration error.
if (size < 4) {
return returnvalue::FAILED;
}
if (pollInterfaceReadiness(0, true) == returnvalue::OK) {
startPacketTransfer(ByteWidthCfg::ONE);
} else {
return DirectTmSinkIF::IS_BUSY;
}
// TODO: This should work but does not.. :(
// size_t idx = 0;
// while (idx < size) {
//
// nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
// if ((size - idx) < 4) {
// *vcBaseReg = CONFIG_DATA_INPUT | (size - idx - 1);
// usleep(1);
// }
// if (pollPapbBusySignal(2) == returnvalue::OK) {
// // vcBaseReg + DATA_REG_OFFSET + 3 = static_cast<uint8_t>(data + idx);
// // vcBaseReg + DATA_REG_OFFSET + 2 = static_cast<uint8_t>(data + idx + 1);
// // vcBaseReg + DATA_REG_OFFSET + 1 = static_cast<uint8_t>(data + idx + 2);
// // vcBaseReg + DATA_REG_OFFSET = static_cast<uint8_t>(data + idx + 3);
//
// // std::memcpy((vcBaseReg + DATA_REG_OFFSET), data + idx , nextWriteSize);
// *(vcBaseReg + DATA_REG_OFFSET) = *reinterpret_cast<const uint32_t*>(data + idx);
// //uint8_t* byteReg = reinterpret_cast<uint8_t*>(vcBaseReg + DATA_REG_OFFSET);
//
// //byteReg[0] = data[idx];
// //byteReg[1] = data[idx];
// } else {
// abortPacketTransfer();
// return returnvalue::FAILED;
// }
// // TODO: Change this after the bugfix. Right now, the PAPB ignores the content of the byte
// // width configuration.5
// // It's okay to increment by a larger amount for the last segment here, loop will be over
// // in any case.
// idx += 4;
// }
for (size_t idx = 0; idx < size; idx++) {
if (pollPapbBusySignal(10, 10) == returnvalue::OK) {
// This delay is super-important, DO NOT REMOVE!
// Polling the GPIO or the config register too often messes up the scheduler.
// TODO: Maybe this should not be done like this. It would be better if there was a custom
// FPGA module which can accept packets and then takes care of dumping that packet into
// the PTME. DMA would be an ideal solution for this.
nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
if (pollInterfaceReadiness(2, false) == returnvalue::OK) {
*(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(data[idx]);
} else {
abortPacketTransfer();
return returnvalue::FAILED;
}
}
if (pollPapbBusySignal(10, 10) == returnvalue::OK) {
nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
if (pollInterfaceReadiness(2, false) == returnvalue::OK) {
completePacketTransfer();
} else {
abortPacketTransfer();
@ -48,34 +92,41 @@ ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
return returnvalue::OK;
}
void PapbVcInterface::startPacketTransfer() { *vcBaseReg = CONFIG_START; }
void PapbVcInterface::startPacketTransfer(ByteWidthCfg initWidth) {
*vcBaseReg = CONFIG_DATA_INPUT | initWidth;
}
void PapbVcInterface::completePacketTransfer() { *vcBaseReg = CONFIG_END; }
ReturnValue_t PapbVcInterface::pollPapbBusySignal(uint32_t maxPollRetries,
uint32_t retryDelayUs) const {
gpio::Levels papbBusyState = gpio::Levels::LOW;
ReturnValue_t result;
ReturnValue_t PapbVcInterface::pollInterfaceReadiness(uint32_t maxPollRetries,
bool checkReadyState) const {
uint32_t busyIdx = 0;
nextDelay.tv_nsec = FIRST_DELAY_PAPB_POLLING_NS;
while (true) {
/** Check if PAPB interface is ready to receive data */
result = gpioComIF->readGpio(papbBusyId, papbBusyState);
if (result != returnvalue::OK) {
sif::warning << "PapbVcInterface::pollPapbBusySignal: Failed to read papb busy signal"
<< std::endl;
return returnvalue::FAILED;
}
if (papbBusyState == gpio::Levels::HIGH) {
// Check if PAPB interface is ready to receive data. Use the configuration register for this.
// Bit 5, see PTME ptme_001_01-0-7-r2 Table 31.
uint32_t reg = *vcBaseReg;
bool busy = (reg >> 5) & 0b1;
bool ready = (reg >> 6) & 0b1;
if (not busy) {
return returnvalue::OK;
}
if (checkReadyState and not ready) {
return PAPB_BUSY;
}
busyIdx++;
if (busyIdx >= maxPollRetries) {
return PAPB_BUSY;
}
usleep(retryDelayUs);
// Ignore signal handling here for now.
nanosleep(&nextDelay, &remDelay);
// Adaptive delay.
if (nextDelay.tv_nsec * 2 <= MAX_DELAY_PAPB_POLLING_NS) {
nextDelay.tv_nsec *= 2;
}
}
return returnvalue::OK;
}
@ -100,7 +151,7 @@ void PapbVcInterface::isVcInterfaceBufferEmpty() {
return;
}
bool PapbVcInterface::isBusy() const { return pollPapbBusySignal(0, 0) == PAPB_BUSY; }
bool PapbVcInterface::isBusy() const { return pollInterfaceReadiness(0, true) == PAPB_BUSY; }
void PapbVcInterface::cancelTransfer() { abortPacketTransfer(); }

15
linux/ipcore/PapbVcInterface.h
View File

@ -5,6 +5,8 @@
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <linux/ipcore/VirtualChannelIF.h>
#include <atomic>
#include "OBSWConfig.h"
#include "fsfw/returnvalues/returnvalue.h"
@ -50,13 +52,14 @@ class PapbVcInterface : public VirtualChannelIF {
static const ReturnValue_t PAPB_BUSY = MAKE_RETURN_CODE(0xA0);
enum ByteWidthCfg : uint32_t { ONE = 0b00, TWO = 0b01, THREE = 0b10, FOUR = 0b11 };
/**
* Configuration bits:
* bit[1:0]: Size of data (1,2,3 or 4 bytes). 1 Byte <=> b00
* bit[2]: Set this bit to 1 to abort a transferred packet
* bit[3]: Signals to VcInterface the start of a new telemetry packet
*/
static constexpr uint32_t CONFIG_START = 0b00001000;
static constexpr uint32_t CONFIG_DATA_INPUT = 0b00001000;
/**
* Abort a transferred packet.
@ -76,6 +79,9 @@ class PapbVcInterface : public VirtualChannelIF {
*/
static const int DATA_REG_OFFSET = 256;
static constexpr long int FIRST_DELAY_PAPB_POLLING_NS = 10;
static constexpr long int MAX_DELAY_PAPB_POLLING_NS = 40;
LinuxLibgpioIF* gpioComIF = nullptr;
/** Pulled to low when virtual channel not ready to receive data */
@ -85,6 +91,9 @@ class PapbVcInterface : public VirtualChannelIF {
std::string uioFile;
int mapNum = 0;
mutable struct timespec nextDelay = {.tv_sec = 0, .tv_nsec = 0};
const struct timespec BETWEEN_POLL_DELAY = {.tv_sec = 0, .tv_nsec = 10};
mutable struct timespec remDelay;
volatile uint32_t* vcBaseReg = nullptr;
@ -94,7 +103,7 @@ class PapbVcInterface : public VirtualChannelIF {
* @brief This function sends the config byte to the virtual channel of the PTME IP Core
* to initiate a packet transfer.
*/
void startPacketTransfer();
void startPacketTransfer(ByteWidthCfg initWidth);
void abortPacketTransfer();
@ -111,7 +120,7 @@ class PapbVcInterface : public VirtualChannelIF {
*
* @return returnvalue::OK when ready to receive data else PAPB_BUSY.
*/
ReturnValue_t pollPapbBusySignal(uint32_t maxPollRetries, uint32_t retryDelayUs) const;
inline ReturnValue_t pollInterfaceReadiness(uint32_t maxPollRetries, bool checkReadyState) const;
/**
* @brief This function can be used for debugging to check whether there are packets in