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Merge pull request 'ACS Controller Init' (#275) from mueller/acs-ctrl into develop
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Reviewed-on: #275
Reviewed-by: Jakob Meier <meierj@irs.uni-stuttgart.de>
This commit is contained in:
Jakob Meier 2022-08-16 17:34:21 +02:00
commit d8fa3881f6
17 changed files with 235 additions and 30 deletions
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4
CHANGELOG.md
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@ -10,6 +10,10 @@ list yields a list of all related PRs for each release.
# [unreleased]
# [v1.13.0]
- Added first version of ACS Controller with gathers MGM data in a set
# [v1.12.1] 05.07.2022
- Disable periodic TCS controller HK generation by default

5
bsp_q7s/core/InitMission.cpp
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@ -133,6 +133,11 @@ void initmission::initTasks() {
}
#endif /* OBSW_ADD_ACS_HANDLERS */
acsTask->addComponent(objects::ACS_CONTROLLER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
}
PeriodicTaskIF* sysTask = factory->createPeriodicTask(
"SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
static_cast<void>(sysTask);

1
bsp_q7s/fmObjectFactory.cpp
View File

@ -63,4 +63,5 @@ void ObjectFactory::produce(void* args) {
createMiscComponents();
createThermalController();
createAcsController();
}

2
common/config/commonObjects.h
View File

@ -18,7 +18,7 @@ enum commonObjects : uint32_t {
/* 0x43 ('C') for Controllers */
THERMAL_CONTROLLER = 0x43400001,
ACS_CONTROLLER = 0x43100002,
ACS_CONTROLLER = 0x43000002,
CORE_CONTROLLER = 0x43000003,
/* 0x44 ('D') for device handlers */

2
fsfw

@ -1 +1 @@
Subproject commit fdcfd89ed271118ddb2daf0de3db5d69bdbc95d4
Subproject commit d975958120bd151dabdc450a104e9cc8069ff509

3
linux/ObjectFactory.cpp
View File

@ -8,6 +8,7 @@
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include <linux/callbacks/gpioCallbacks.h>
#include <linux/devices/Max31865RtdLowlevelHandler.h>
#include <mission/controller/AcsController.h>
#include <mission/controller/ThermalController.h>
#include <mission/devices/Max31865EiveHandler.h>
#include <mission/devices/Max31865PT1000Handler.h>
@ -324,6 +325,8 @@ void ObjectFactory::createThermalController() {
new ThermalController(objects::THERMAL_CONTROLLER, objects::NO_OBJECT);
}
void ObjectFactory::createAcsController() { new AcsController(objects::ACS_CONTROLLER); }
void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) {
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "ObjectFactory: Adding GPIOs failed for " << output << std::endl;

3
linux/ObjectFactory.h
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@ -1,7 +1,7 @@
#pragma once
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <string>
@ -19,5 +19,6 @@ void createRtdComponents(std::string spiDev, GpioIF* gpioComIF, PowerSwitchIF* p
void gpioChecker(ReturnValue_t result, std::string output);
void createThermalController();
void createAcsController();
} // namespace ObjectFactory

96
mission/controller/AcsController.cpp Normal file
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@ -0,0 +1,96 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include "AcsController.h"
AcsController::AcsController(object_id_t objectId)
: ExtendedControllerBase(objectId, objects::NO_OBJECT),
mgmData(this) {}
ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) {
return HasReturnvaluesIF::RETURN_OK;
}
void AcsController::performControlOperation() {
switch (internalState) {
case InternalState::STARTUP: {
initialCountdown.resetTimer();
internalState = InternalState::INITIAL_DELAY;
return;
}
case InternalState::INITIAL_DELAY: {
if (initialCountdown.hasTimedOut()) {
internalState = InternalState::READY;
}
return;
}
case InternalState::READY: {
break;
}
default:
break;
}
{
PoolReadGuard pg(&mgmData);
if (pg.getReadResult() == RETURN_OK) {
copyMgmData();
}
}
}
ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_LIS3_UT, &mgm0PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_RM3100_UT, &mgm1PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_2_LIS3_UT, &mgm2PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_RM3100_UT, &mgm3PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_NT, &imtqMgmPoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_ACT_STATUS, &imtqCalActStatus);
poolManager.subscribeForPeriodicPacket(mgmData.getSid(), false, 5.0, false);
return HasReturnvaluesIF::RETURN_OK;
}
LocalPoolDataSetBase *AcsController::getDataSetHandle(sid_t sid) {
if (sid == mgmData.getSid()) {
return &mgmData;
}
return nullptr;
}
ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
return HasReturnvaluesIF::RETURN_OK;
}
void AcsController::copyMgmData() {
{
PoolReadGuard pg(&mgm0Lis3Set);
if(pg.getReadResult() == RETURN_OK) {
std::memcpy(mgmData.mgm0Lis3.value, mgm0Lis3Set.fieldStrengths.value, 3 * sizeof(float));
}
}
{
PoolReadGuard pg(&mgm1Rm3100Set);
if(pg.getReadResult() == RETURN_OK) {
std::memcpy(mgmData.mgm1Rm3100.value, mgm1Rm3100Set.fieldStrengths.value, 3 * sizeof(float));
}
}
{
PoolReadGuard pg(&mgm2Lis3Set);
if(pg.getReadResult() == RETURN_OK) {
std::memcpy(mgmData.mgm2Lis3.value, mgm2Lis3Set.fieldStrengths.value, 3 * sizeof(float));
}
}
{
PoolReadGuard pg(&mgm3Rm3100Set);
if(pg.getReadResult() == RETURN_OK) {
std::memcpy(mgmData.mgm3Rm3100.value, mgm3Rm3100Set.fieldStrengths.value, 3 * sizeof(float));
}
}
{
PoolReadGuard pg(&imtqMgmSet);
if(pg.getReadResult() == RETURN_OK) {
std::memcpy(mgmData.imtqCal.value, imtqMgmSet.mgmXyz.value, 3 * sizeof(int32_t));
mgmData.actuationCalStatus.value = imtqMgmSet.coilActuationStatus.value;
}
}
}

55
mission/controller/AcsController.h Normal file
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@ -0,0 +1,55 @@
#ifndef MISSION_CONTROLLER_ACSCONTROLLER_H_
#define MISSION_CONTROLLER_ACSCONTROLLER_H_
#include <commonObjects.h>
#include "controllerdefinitions/AcsCtrlDefinitions.h"
#include <fsfw/controller/ExtendedControllerBase.h>
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "mission/devices/devicedefinitions/IMTQHandlerDefinitions.h"
class AcsController : public ExtendedControllerBase {
public:
static constexpr dur_millis_t INIT_DELAY = 500;
AcsController(object_id_t objectId);
private:
enum class InternalState { STARTUP, INITIAL_DELAY, READY };
InternalState internalState = InternalState::STARTUP;
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
// Mode abstract functions
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
// MGMs
acsctrl::MgmData mgmData;
MGMLIS3MDL::MgmPrimaryDataset mgm0Lis3Set = MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_0_LIS3_HANDLER);
RM3100::Rm3100PrimaryDataset mgm1Rm3100Set = RM3100::Rm3100PrimaryDataset(objects::MGM_1_RM3100_HANDLER);
MGMLIS3MDL::MgmPrimaryDataset mgm2Lis3Set = MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_2_LIS3_HANDLER);
RM3100::Rm3100PrimaryDataset mgm3Rm3100Set = RM3100::Rm3100PrimaryDataset(objects::MGM_3_RM3100_HANDLER);
IMTQ::CalibratedMtmMeasurementSet imtqMgmSet = IMTQ::CalibratedMtmMeasurementSet(objects::IMTQ_HANDLER);
PoolEntry<float> mgm0PoolVec = PoolEntry<float>(3);
PoolEntry<float> mgm1PoolVec = PoolEntry<float>(3);
PoolEntry<float> mgm2PoolVec = PoolEntry<float>(3);
PoolEntry<float> mgm3PoolVec = PoolEntry<float>(3);
PoolEntry<int32_t> imtqMgmPoolVec = PoolEntry<int32_t>(3);
PoolEntry<uint8_t> imtqCalActStatus = PoolEntry<uint8_t>();
void copyMgmData();
// Initial delay to make sure all pool variables have been initialized their owners
Countdown initialCountdown = Countdown(INIT_DELAY);
// Sun Sensors
};
#endif /* MISSION_CONTROLLER_ACSCONTROLLER_H_ */

3
mission/controller/CMakeLists.txt
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@ -1,3 +1,4 @@
if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "")
target_sources(${LIB_EIVE_MISSION} PRIVATE ThermalController.cpp)
target_sources(${LIB_EIVE_MISSION} PRIVATE ThermalController.cpp
AcsController.cpp)
endif()

48
mission/controller/controllerdefinitions/AcsCtrlDefinitions.h Normal file
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@ -0,0 +1,48 @@
#ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_
#define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_
#include <fsfw/datapoollocal/localPoolDefinitions.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <cstdint>
namespace acsctrl {
enum SetIds : uint32_t {
MGM_SENSOR_DATA
};
enum PoolIds : lp_id_t {
MGM_0_LIS3_UT,
MGM_1_RM3100_UT,
MGM_2_LIS3_UT,
MGM_3_RM3100_UT,
MGM_IMTQ_CAL_NT,
MGM_IMTQ_CAL_ACT_STATUS
};
static constexpr uint8_t MGM_SET_ENTRIES = 10;
/**
* @brief This dataset can be used to store the collected temperatures of all temperature sensors
*/
class MgmData : public StaticLocalDataSet<MGM_SET_ENTRIES> {
public:
MgmData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_SENSOR_DATA) {}
// The ACS board measurement are in floating point uT
lp_vec_t<float, 3> mgm0Lis3 = lp_vec_t<float, 3>(sid.objectId, MGM_0_LIS3_UT, this);
lp_vec_t<float, 3> mgm1Rm3100 = lp_vec_t<float, 3>(sid.objectId, MGM_1_RM3100_UT, this);
lp_vec_t<float, 3> mgm2Lis3 = lp_vec_t<float, 3>(sid.objectId, MGM_2_LIS3_UT, this);
lp_vec_t<float, 3> mgm3Rm3100 = lp_vec_t<float, 3>(sid.objectId, MGM_3_RM3100_UT, this);
// The IMTQ measurements are in integer nT
lp_vec_t<int32_t, 3> imtqCal = lp_vec_t<int32_t, 3>(sid.objectId, MGM_IMTQ_CAL_NT, this);
lp_var_t<uint8_t> actuationCalStatus = lp_var_t<uint8_t>(sid.objectId,
MGM_IMTQ_CAL_ACT_STATUS, this);
private:
};
}
#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_ */

17
mission/devices/IMTQHandler.cpp
View File

@ -331,9 +331,7 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat
localDataPoolMap.emplace(IMTQ::MCU_TEMPERATURE, new PoolEntry<int16_t>({0}));
/** Entries of calibrated MTM measurement dataset */
localDataPoolMap.emplace(IMTQ::MTM_CAL_X, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(IMTQ::MTM_CAL_Y, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(IMTQ::MTM_CAL_Z, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(IMTQ::MGM_CAL_NT, &mgmCalEntry);
localDataPoolMap.emplace(IMTQ::ACTUATION_CAL_STATUS, new PoolEntry<uint8_t>({0}));
/** Entries of raw MTM measurement dataset */
@ -749,14 +747,15 @@ void IMTQHandler::handleGetCommandedDipoleReply(const uint8_t* packet) {
void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
PoolReadGuard rg(&calMtmMeasurementSet);
calMtmMeasurementSet.setValidity(true, true);
int8_t offset = 2;
calMtmMeasurementSet.mtmXnT = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
calMtmMeasurementSet.mgmXyz[0] = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
*(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
calMtmMeasurementSet.mtmYnT = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
calMtmMeasurementSet.mgmXyz[1] = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
*(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
calMtmMeasurementSet.mtmZnT = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
calMtmMeasurementSet.mgmXyz[2] = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
*(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
calMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24) |
@ -764,11 +763,11 @@ void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
(*(packet + offset + 1) << 8) | (*(packet + offset));
if (debugMode) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::info << "IMTQ calibrated MTM measurement X: " << calMtmMeasurementSet.mtmXnT << " nT"
sif::info << "IMTQ calibrated MTM measurement X: " << calMtmMeasurementSet.mgmXyz[0] << " nT"
<< std::endl;
sif::info << "IMTQ calibrated MTM measurement Y: " << calMtmMeasurementSet.mtmYnT << " nT"
sif::info << "IMTQ calibrated MTM measurement Y: " << calMtmMeasurementSet.mgmXyz[1] << " nT"
<< std::endl;
sif::info << "IMTQ calibrated MTM measurement Z: " << calMtmMeasurementSet.mtmZnT << " nT"
sif::info << "IMTQ calibrated MTM measurement Z: " << calMtmMeasurementSet.mgmXyz[2] << " nT"
<< std::endl;
sif::info << "IMTQ coil actuation status during MTM measurement: "
<< (unsigned int)calMtmMeasurementSet.coilActuationStatus.value << std::endl;

2
mission/devices/IMTQHandler.h
View File

@ -99,6 +99,8 @@ class IMTQHandler : public DeviceHandlerBase {
IMTQ::PosZSelfTestSet posZselfTestDataset;
IMTQ::NegZSelfTestSet negZselfTestDataset;
PoolEntry<int32_t> mgmCalEntry = PoolEntry<int32_t>(3);
power::Switch_t switcher = power::NO_SWITCH;
uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE];

8
mission/devices/devicedefinitions/IMTQHandlerDefinitions.h
View File

@ -115,9 +115,7 @@ enum IMTQPoolIds : lp_id_t {
COIL_Y_TEMPERATURE,
COIL_Z_TEMPERATURE,
MCU_TEMPERATURE,
MTM_CAL_X,
MTM_CAL_Y,
MTM_CAL_Z,
MGM_CAL_NT,
ACTUATION_CAL_STATUS,
MTM_RAW_X,
MTM_RAW_Y,
@ -408,9 +406,7 @@ class CalibratedMtmMeasurementSet : public StaticLocalDataSet<CAL_MTM_POOL_ENTRI
: StaticLocalDataSet(sid_t(objectId, CAL_MTM_SET)) {}
/** The unit of all measurements is nT */
lp_var_t<int32_t> mtmXnT = lp_var_t<int32_t>(sid.objectId, MTM_CAL_X, this);
lp_var_t<int32_t> mtmYnT = lp_var_t<int32_t>(sid.objectId, MTM_CAL_Y, this);
lp_var_t<int32_t> mtmZnT = lp_var_t<int32_t>(sid.objectId, MTM_CAL_Z, this);
lp_vec_t<int32_t, 3> mgmXyz = lp_vec_t<int32_t, 3>(sid.objectId, MGM_CAL_NT);
/** 1 if coils were actuating during measurement otherwise 0 */
lp_var_t<uint8_t> coilActuationStatus =
lp_var_t<uint8_t>(sid.objectId, ACTUATION_CAL_STATUS, this);

7
mission/tmtc/CMakeLists.txt
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@ -1,5 +1,2 @@
target_sources(${LIB_EIVE_MISSION} PRIVATE
CCSDSHandler.cpp
VirtualChannel.cpp
TmFunnel.cpp
)
target_sources(${LIB_EIVE_MISSION} PRIVATE CCSDSHandler.cpp VirtualChannel.cpp
TmFunnel.cpp)

7
mission/utility/CMakeLists.txt
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@ -1,5 +1,2 @@
target_sources(${LIB_EIVE_MISSION} PRIVATE
Timestamp.cpp
ProgressPrinter.cpp
Filenaming.cpp
)
target_sources(${LIB_EIVE_MISSION} PRIVATE Timestamp.cpp ProgressPrinter.cpp
Filenaming.cpp)

2
tmtc

@ -1 +1 @@
Subproject commit 3fa700804e0592db4e9a5667de2a81323cac5dc7
Subproject commit ca9f85de1b51e29e3c0cccd527d736083e374f7f