Merge remote-tracking branch 'origin/develop' into mueller/acs-ss-init

bsp_q7s/core/CMakeLists.txt

@@ -1,9 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE
-    CoreController.cpp
-    InitMission.cpp
-    ObjectFactory.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE CoreController.cpp InitMission.cpp
+                                    ObjectFactory.cpp)
 
-target_sources(${SIMPLE_OBSW_NAME} PRIVATE
-    InitMission.cpp
-)
+target_sources(${SIMPLE_OBSW_NAME} PRIVATE InitMission.cpp)

bsp_q7s/core/CoreController.cpp

@@ -87,6 +87,7 @@ ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &local
   localDataPoolMap.emplace(core::TEMPERATURE, new PoolEntry<float>({0}));
   localDataPoolMap.emplace(core::PS_VOLTAGE, new PoolEntry<float>({0}));
   localDataPoolMap.emplace(core::PL_VOLTAGE, new PoolEntry<float>({0}));
+  poolManager.subscribeForPeriodicPacket(hkSet.getSid(), false, 10.0, false);
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -211,8 +212,13 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       rewriteRebootFile(rebootFile);
       return HasActionsIF::EXECUTION_FINISHED;
     }
+    case (XSC_REBOOT_OBC): {
+      // Warning: This function will never return, because it reboots the system
+      return actionXscReboot(data, size);
+    }
     case (REBOOT_OBC): {
-      return actionPerformReboot(data, size);
+      // Warning: This function will never return, because it reboots the system
+      return actionReboot(data, size);
     }
     default: {
       return HasActionsIF::INVALID_ACTION_ID;
@@ -844,25 +850,18 @@ void CoreController::initPrint() {
 #endif
 }
 
-ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t size) {
+ReturnValue_t CoreController::actionXscReboot(const uint8_t *data, size_t size) {
   if (size < 1) {
     return HasActionsIF::INVALID_PARAMETERS;
   }
   bool rebootSameBootCopy = data[0];
-  bool protOpPerformed;
+  bool protOpPerformed = false;
+  SdCardManager::instance()->setBlocking(true);
   if (rebootSameBootCopy) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "CoreController::actionPerformReboot: Rebooting on current image" << std::endl;
 #endif
-    // Attempt graceful shutdown by unmounting and switching off SD cards
-    SdCardManager::instance()->switchOffSdCard(sd::SdCard::SLOT_0);
-    SdCardManager::instance()->switchOffSdCard(sd::SdCard::SLOT_1);
-    // If any boot copies are unprotected
-    ReturnValue_t retval = setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
-                                                 protOpPerformed, false);
-    if (retval == HasReturnvaluesIF::RETURN_OK and protOpPerformed) {
-      sif::info << "Running slot was writeprotected before reboot" << std::endl;
-    }
+    gracefulShutdownTasks(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, protOpPerformed);
     int result = std::system("xsc_boot_copy -r");
     if (result != 0) {
       utility::handleSystemError(result, "CoreController::executeAction");
@@ -884,12 +883,8 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si
   auto tgtChip = static_cast<xsc::Chip>(data[1]);
   auto tgtCopy = static_cast<xsc::Copy>(data[2]);
 
-  ReturnValue_t retval =
-      setBootCopyProtection(static_cast<xsc::Chip>(data[1]), static_cast<xsc::Copy>(data[2]), true,
-                            protOpPerformed, false);
-  if (retval == HasReturnvaluesIF::RETURN_OK and protOpPerformed) {
-    sif::info << "Target slot was writeprotected before reboot" << std::endl;
-  }
+  // This function can not really fail
+  gracefulShutdownTasks(tgtChip, tgtCopy, protOpPerformed);
 
   switch (tgtChip) {
     case (xsc::Chip::CHIP_0): {
@@ -930,6 +925,30 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si
   return HasReturnvaluesIF::RETURN_FAILED;
 }
 
+ReturnValue_t CoreController::actionReboot(const uint8_t *data, size_t size) {
+  bool protOpPerformed = false;
+  gracefulShutdownTasks(xsc::Chip::CHIP_0, xsc::Copy::COPY_0, protOpPerformed);
+  std::system("reboot");
+  return RETURN_OK;
+}
+
+ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy,
+                                                    bool &protOpPerformed) {
+  sdcMan->setBlocking(true);
+  // Attempt graceful shutdown by unmounting and switching off SD cards
+  sdcMan->switchOffSdCard(sd::SdCard::SLOT_0);
+  sdcMan->switchOffSdCard(sd::SdCard::SLOT_1);
+  // If any boot copies are unprotected
+  ReturnValue_t result = setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
+                                               protOpPerformed, false);
+  if (result == HasReturnvaluesIF::RETURN_OK and protOpPerformed) {
+    // TODO: Would be nice to notify operator. But we can't use the filesystem anymore
+    // and a reboot is imminent. Use scratch buffer?
+    sif::info << "Running slot was writeprotected before reboot" << std::endl;
+  }
+  return result;
+}
+
 CoreController::~CoreController() {}
 
 void CoreController::determinePreferredSdCard() {

bsp_q7s/core/CoreController.h

@@ -67,8 +67,11 @@ class CoreController : public ExtendedControllerBase {
   static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
   static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
 
-  static constexpr ActionId_t REBOOT_OBC = 32;
+  //! Reboot using the xsc_boot_copy command
+  static constexpr ActionId_t XSC_REBOOT_OBC = 32;
   static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
+  //! Reboot using the reboot command
+  static constexpr ActionId_t REBOOT_OBC = 34;
 
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
 
@@ -221,7 +224,10 @@ class CoreController : public ExtendedControllerBase {
 
   ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
                                             const uint8_t* data, size_t size);
-  ReturnValue_t actionPerformReboot(const uint8_t* data, size_t size);
+  ReturnValue_t actionXscReboot(const uint8_t* data, size_t size);
+  ReturnValue_t actionReboot(const uint8_t* data, size_t size);
+
+  ReturnValue_t gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy, bool& protOpPerformed);
 
   void performWatchdogControlOperation();
 

bsp_q7s/core/InitMission.cpp

@@ -1,5 +1,7 @@
 #include "bsp_q7s/core/InitMission.h"
 
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+
 #include <iostream>
 #include <vector>
 
@@ -13,6 +15,7 @@
 #include "fsfw/tasks/FixedTimeslotTaskIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 #include "fsfw/tasks/TaskFactory.h"
+#include "mission/devices/devicedefinitions/Max31865Definitions.h"
 #include "mission/utility/InitMission.h"
 #include "pollingsequence/pollingSequenceFactory.h"
 
@@ -122,16 +125,17 @@ void initmission::initTasks() {
 #endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
 
 #if OBSW_ADD_ACS_HANDLERS == 1
-  PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
-      "ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
-  result = gpsTask->addComponent(objects::GPS_CONTROLLER);
+  PeriodicTaskIF* acsTask = factory->createPeriodicTask(
+      "ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  result = acsTask->addComponent(objects::GPS_CONTROLLER);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
   }
 #endif /* OBSW_ADD_ACS_HANDLERS */
 
   PeriodicTaskIF* sysTask = factory->createPeriodicTask(
-      "SYS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+      "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  static_cast<void>(sysTask);
 #if OBSW_ADD_ACS_HANDLERS == 1
   result = sysTask->addComponent(objects::ACS_BOARD_ASS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -144,23 +148,57 @@ void initmission::initTasks() {
     initmission::printAddObjectError("RW_ASS", objects::RW_ASS);
   }
 #endif
-
 #if OBSW_ADD_SUS_BOARD_ASS == 1
   result = sysTask->addComponent(objects::SUS_BOARD_ASS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
   }
 #endif
-#if OBSW_ADD_RTD_DEVICES == 1
-  result = sysTask->addComponent(objects::TCS_BOARD_ASS);
+
+  PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
+      "TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
+  result = tcsPollingTask->addComponent(objects::SPI_RTD_COM_IF);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
+    initmission::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
   }
+<<<<<<< HEAD
   result = sysTask->addComponent(objects::ACS_SUBSYSTEM);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
   }
 #endif /* OBSW_ADD_RTD_DEVICES == 1 */
+=======
+  PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
+      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = {
+      objects::RTD_0_IC3_PLOC_HEATSPREADER,
+      objects::RTD_1_IC4_PLOC_MISSIONBOARD,
+      objects::RTD_2_IC5_4K_CAMERA,
+      objects::RTD_3_IC6_DAC_HEATSPREADER,
+      objects::RTD_4_IC7_STARTRACKER,
+      objects::RTD_5_IC8_RW1_MX_MY,
+      objects::RTD_6_IC9_DRO,
+      objects::RTD_7_IC10_SCEX,
+      objects::RTD_8_IC11_X8,
+      objects::RTD_9_IC12_HPA,
+      objects::RTD_10_IC13_PL_TX,
+      objects::RTD_11_IC14_MPA,
+      objects::RTD_12_IC15_ACU,
+      objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
+      objects::RTD_14_IC17_TCS_BOARD,
+      objects::RTD_15_IC18_IMTQ,
+  };
+#if OBSW_ADD_RTD_DEVICES == 1
+  tcsTask->addComponent(objects::TCS_BOARD_ASS);
+  for (const auto& rtd : rtdIds) {
+    tcsTask->addComponent(rtd, DeviceHandlerIF::PERFORM_OPERATION);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_WRITE);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_WRITE);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
+  }
+#endif /* OBSW_ADD_RTD_DEVICES */
+>>>>>>> origin/develop
 
   // FS task, task interval does not matter because it runs in permanent loop, priority low
   // because it is a non-essential background task
@@ -257,12 +295,17 @@ void initmission::initTasks() {
   strHelperTask->startTask();
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
+<<<<<<< HEAD
 #if OBSW_ADD_ACS_HANDLERS == 1
   gpsTask->startTask();
 #endif
 #if OBSW_ADD_RTD_DEVICES == 1
+=======
+  acsTask->startTask();
+>>>>>>> origin/develop
   sysTask->startTask();
-#endif
+  tcsPollingTask->startTask();
+  tcsTask->startTask();
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   supvHelperTask->startTask();
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */

bsp_q7s/core/InitMission.h

@@ -3,7 +3,7 @@
 
 #include <vector>
 
-#include "fsfw/tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 
 class PeriodicTaskIF;
 class TaskFactory;

bsp_q7s/core/ObjectFactory.cpp

@@ -216,6 +216,7 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
   SpiCookie* spiCookieRadSensor =
       new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, RAD_SENSOR::READ_SIZE,
                     spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
+  spiCookieRadSensor->setMutexParams(MutexIF::TimeoutType::WAITING, spi::RAD_SENSOR_CS_TIMEOUT);
   auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_MAIN_COM_IF,
                                               spiCookieRadSensor, gpioComIF);
   static_cast<void>(radSensor);