Merge pull request 'IMTQ: Lower Integration Time' (#552) from imtq_lower_integration_time into develop

Reviewed-on: #552

CHANGELOG.md

@@ -18,6 +18,10 @@ will consitute of a breaking change warranting a new major release:
 
 - q7s-package: v2.4.0
 
+## Added
+
+- Version of thermal controller which performs basic control tasks.
+
 ## Fixed
 
 - PTME was not reset after configuration changes.
@@ -26,6 +30,9 @@ will consitute of a breaking change warranting a new major release:
 
 - Poll threshold configuration of the PTME IP core is now configurable via a parameter command
   and is set to 0b010 (4 polls) instead of 0b001 (1 poll) per default.
+- EIVE system fallback and COM system fallback: Perform general subsystem handling first, then
+  event reception, and finally any new transition handling.
+- IMTQ MGM integration time lowered to 6 ms. This relaxes scheduling requirements a bit.
 
 # [v1.42.0] 2023-04-01
 
@@ -100,7 +107,6 @@ will consitute of a breaking change warranting a new major release:
 
 ## Added
 
-- Version of thermal controller which performs basic control tasks.
 - The event `MEKF_RECOVERY` will be triggered in case the `MEKF` does manage to recover itself.
 - The persistent TM stores now have low priorities and behave like background threads now. This
   should prevent them from blocking or slowing down the system even during dumps
@@ -112,8 +118,6 @@ will consitute of a breaking change warranting a new major release:
 
 ## Changed
 
-- EIVE system fallback and COM system fallback: Perform general subsystem handling first, then
-  event reception, and finally any new transition handling.
 - Rework FSFW OSALs to properly support regular scheduling (NICE priorities) and real-time
   scheduling.
 - STR: Move datalink layer to `StrComHandler` completely. DLL is now completely hidden from
@@ -137,7 +141,6 @@ will consitute of a breaking change warranting a new major release:
 - Bugfix for STR: Some action commands wrongfully declined.
 - STR: No normal command handling while a special request like an image upload is active.
 - RS485 data line was not enabled when the transmitter was switched on.
->>>>>>> origin/develop
 
 # [v1.39.0] 2023-03-21
 

linux/acs/ImtqPollingTask.cpp

@@ -27,7 +27,7 @@ ReturnValue_t ImtqPollingTask::performOperation(uint8_t operationCode) {
 
     comStatus = returnvalue::OK;
     // Stopwatch watch;
-    switch (currentRequest) {
+    switch (currentRequest.requestType) {
       case imtq::RequestType::MEASURE_NO_ACTUATION: {
         // Measured to take 24 ms for debug and release builds.
         // Stopwatch watch;
@@ -51,6 +51,30 @@ void ImtqPollingTask::handleMeasureStep() {
   uint8_t* replyPtr;
   ImtqRepliesDefault replies(replyBuf.data());
   // If some startup handling is added later, set configured after it was done once.
+  if (performStartup) {
+    // Set integration time for the MGM.
+    cmdBuf[0] = imtq::CC::SET_PARAM;
+    size_t dummy = 0;
+    SerializeAdapter::serialize(&imtq::param::INTEGRATION_TIME_SELECT, cmdBuf.data() + 1, &dummy,
+                                cmdBuf.size(), SerializeIF::Endianness::LITTLE);
+    cmdBuf[3] = currentRequest.integrationTimeSel;
+    cmdLen = 4;
+    ReturnValue_t result = performI2cFullRequest(replyBuf.data(), 5);
+    if (result != returnvalue::OK) {
+      comStatus = imtq::STARTUP_CFG_ERROR;
+    }
+    if (replyBuf[0] != imtq::CC::SET_PARAM) {
+      sif::error << "ImtqPollingTask: First byte of reply not equal to sent CC" << std::endl;
+      comStatus = imtq::STARTUP_CFG_ERROR;
+    }
+    if (replyBuf[4] != currentRequest.integrationTimeSel) {
+      sif::error << "ImtqPollingTask: Integration time configuration failed" << std::endl;
+      comStatus = imtq::STARTUP_CFG_ERROR;
+    }
+    currentIntegrationTimeMs =
+        imtq::integrationTimeFromSelectValue(currentRequest.integrationTimeSel);
+    performStartup = false;
+  }
   replies.setConfigured();
 
   // Can be used later to verify correct timing (e.g. all data has been read)
@@ -73,7 +97,7 @@ void ImtqPollingTask::handleMeasureStep() {
     return;
   }
 
-  if (specialRequest != imtq::SpecialRequest::NONE) {
+  if (currentRequest.specialRequest != imtq::SpecialRequest::NONE) {
     auto executeSelfTest = [&](imtq::selfTest::Axis axis) {
       cmdBuf[0] = imtq::CC::SELF_TEST_CMD;
       cmdBuf[1] = axis;
@@ -81,7 +105,7 @@ void ImtqPollingTask::handleMeasureStep() {
     };
     // If a self-test is already ongoing, ignore the request.
     if (replies.getSystemState()[2] != static_cast<uint8_t>(imtq::mode::SELF_TEST)) {
-      switch (specialRequest) {
+      switch (currentRequest.specialRequest) {
         case (imtq::SpecialRequest::DO_SELF_TEST_POS_X): {
           executeSelfTest(imtq::selfTest::Axis::X_POSITIVE);
           break;
@@ -234,18 +258,21 @@ ReturnValue_t ImtqPollingTask::initializeInterface(CookieIF* cookie) {
 ReturnValue_t ImtqPollingTask::sendMessage(CookieIF* cookie, const uint8_t* sendData,
                                            size_t sendLen) {
   const auto* imtqReq = reinterpret_cast<const imtq::Request*>(sendData);
+  if (sendLen != sizeof(imtq::Request)) {
+    return returnvalue::FAILED;
+  }
   {
     MutexGuard mg(ipcLock);
-    if (imtqReq->request == imtq::RequestType::ACTUATE) {
-      std::memcpy(dipoles, imtqReq->dipoles, sizeof(dipoles));
-      torqueDuration = imtqReq->torqueDuration;
-    }
-    currentRequest = imtqReq->request;
-    specialRequest = imtqReq->specialRequest;
     if (state != InternalState::IDLE) {
       return returnvalue::FAILED;
     }
     state = InternalState::IS_BUSY;
+    if (currentRequest.mode != imtqReq->mode) {
+      if (imtqReq->mode == acs::SimpleSensorMode::NORMAL) {
+        performStartup = true;
+      }
+    }
+    std::memcpy(&currentRequest, imtqReq, sendLen);
   }
   semaphore->release();
 
@@ -345,10 +372,10 @@ void ImtqPollingTask::buildDipoleCommand() {
   uint8_t* serPtr = cmdBuf.data() + 1;
   size_t serLen = 0;
   for (uint8_t idx = 0; idx < 3; idx++) {
-    SerializeAdapter::serialize(&dipoles[idx], &serPtr, &serLen, cmdBuf.size(),
+    SerializeAdapter::serialize(&currentRequest.dipoles[idx], &serPtr, &serLen, cmdBuf.size(),
                                 SerializeIF::Endianness::LITTLE);
   }
-  SerializeAdapter::serialize(&torqueDuration, &serPtr, &serLen, cmdBuf.size(),
+  SerializeAdapter::serialize(&currentRequest.torqueDuration, &serPtr, &serLen, cmdBuf.size(),
                               SerializeIF::Endianness::LITTLE);
   // sif::debug << "Dipole X: " << dipoles[0] << std::endl;
   // sif::debug << "Torqeu Dur: " << torqueDuration << std::endl;
@@ -357,23 +384,29 @@ void ImtqPollingTask::buildDipoleCommand() {
 
 ReturnValue_t ImtqPollingTask::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
                                                    size_t* size) {
-  imtq::RequestType currentRequest;
+  imtq::Request currentRequest;
   {
     MutexGuard mg(ipcLock);
-    currentRequest = this->currentRequest;
+    std::memcpy(&currentRequest, &this->currentRequest, sizeof(currentRequest));
   }
 
   size_t replyLen = 0;
+  {
     MutexGuard mg(bufLock);
-  if (currentRequest == imtq::RequestType::MEASURE_NO_ACTUATION) {
-    replyLen = getExchangeBufLen(specialRequest);
+    if (currentRequest.requestType == imtq::RequestType::MEASURE_NO_ACTUATION) {
+      replyLen = getExchangeBufLen(currentRequest.specialRequest);
       memcpy(exchangeBuf.data(), replyBuf.data(), replyLen);
-  } else if (currentRequest == imtq::RequestType::ACTUATE) {
+    } else if (currentRequest.requestType == imtq::RequestType::ACTUATE) {
       replyLen = ImtqRepliesWithTorque::BASE_LEN;
       memcpy(exchangeBuf.data(), replyBufActuation.data(), replyLen);
     } else {
       *size = 0;
     }
+  }
+  {
+    MutexGuard mg(ipcLock);
+    this->currentRequest.requestType = imtq::RequestType::DO_NOTHING;
+  }
   *buffer = exchangeBuf.data();
   *size = replyLen;
   return comStatus;
@@ -417,6 +450,7 @@ void ImtqPollingTask::clearReadFlagsWithTorque(ImtqRepliesWithTorque& replies) {
 ReturnValue_t ImtqPollingTask::performI2cFullRequest(uint8_t* reply, size_t replyLen) {
   int fd = 0;
   if (cmdLen == 0 or reply == nullptr) {
+    sif::error << "ImtqPollingTask: Command lenght is zero or reply PTR is invalid" << std::endl;
     return returnvalue::FAILED;
   }
 

linux/acs/ImtqPollingTask.h

@@ -3,6 +3,7 @@
 
 #include <fsfw/tasks/SemaphoreIF.h>
 #include <fsfw_hal/linux/i2c/I2cCookie.h>
+#include <mission/acs/acsBoardPolling.h>
 
 #include <atomic>
 
@@ -24,7 +25,6 @@ class ImtqPollingTask : public SystemObject,
   static constexpr ReturnValue_t NO_REPLY_AVAILABLE = returnvalue::makeCode(2, 0);
 
   enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE;
-  imtq::RequestType currentRequest = imtq::RequestType::MEASURE_NO_ACTUATION;
 
   SemaphoreIF* semaphore;
   ReturnValue_t comStatus = returnvalue::OK;
@@ -38,10 +38,9 @@ class ImtqPollingTask : public SystemObject,
   // Required in addition to integration time, otherwise old data might be read.
   static constexpr uint32_t MGM_READ_BUFFER_TIME_MS = 6;
   bool ignoreNextActuateRequest = false;
+  bool performStartup = false;
 
-  imtq::SpecialRequest specialRequest = imtq::SpecialRequest::NONE;
-  int16_t dipoles[3] = {};
-  uint16_t torqueDuration = 0;
+  imtq::Request currentRequest{};
 
   std::array<uint8_t, 32> cmdBuf;
   std::array<uint8_t, 524> replyBuf;

mission/acs/ImtqHandler.cpp

@@ -151,6 +151,11 @@ void ImtqHandler::doStartUp() {
 }
 
 void ImtqHandler::doShutDown() {
+  if (internalState != InternalState::SHUTDOWN) {
+    commandExecuted = false;
+    internalState = InternalState::SHUTDOWN;
+  }
+  if (internalState == InternalState::SHUTDOWN and commandExecuted) {
     updatePeriodicReply(false, imtq::cmdIds::REPLY_NO_TORQUE);
     updatePeriodicReply(false, imtq::cmdIds::REPLY_WITH_TORQUE);
     specialRequestActive = false;
@@ -165,6 +170,7 @@ void ImtqHandler::doShutDown() {
     calMtmMeasurementSet.setValidity(false, true);
     setMode(_MODE_POWER_DOWN);
   }
+}
 
 ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
   switch (requestStep) {
@@ -178,7 +184,7 @@ ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
     }
     default: {
       *id = imtq::cmdIds::REQUEST;
-      request.request = imtq::RequestType::DO_NOTHING;
+      request.requestType = imtq::RequestType::DO_NOTHING;
       request.specialRequest = imtq::SpecialRequest::NONE;
       expectedReply = DeviceHandlerIF::NO_COMMAND_ID;
       rawPacket = reinterpret_cast<uint8_t*>(&request);
@@ -190,7 +196,7 @@ ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
 }
 
 ReturnValue_t ImtqHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
-  if (internalState == InternalState::STARTUP) {
+  if (internalState == InternalState::STARTUP or internalState == InternalState::SHUTDOWN) {
     *id = imtq::cmdIds::REQUEST;
     return buildCommandFromCommand(*id, nullptr, 0);
   }
@@ -201,7 +207,7 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
                                                    const uint8_t* commandData,
                                                    size_t commandDataLen) {
   auto genericSpecialRequest = [&](imtq::SpecialRequest specialRequest) {
-    request.request = imtq::RequestType::MEASURE_NO_ACTUATION;
+    request.requestType = imtq::RequestType::MEASURE_NO_ACTUATION;
     request.specialRequest = specialRequest;
     expectedReply = imtq::cmdIds::REPLY_NO_TORQUE;
     specialRequestActive = true;
@@ -238,9 +244,16 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
       return returnvalue::OK;
     }
     case (imtq::cmdIds::REQUEST): {
-      request.request = imtq::RequestType::MEASURE_NO_ACTUATION;
+      request.requestType = imtq::RequestType::MEASURE_NO_ACTUATION;
       request.specialRequest = imtq::SpecialRequest::NONE;
+      // 6 ms integration time instead of 10 ms.
+      request.integrationTimeSel = 2;
       expectedReply = imtq::cmdIds::REPLY_NO_TORQUE;
+      if (internalState == InternalState::SHUTDOWN) {
+        request.mode = acs::SimpleSensorMode::OFF;
+      } else {
+        request.mode = acs::SimpleSensorMode::NORMAL;
+      }
       rawPacket = reinterpret_cast<uint8_t*>(&request);
       rawPacketLen = sizeof(imtq::Request);
       return returnvalue::OK;
@@ -267,7 +280,7 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
       }
 
       expectedReply = imtq::cmdIds::REPLY_WITH_TORQUE;
-      request.request = imtq::RequestType::ACTUATE;
+      request.requestType = imtq::RequestType::ACTUATE;
       request.specialRequest = imtq::SpecialRequest::NONE;
       std::memcpy(request.dipoles, dipoleSet.dipoles.value, sizeof(request.dipoles));
       request.torqueDuration = dipoleSet.currentTorqueDurationMs.value;
@@ -309,6 +322,9 @@ ReturnValue_t ImtqHandler::scanForReply(const uint8_t* start, size_t remainingSi
   if (getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON or getMode() == _MODE_POWER_DOWN) {
     return IGNORE_FULL_PACKET;
   }
+  if (internalState == InternalState::SHUTDOWN) {
+    commandExecuted = true;
+  }
   if (remainingSize > 0) {
     *foundLen = remainingSize;
     *foundId = expectedReply;

mission/acs/acsBoardPolling.h

@@ -1,13 +1,13 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_ACSPOLLING_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_ACSPOLLING_H_
 
+#include <mission/acs/defs.h>
+
 #include "fsfw/thermal/tcsDefinitions.h"
 #include "gyroAdisHelpers.h"
 
 namespace acs {
 
-enum SimpleSensorMode { NORMAL = 0, OFF = 1 };
-
 struct Adis1650XRequest {
   SimpleSensorMode mode;
   adis1650x::Type type;

mission/acs/defs.h

@@ -6,6 +6,8 @@
 
 namespace acs {
 
+enum class SimpleSensorMode { NORMAL = 0, OFF = 1 };
+
 // These modes are the submodes of the ACS controller and the modes of the ACS subsystem.
 enum AcsMode : Mode_t {
   OFF = HasModesIF::MODE_OFF,

mission/acs/imtqHelpers.cpp

@@ -1,5 +1,26 @@
 #include "imtqHelpers.h"
 
+uint16_t imtq::integrationTimeFromSelectValue(uint8_t value) {
+  switch (value) {
+    case (0):
+      return 2;
+    case (1):
+      return 3;
+    case (2):
+      return 6;
+    case (3):
+      return 10;
+    case (4):
+      return 20;
+    case (5):
+      return 40;
+    case (6):
+      return 80;
+    default:
+      return 10;
+  }
+}
+
 size_t imtq::getReplySize(CC::CC cc, size_t* optSecondSize) {
   switch (cc) {
     // Software reset is a bit special and can also cause a I2C NAK because

mission/acs/imtqHelpers.h

@@ -5,6 +5,7 @@
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <mission/acs/defs.h>
 
 class ImtqHandler;
 
@@ -13,6 +14,8 @@ class ImtqHandler;
 
 namespace imtq {
 
+uint16_t integrationTimeFromSelectValue(uint8_t value);
+
 enum class RequestType : uint8_t { MEASURE_NO_ACTUATION, ACTUATE, DO_NOTHING };
 
 enum class SpecialRequest : uint8_t {
@@ -27,7 +30,8 @@ enum class SpecialRequest : uint8_t {
 };
 
 struct Request {
-  imtq::RequestType request = imtq::RequestType::MEASURE_NO_ACTUATION;
+  acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
+  imtq::RequestType requestType = imtq::RequestType::MEASURE_NO_ACTUATION;
   imtq::SpecialRequest specialRequest = imtq::SpecialRequest::NONE;
   uint8_t integrationTimeSel = 3;
   int16_t dipoles[3]{};
@@ -57,9 +61,10 @@ static const ReturnValue_t CC_UNAVAILABLE = MAKE_RETURN_CODE(5);
 static const ReturnValue_t INTERNAL_PROCESSING_ERROR = MAKE_RETURN_CODE(6);
 static const ReturnValue_t REJECTED_WITHOUT_REASON = MAKE_RETURN_CODE(7);
 static const ReturnValue_t CMD_ERR_UNKNOWN = MAKE_RETURN_CODE(8);
+static constexpr ReturnValue_t STARTUP_CFG_ERROR = MAKE_RETURN_CODE(9);
 //! [EXPORT] : [COMMENT] The status reply to a self test command was received but no self test
 //! command has been sent. This should normally never happen.
-static const ReturnValue_t UNEXPECTED_SELF_TEST_REPLY = MAKE_RETURN_CODE(0xA7);
+static const ReturnValue_t UNEXPECTED_SELF_TEST_REPLY = MAKE_RETURN_CODE(10);
 
 namespace cmdIds {
 
@@ -162,6 +167,13 @@ enum CC : uint8_t {
 
 }  // namespace CC
 
+namespace param {
+
+static constexpr uint16_t SEL_MTM = 0x2002;
+static constexpr uint16_t INTEGRATION_TIME_SELECT = 0x2003;
+
+}  // namespace param
+
 size_t getReplySize(CC::CC cc, size_t* optSecondSize = nullptr);
 
 namespace mode {