eive/eive-obsw
eive/eive-obsw
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Merge branch 'develop' into meier/rtd-fix
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This commit is contained in:
Jakob Meier 2023-01-19 17:09:34 +01:00
commit e38044a3d0
13 changed files with 93 additions and 31 deletions
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9
CHANGELOG.md
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@ -19,9 +19,18 @@ list yields a list of all related PRs for each release.
## Changed
- The ACS Controller Gyro Sets (raw and processed) and the MEKF dataset are diagnostics now.
- Bumped FSFW for Service 11 improvement which includes size and CRC check for contained TC
- Syrlinks module now always included for both EM and FM
## Fixed
- `GyroADIS1650XHandler`: Updated handler to determine correct dynamic range from `RANG_MDL`
register readout. This is because ADIS16505-3BMLZ devices are used on the ACS board and the
previous range setting was wrong. Also fixed a small error properly set internal state
on shut-down.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/342
# [v1.19.0] 10.01.2023
## Changed

2
bsp_q7s/fmObjectFactory.cpp
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@ -39,7 +39,7 @@ void ObjectFactory::produce(void* args) {
createRadSensorComponent(gpioComIF, *stackHandler);
#endif
#if OBSW_ADD_SUN_SENSORS == 1
createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV, true);
#endif
#if OBSW_ADD_ACS_BOARD == 1

12
bsp_q7s/obsw.cpp
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@ -1,13 +1,13 @@
#include "obsw.h"
#include <pwd.h>
#include <sys/types.h>
#include <unistd.h>
#include <filesystem>
#include <fstream>
#include <iostream>
#include <unistd.h>
#include <sys/types.h>
#include <pwd.h>
#include "OBSWConfig.h"
#include "commonConfig.h"
#include "core/scheduling.h"
@ -44,8 +44,8 @@ int obsw::obsw() {
const char* homedir = nullptr;
homedir = getenv("HOME");
if(homedir == nullptr) {
homedir = getpwuid(getuid())->pw_dir;
if (homedir == nullptr) {
homedir = getpwuid(getuid())->pw_dir;
}
std::filesystem::path bootDelayFile = std::filesystem::path(homedir) / "boot_delay_secs.txt";
// Init delay handling.

2
generators/events/translateEvents.cpp
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@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 240 translations.
* @details
* Generated on: 2023-01-18 14:34:15
* Generated on: 2023-01-18 16:08:56
*/
#include "translateEvents.h"

2
generators/objects/translateObjects.cpp
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@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 150 translations.
* Generated on: 2023-01-18 14:34:15
* Generated on: 2023-01-18 16:08:56
*/
#include "translateObjects.h"

17
linux/ObjectFactory.cpp
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@ -30,7 +30,8 @@
#include "mission/system/tree/payloadModeTree.h"
void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
PowerSwitchIF* pwrSwitcher, std::string spiDev) {
PowerSwitchIF* pwrSwitcher, std::string spiDev,
bool swap0And6) {
using namespace gpio;
GpioCookie* gpioCookieSus = new GpioCookie();
GpioCallback* susgpio = nullptr;
@ -77,7 +78,11 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
#if OBSW_ADD_SUN_SENSORS == 1
SusFdir* fdir = nullptr;
std::array<SusHandler*, 12> susHandlers = {};
SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, SUS::MAX_CMD_SIZE,
gpioId_t gpioId = gpioIds::CS_SUS_0;
if (swap0And6) {
gpioId = gpioIds::CS_SUS_6;
}
SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioId, SUS::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[0] =
new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
@ -119,8 +124,12 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
susHandlers[5]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
gpioId = gpioIds::CS_SUS_6;
if (swap0And6) {
gpioId = gpioIds::CS_SUS_0;
}
spiCookie = new SpiCookie(addresses::SUS_6, gpioId, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE,
spi::SUS_MAX1227_SPI_FREQ);
susHandlers[6] =
new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF);

2
linux/ObjectFactory.h
View File

@ -19,7 +19,7 @@ class AcsController;
namespace ObjectFactory {
void createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF, PowerSwitchIF* pwrSwitcher,
std::string spiDev);
std::string spiDev, bool swap0And6);
void createRtdComponents(std::string spiDev, GpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher,
SpiComIF* comIF);

2
linux/fsfwconfig/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 240 translations.
* @details
* Generated on: 2023-01-18 14:34:15
* Generated on: 2023-01-18 16:08:56
*/
#include "translateEvents.h"

2
linux/fsfwconfig/objects/translateObjects.cpp
View File

@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 150 translations.
* Generated on: 2023-01-18 14:34:15
* Generated on: 2023-01-18 16:08:56
*/
#include "translateObjects.h"

6
mission/controller/AcsController.cpp
View File

@ -358,14 +358,14 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_L3, &gyr1VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_ADIS, &gyr2VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_L3, &gyr3VecRaw);
poolManager.subscribeForRegularPeriodicPacket({gyrDataRaw.getSid(), false, 5.0});
poolManager.subscribeForDiagPeriodicPacket({gyrDataRaw.getSid(), false, 5.0});
// GYR Processed
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_VEC, &gyr0VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_VEC, &gyr1VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_VEC, &gyr2VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_VEC, &gyr3VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_VEC_TOT, &gyrVecTot);
poolManager.subscribeForRegularPeriodicPacket({gyrDataProcessed.getSid(), false, 5.0});
poolManager.subscribeForDiagPeriodicPacket({gyrDataProcessed.getSid(), false, 5.0});
// GPS Processed
localDataPoolMap.emplace(acsctrl::PoolIds::GC_LATITUDE, &gcLatitude);
localDataPoolMap.emplace(acsctrl::PoolIds::GD_LONGITUDE, &gdLongitude);
@ -373,7 +373,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
// MEKF
localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
localDataPoolMap.emplace(acsctrl::PoolIds::SAT_ROT_RATE_MEKF, &satRotRateMekf);
poolManager.subscribeForRegularPeriodicPacket({mekfData.getSid(), false, 5.0});
poolManager.subscribeForDiagPeriodicPacket({mekfData.getSid(), false, 5.0});
// Ctrl Values
localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat);
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_QUAT, &errQuat);

47
mission/devices/GyroADIS1650XHandler.cpp
View File

@ -63,6 +63,7 @@ void GyroADIS1650XHandler::doStartUp() {
void GyroADIS1650XHandler::doShutDown() {
commandExecuted = false;
internalState = InternalState::STARTUP;
setMode(_MODE_POWER_DOWN);
}
@ -99,12 +100,13 @@ ReturnValue_t GyroADIS1650XHandler::buildCommandFromCommand(DeviceCommandId_t de
switch (deviceCommand) {
case (ADIS1650X::READ_OUT_CONFIG): {
this->rawPacketLen = ADIS1650X::CONFIG_READOUT_SIZE;
uint8_t regList[5] = {};
uint8_t regList[6] = {};
regList[0] = ADIS1650X::DIAG_STAT_REG;
regList[1] = ADIS1650X::FILTER_CTRL_REG;
regList[2] = ADIS1650X::MSC_CTRL_REG;
regList[3] = ADIS1650X::DEC_RATE_REG;
regList[4] = ADIS1650X::PROD_ID_REG;
regList[2] = ADIS1650X::RANG_MDL_REG;
regList[3] = ADIS1650X::MSC_CTRL_REG;
regList[4] = ADIS1650X::DEC_RATE_REG;
regList[5] = ADIS1650X::PROD_ID_REG;
prepareReadCommand(regList, sizeof(regList));
this->rawPacket = commandBuffer.data();
break;
@ -203,9 +205,10 @@ ReturnValue_t GyroADIS1650XHandler::scanForReply(const uint8_t *start, size_t re
ReturnValue_t GyroADIS1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
using namespace ADIS1650X;
switch (id) {
case (ADIS1650X::READ_OUT_CONFIG): {
uint16_t readProdId = packet[10] << 8 | packet[11];
uint16_t readProdId = packet[12] << 8 | packet[13];
if (((adisType == ADIS1650X::Type::ADIS16507) and (readProdId != ADIS1650X::PROD_ID_16507)) or
((adisType == ADIS1650X::Type::ADIS16505) and (readProdId != ADIS1650X::PROD_ID_16505))) {
#if OBSW_VERBOSE_LEVEL >= 1
@ -220,8 +223,32 @@ ReturnValue_t GyroADIS1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
PoolReadGuard rg(&configDataset);
configDataset.diagStatReg.value = packet[2] << 8 | packet[3];
configDataset.filterSetting.value = packet[4] << 8 | packet[5];
configDataset.mscCtrlReg.value = packet[6] << 8 | packet[7];
configDataset.decRateReg.value = packet[8] << 8 | packet[9];
uint16_t rangMdlRaw = packet[6] << 8 | packet[7];
ADIS1650X::RangMdlBitfield bitfield =
static_cast<ADIS1650X::RangMdlBitfield>((rangMdlRaw >> 2) & 0b11);
switch (bitfield) {
case (ADIS1650X::RangMdlBitfield::RANGE_125_1BMLZ): {
rangeMultiplicator = RANGE_1BMLZ;
break;
}
case (ADIS1650X::RangMdlBitfield::RANGE_500_2BMLZ): {
rangeMultiplicator = RANGE_2BMLZ;
break;
}
case (ADIS1650X::RangMdlBitfield::RANGE_2000_3BMLZ): {
rangeMultiplicator = RANGE_3BMLZ;
break;
}
case (RangMdlBitfield::RESERVED): {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ADIS1650X: Unexpected value for RANG_MDL register" << std::endl;
#endif
break;
}
}
configDataset.rangMdl.value = rangMdlRaw;
configDataset.mscCtrlReg.value = packet[8] << 8 | packet[9];
configDataset.decRateReg.value = packet[10] << 8 | packet[11];
configDataset.setValidity(true, true);
if (internalState == InternalState::CONFIG) {
commandExecuted = true;
@ -272,13 +299,13 @@ ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
PoolReadGuard pg(&primaryDataset);
int16_t angVelocXRaw = packet[4] << 8 | packet[5];
primaryDataset.angVelocX.value =
static_cast<float>(angVelocXRaw) / INT16_MAX * ADIS1650X::GYRO_RANGE;
static_cast<float>(angVelocXRaw) / static_cast<float>(INT16_MAX) * rangeMultiplicator;
int16_t angVelocYRaw = packet[6] << 8 | packet[7];
primaryDataset.angVelocY.value =
static_cast<float>(angVelocYRaw) / INT16_MAX * ADIS1650X::GYRO_RANGE;
static_cast<float>(angVelocYRaw) / static_cast<float>(INT16_MAX) * rangeMultiplicator;
int16_t angVelocZRaw = packet[8] << 8 | packet[9];
primaryDataset.angVelocZ.value =
static_cast<float>(angVelocZRaw) / INT16_MAX * ADIS1650X::GYRO_RANGE;
static_cast<float>(angVelocZRaw) / static_cast<float>(INT16_MAX) * rangeMultiplicator;
float accelScaling = 0;
if (adisType == ADIS1650X::Type::ADIS16507) {

2
mission/devices/GyroADIS1650XHandler.h
View File

@ -46,6 +46,8 @@ class GyroADIS1650XHandler : public DeviceHandlerBase {
ADIS1650X::Type adisType;
AdisGyroPrimaryDataset primaryDataset;
AdisGyroConfigDataset configDataset;
double rangeMultiplicator = ADIS1650X::RANGE_UNSET;
bool goToNormalMode = false;
bool warningSwitch = true;

19
mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h
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@ -13,7 +13,19 @@ enum class Type { ADIS16505, ADIS16507 };
static constexpr size_t MAXIMUM_REPLY_SIZE = 64;
static constexpr uint8_t WRITE_MASK = 0b1000'0000;
static constexpr uint32_t GYRO_RANGE = 125;
// Ranges in deg / s
static constexpr double RANGE_UNSET = 0.0;
static constexpr double RANGE_1BMLZ = 125.0;
static constexpr double RANGE_2BMLZ = 500.0;
static constexpr double RANGE_3BMLZ = 2000.0;
enum RangMdlBitfield {
RANGE_125_1BMLZ = 0b00,
RANGE_500_2BMLZ = 0b01,
RESERVED = 0b10,
RANGE_2000_3BMLZ = 0b11
};
static constexpr uint32_t ACCELEROMETER_RANGE_16507 = 392;
static constexpr float ACCELEROMETER_RANGE_16505 = 78.4;
@ -33,6 +45,7 @@ static constexpr dur_millis_t SELF_TEST_BREAK = 24;
static constexpr uint8_t DIAG_STAT_REG = 0x02;
static constexpr uint8_t FILTER_CTRL_REG = 0x5c;
static constexpr uint8_t RANG_MDL_REG = 0x5e;
static constexpr uint8_t MSC_CTRL_REG = 0x60;
static constexpr uint8_t DEC_RATE_REG = 0x64;
static constexpr uint8_t GLOB_CMD = 0x68;
@ -54,7 +67,7 @@ static constexpr uint16_t BURST_SEL_BIT = 1 << 8;
static constexpr uint16_t LIN_ACCEL_COMPENSATION_BIT = 1 << 7;
static constexpr uint16_t POINT_PERCUSSION_COMPENSATION_BIT = 1 << 6;
static constexpr size_t CONFIG_READOUT_SIZE = 10 + 2;
static constexpr size_t CONFIG_READOUT_SIZE = 12 + 2;
static constexpr size_t SENSOR_READOUT_SIZE = 20 + 2;
static constexpr uint32_t ADIS_DATASET_ID = READ_SENSOR_DATA;
@ -78,6 +91,7 @@ enum PrimaryPoolIds : lp_id_t {
TEMPERATURE,
DIAG_STAT_REGISTER,
FILTER_SETTINGS,
RANG_MDL,
MSC_CTRL_REGISTER,
DEC_RATE_REGISTER,
};
@ -130,6 +144,7 @@ class AdisGyroConfigDataset : public StaticLocalDataSet<5> {
lp_var_t<uint16_t> diagStatReg = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::DIAG_STAT_REGISTER);
lp_var_t<uint8_t> filterSetting = lp_var_t<uint8_t>(sid.objectId, ADIS1650X::FILTER_SETTINGS);
lp_var_t<uint16_t> rangMdl = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::RANG_MDL);
lp_var_t<uint16_t> mscCtrlReg = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::MSC_CTRL_REGISTER);
lp_var_t<uint16_t> decRateReg = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::DEC_RATE_REGISTER);