eive/eive-obsw
eive/eive-obsw
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ACS and TCS board working together now
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This commit is contained in:
Robin Müller 2021-12-17 14:20:22 +01:00
parent 50154c944a
commit e442a8c968
No known key found for this signature in database
GPG Key ID: 11D4952C8CCEF814
11 changed files with 84 additions and 54 deletions
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4
bsp_q7s/boardconfig/busConf.h
View File

@ -31,8 +31,8 @@ namespace gpioNames {
static constexpr char MGM_3_CS[] = "mgm_3_rm3100_chip_select";
static constexpr char RESET_GNSS_0[] = "reset_gnss_0";
static constexpr char RESET_GNSS_1[] = "reset_gnss_1";
static constexpr char GYRO_0_ENABLE[] = "gyro_0_enable";
static constexpr char GYRO_2_ENABLE[] = "gyro_2_enable";
static constexpr char GYRO_0_ENABLE[] = "enable_gyro_0";
static constexpr char GYRO_2_ENABLE[] = "enable_gyro_2";
static constexpr char HEATER_0[] = "heater0";
static constexpr char HEATER_1[] = "heater1";
static constexpr char HEATER_2[] = "heater2";

2
bsp_q7s/core/InitMission.cpp
View File

@ -199,7 +199,7 @@ void initmission::createPstTasks(TaskFactory& factory,
/* Polling Sequence Table Default */
#if OBSW_ADD_SPI_TEST_CODE == 0
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5,
missedDeadlineFunc);
result = pst::pstSpi(spiPst);
if (result != HasReturnvaluesIF::RETURN_OK) {

37
bsp_q7s/core/ObjectFactory.cpp
View File

@ -698,45 +698,45 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
gpioComIF->addGpios(rtdGpioCookie);
SpiCookie* spiRtdIc0 = new SpiCookie(addresses::RTD_IC_3, gpioIds::RTD_IC_3, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc1 = new SpiCookie(addresses::RTD_IC_4, gpioIds::RTD_IC_4, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc2 = new SpiCookie(addresses::RTD_IC_5, gpioIds::RTD_IC_5, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC_6, gpioIds::RTD_IC_6, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC_7, gpioIds::RTD_IC_7, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC_8, gpioIds::RTD_IC_8, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC_9, gpioIds::RTD_IC_9, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC_10, gpioIds::RTD_IC_10,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC_11, gpioIds::RTD_IC_11,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC_12, gpioIds::RTD_IC_12,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
SpiCookie* spiRtdIc10 = new SpiCookie(addresses::RTD_IC_13, gpioIds::RTD_IC_13,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
SpiCookie* spiRtdIc11 = new SpiCookie(addresses::RTD_IC_14, gpioIds::RTD_IC_14,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
SpiCookie* spiRtdIc12 = new SpiCookie(addresses::RTD_IC_15, gpioIds::RTD_IC_15,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
SpiCookie* spiRtdIc13 = new SpiCookie(addresses::RTD_IC_16, gpioIds::RTD_IC_16,
std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, spi::RTD_SPEED);
spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc14 = new SpiCookie(addresses::RTD_IC_17, gpioIds::RTD_IC_17,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC_18, gpioIds::RTD_IC_18,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
Max31865PT1000Handler* rtdIc0 = new Max31865PT1000Handler(objects::RTD_IC_3, objects::SPI_COM_IF,
@ -775,6 +775,11 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
rtdIc0->setStartUpImmediately();
rtdIc1->setStartUpImmediately();
rtdIc2->setStartUpImmediately();
#if OBSW_DEBUG_RTD == 1
rtdIc0->setInstantNormal(true);
rtdIc1->setInstantNormal(true);
rtdIc2->setInstantNormal(true);
#endif
static_cast<void>(rtdIc0);
static_cast<void>(rtdIc1);

6
common/config/devConf.h
View File

@ -12,15 +12,15 @@ namespace spi {
// Default values, changing them is not supported for now
static constexpr uint32_t DEFAULT_LIS3_SPEED = 976'000;
static constexpr uint32_t LIS3_TRANSITION_DELAY = 10000;
static constexpr uint32_t LIS3_TRANSITION_DELAY = 5000;
static constexpr spi::SpiModes DEFAULT_LIS3_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_RM3100_SPEED = 976'000;
static constexpr uint32_t RM3100_TRANSITION_DELAY = 10000;
static constexpr uint32_t RM3100_TRANSITION_DELAY = 5000;
static constexpr spi::SpiModes DEFAULT_RM3100_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_L3G_SPEED = 976'000;
static constexpr uint32_t L3G_TRANSITION_DELAY = 10000;
static constexpr uint32_t L3G_TRANSITION_DELAY = 5000;
static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 3'900'000;

2
fsfw

@ -1 +1 @@
Subproject commit e428568a00494c3e3ceb6d0b314baae97d4d8731
Subproject commit e5b568bc2b0b819bfb5c9dc90026d534852df4ff

1
linux/fsfwconfig/OBSWConfig.h.in
View File

@ -102,7 +102,6 @@ debugging. */
#define OBSW_DEBUG_ACU 0
#define OBSW_DEBUG_SYRLINKS 0
#define OBSW_DEBUG_IMQT 0
#define OBSW_DEBUG_ADIS16507 0
#define OBSW_DEBUG_RAD_SENSOR 0
#define OBSW_DEBUG_SUS 0
#define OBSW_DEBUG_RTD 0

30
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -59,9 +59,9 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
#endif
#if OBSW_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC_3, length * 0.15, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_IC_4, length * 0.15, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_IC_5, length * 0.15, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_IC_3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_IC_4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_IC_5, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_IC_6, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_IC_7, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_IC_8, length * 0.2, DeviceHandlerIF::SEND_WRITE);
@ -415,27 +415,27 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
#if OBSW_ADD_RW == 1
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW1, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW1, length * 0.5, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * 0.65, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW2, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW2, length * 0.5, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * 0.65, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * 0.5, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * 0.65, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * 0.5, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * 0.65, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_ACS_BOARD == 1
@ -445,7 +445,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
// A side
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.25,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
DeviceHandlerIF::GET_WRITE);

2
mission/devices/GyroADIS1650XHandler.cpp
View File

@ -319,7 +319,7 @@ ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
}
uint32_t GyroADIS1650XHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
return 5000;
return 10000;
}
void GyroADIS1650XHandler::prepareWriteCommand(uint8_t startReg, uint8_t valueOne,

42
mission/devices/Max31865PT1000Handler.cpp
View File

@ -7,10 +7,10 @@
Max31865PT1000Handler::Max31865PT1000Handler(object_id_t objectId, object_id_t comIF,
CookieIF *comCookie):
DeviceHandlerBase(objectId, comIF, comCookie), sensorDataset(this),
sensorDatasetSid(sensorDataset.getSid()) {
DeviceHandlerBase(objectId, comIF, comCookie),
sensorDataset(this), sensorDatasetSid(sensorDataset.getSid()) {
#if OBSW_VERBOSE_LEVEL >= 1
debugDivider = new PeriodicOperationDivider(0);
debugDivider = new PeriodicOperationDivider(10);
#endif
}
@ -68,12 +68,21 @@ void Max31865PT1000Handler::doStartUp() {
if(internalState == InternalState::REQUEST_LOW_THRESHOLD) {
if(commandExecuted) {
setMode(MODE_ON);
setMode(MODE_NORMAL);
internalState = InternalState::RUNNING;
internalState = InternalState::CLEAR_FAULT_BYTE;
commandExecuted = false;
}
}
if(internalState == InternalState::CLEAR_FAULT_BYTE) {
if(commandExecuted) {
commandExecuted = false;
internalState = InternalState::RUNNING;
if(instantNormal) {
setMode(MODE_NORMAL);
} else {
setMode(_MODE_TO_ON);
}
}
}
}
void Max31865PT1000Handler::doShutDown() {
@ -132,6 +141,10 @@ ReturnValue_t Max31865PT1000Handler::buildTransitionDeviceCommand(
*id = Max31865Definitions::REQUEST_LOW_THRESHOLD;
return buildCommandFromCommand(*id, nullptr, 0);
}
case(InternalState::CLEAR_FAULT_BYTE): {
*id = Max31865Definitions::CLEAR_FAULT_BYTE;
return buildCommandFromCommand(*id, nullptr, 0);
}
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -305,8 +318,12 @@ ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start,
else if(internalState == InternalState::CLEAR_FAULT_BYTE) {
*foundId = Max31865Definitions::CLEAR_FAULT_BYTE;
*foundLen = 2;
if(mode == _MODE_START_UP) {
commandExecuted = true;
} else {
internalState = InternalState::RUNNING;
}
}
else {
*foundId = Max31865Definitions::REQUEST_CONFIG;
*foundLen = configReplySize;
@ -323,10 +340,11 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(
if(packet[1] != DEFAULT_CONFIG) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
// it propably would be better if we at least try one restart..
sif::error << "Max31865PT1000Handler: Object ID: " << std::hex << this->getObjectId()
<< ": Invalid configuration reply!" << std::endl;
sif::error << "Max31865PT1000Handler: 0x" << std::hex << this->getObjectId()
<< ": Invalid configuration reply" << std::endl;
#else
sif::printError("Max31865PT1000Handler: Invalid configuration reply!\n");
sif::printError("Max31865PT1000Handler: %04x: Invalid configuration reply!\n",
this->getObjectId());
#endif
return HasReturnvaluesIF::RETURN_OK;
}
@ -517,6 +535,12 @@ ReturnValue_t Max31865PT1000Handler::initializeLocalDataPool(localpool::DataPool
return HasReturnvaluesIF::RETURN_OK;
}
void Max31865PT1000Handler::setInstantNormal(bool instantNormal) {
this->instantNormal = instantNormal;
}
void Max31865PT1000Handler::modeChanged() {
if(mode == MODE_OFF) {
internalState = InternalState::NONE;
}
}

4
mission/devices/Max31865PT1000Handler.h
View File

@ -45,6 +45,7 @@ public:
// 8. 1 for 50 Hz filter, 0 for 60 Hz filter (noise rejection filter)
static constexpr uint8_t DEFAULT_CONFIG = 0b11000001;
void setInstantNormal(bool instantNormal);
/**
* Expected temperature range is -100 C and 100 C.
* If there are temperatures beyond this range there must be a fault.
@ -59,7 +60,7 @@ public:
static constexpr float RTD_RREF_PT1000 = 4020.0; //!< Ohm
static constexpr float RTD_RESISTANCE0_PT1000 = 1000.0; //!< Ohm
protected:
/* DeviceHandlerBase abstract function implementation */
// DeviceHandlerBase abstract function implementation
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
@ -85,6 +86,7 @@ protected:
private:
uint8_t switchId = 0;
bool instantNormal = true;
enum class InternalState {
NONE,

2
tmtc

@ -1 +1 @@
Subproject commit eca5bba1d8df6576a19547d356e676b0fb164d87
Subproject commit 8cfc2892dd95f959edb4b0ec1bbc8fc4aaa69ef2