eive/eive-obsw
eive/eive-obsw
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some more tests to avoid SPI issue

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This commit is contained in:
Robin Müller 2023-02-12 20:41:20 +01:00
parent f5b5ef66b7
commit e94af34ef0
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GPG Key ID: 71B58F8A3CDFA9AC
7 changed files with 61 additions and 15 deletions
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14
bsp_q7s/obsw.cpp
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@ -13,6 +13,8 @@
#include "core/scheduling.h" #include "core/scheduling.h"
#include "fsfw/tasks/TaskFactory.h" #include "fsfw/tasks/TaskFactory.h"
#include "fsfw/version.h" #include "fsfw/version.h"
#include "mission/acsDefs.h"
#include "mission/system/tree/system.h"
#include "q7sConfig.h" #include "q7sConfig.h"
#include "watchdog/definitions.h" #include "watchdog/definitions.h"
@ -72,6 +74,18 @@ int obsw::obsw() {
scheduling::initMission(); scheduling::initMission();
// Command the EIVE system to safe mode
/*
auto sysQueueId = satsystem::EIVE_SYSTEM.getCommandQueue();
CommandMessage msg;
ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
ReturnValue_t result =
MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
if (result != returnvalue::OK) {
sif::error << "Sending safe mode command to EIVE system failed" << std::endl;
}
*/
for (;;) { for (;;) {
/* Suspend main thread by sleeping it. */ /* Suspend main thread by sleeping it. */
TaskFactory::delayTask(5000); TaskFactory::delayTask(5000);

2
common/config/devConf.h
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@ -51,6 +51,8 @@ static constexpr dur_millis_t RTD_CS_TIMEOUT = 50;
static constexpr uint32_t RTD_SPEED = 2'000'000; static constexpr uint32_t RTD_SPEED = 2'000'000;
static constexpr spi::SpiModes RTD_MODE = spi::SpiModes::MODE_3; static constexpr spi::SpiModes RTD_MODE = spi::SpiModes::MODE_3;
static constexpr dur_millis_t SUS_CS_TIMEOUT = 50;
} // namespace spi } // namespace spi
namespace uart { namespace uart {

2
fsfw

@ -1 +1 @@
Subproject commit d302ba71858edfa15834ff8b28d6cce2c2cbbb84 Subproject commit 7fae6cbd6db588d69fc00198e4b2a9d8a7c12f59

12
linux/ObjectFactory.cpp
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@ -79,6 +79,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
std::array<SusHandler*, 12> susHandlers = {}; std::array<SusHandler*, 12> susHandlers = {};
SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, SUS::MAX_CMD_SIZE, SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, SUS::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[0] = susHandlers[0] =
new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_0_N_LOC_XFYFZM_PT_XF); fdir = new SusFdir(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
@ -86,6 +87,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, SUS::MAX_CMD_SIZE, spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, SUS::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[1] = susHandlers[1] =
new SusHandler(objects::SUS_1_N_LOC_XBYFZM_PT_XB, 1, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_1_N_LOC_XBYFZM_PT_XB, 1, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_1_N_LOC_XBYFZM_PT_XB); fdir = new SusFdir(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
@ -93,6 +95,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, SUS::MAX_CMD_SIZE, spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, SUS::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[2] = susHandlers[2] =
new SusHandler(objects::SUS_2_N_LOC_XFYBZB_PT_YB, 2, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_2_N_LOC_XFYBZB_PT_YB, 2, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_2_N_LOC_XFYBZB_PT_YB); fdir = new SusFdir(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
@ -100,6 +103,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, SUS::MAX_CMD_SIZE, spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, SUS::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[3] = susHandlers[3] =
new SusHandler(objects::SUS_3_N_LOC_XFYBZF_PT_YF, 3, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_3_N_LOC_XFYBZF_PT_YF, 3, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_3_N_LOC_XFYBZF_PT_YF); fdir = new SusFdir(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
@ -107,6 +111,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, SUS::MAX_CMD_SIZE, spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, SUS::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[4] = susHandlers[4] =
new SusHandler(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, 4, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, 4, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_4_N_LOC_XMYFZF_PT_ZF); fdir = new SusFdir(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
@ -114,6 +119,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, SUS::MAX_CMD_SIZE, spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, SUS::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[5] = susHandlers[5] =
new SusHandler(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, 5, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, 5, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB); fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
@ -121,6 +127,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE, spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[6] = susHandlers[6] =
new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie); 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); fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
@ -128,6 +135,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, SUS::MAX_CMD_SIZE, spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, SUS::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[7] = susHandlers[7] =
new SusHandler(objects::SUS_7_R_LOC_XBYBZM_PT_XB, 7, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_7_R_LOC_XBYBZM_PT_XB, 7, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_7_R_LOC_XBYBZM_PT_XB); fdir = new SusFdir(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
@ -135,6 +143,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, SUS::MAX_CMD_SIZE, spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, SUS::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[8] = susHandlers[8] =
new SusHandler(objects::SUS_8_R_LOC_XBYBZB_PT_YB, 8, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_8_R_LOC_XBYBZB_PT_YB, 8, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_8_R_LOC_XBYBZB_PT_YB); fdir = new SusFdir(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
@ -142,6 +151,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, SUS::MAX_CMD_SIZE, spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, SUS::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[9] = susHandlers[9] =
new SusHandler(objects::SUS_9_R_LOC_XBYBZB_PT_YF, 9, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_9_R_LOC_XBYBZB_PT_YF, 9, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_9_R_LOC_XBYBZB_PT_YF); fdir = new SusFdir(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
@ -149,6 +159,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, SUS::MAX_CMD_SIZE, spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, SUS::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[10] = susHandlers[10] =
new SusHandler(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, 10, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, 10, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_10_N_LOC_XMYBZF_PT_ZF); fdir = new SusFdir(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
@ -156,6 +167,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, SUS::MAX_CMD_SIZE, spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, SUS::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[11] = susHandlers[11] =
new SusHandler(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, 11, objects::SPI_MAIN_COM_IF, spiCookie); new SusHandler(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, 11, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_11_R_LOC_XBYMZB_PT_ZB); fdir = new SusFdir(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);

2
mission/devices/ImtqHandler.cpp
View File

@ -707,7 +707,7 @@ ReturnValue_t ImtqHandler::initializeLocalDataPool(localpool::DataPool& localDat
subdp::DiagnosticsHkPeriodicParams(calMtmMeasurementSet.getSid(), false, 10.0)); subdp::DiagnosticsHkPeriodicParams(calMtmMeasurementSet.getSid(), false, 10.0));
poolManager.subscribeForDiagPeriodicPacket( poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(rawMtmMeasurementSet.getSid(), false, 10.0)); subdp::DiagnosticsHkPeriodicParams(rawMtmMeasurementSet.getSid(), false, 10.0));
return returnvalue::OK; return DeviceHandlerBase::initializeLocalDataPool(localDataPoolMap, poolManager);
} }
ReturnValue_t ImtqHandler::getSelfTestCommandId(DeviceCommandId_t* id) { ReturnValue_t ImtqHandler::getSelfTestCommandId(DeviceCommandId_t* id) {

42
mission/system/tree/acsModeTree.cpp
View File

@ -30,6 +30,8 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& entryHelper);
static const auto OFF = HasModesIF::MODE_OFF; static const auto OFF = HasModesIF::MODE_OFF;
static const auto NML = DeviceHandlerIF::MODE_NORMAL; static const auto NML = DeviceHandlerIF::MODE_NORMAL;
auto SUS_BOARD_NML_TRANS = std::make_pair(0x20, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_OFF = std::make_pair(acs::AcsMode::OFF, FixedArrayList<ModeListEntry, 3>()); auto ACS_SEQUENCE_OFF = std::make_pair(acs::AcsMode::OFF, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_OFF_TGT = auto ACS_TABLE_OFF_TGT =
std::make_pair((acs::AcsMode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>()); std::make_pair((acs::AcsMode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
@ -39,56 +41,56 @@ auto ACS_TABLE_OFF_TRANS_1 =
std::make_pair((acs::AcsMode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>()); std::make_pair((acs::AcsMode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>());
auto ACS_SEQUENCE_DETUMBLE = auto ACS_SEQUENCE_DETUMBLE =
std::make_pair(acs::AcsMode::DETUMBLE, FixedArrayList<ModeListEntry, 3>()); std::make_pair(acs::AcsMode::DETUMBLE, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_DETUMBLE_TGT = auto ACS_TABLE_DETUMBLE_TGT =
std::make_pair((acs::AcsMode::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>()); std::make_pair((acs::AcsMode::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_DETUMBLE_TRANS_0 = auto ACS_TABLE_DETUMBLE_TRANS_0 =
std::make_pair((acs::AcsMode::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>()); std::make_pair((acs::AcsMode::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_DETUMBLE_TRANS_1 = auto ACS_TABLE_DETUMBLE_TRANS_1 =
std::make_pair((acs::AcsMode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>()); std::make_pair((acs::AcsMode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
auto ACS_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList<ModeListEntry, 3>()); auto ACS_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_SAFE_TGT = auto ACS_TABLE_SAFE_TGT =
std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>()); std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_SAFE_TRANS_0 = auto ACS_TABLE_SAFE_TRANS_0 =
std::make_pair((acs::AcsMode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>()); std::make_pair((acs::AcsMode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_SAFE_TRANS_1 = auto ACS_TABLE_SAFE_TRANS_1 =
std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>()); std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
auto ACS_SEQUENCE_IDLE = std::make_pair(acs::AcsMode::PTG_IDLE, FixedArrayList<ModeListEntry, 3>()); auto ACS_SEQUENCE_IDLE = std::make_pair(acs::AcsMode::PTG_IDLE, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_IDLE_TGT = auto ACS_TABLE_IDLE_TGT =
std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>()); std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_IDLE_TRANS_0 = auto ACS_TABLE_IDLE_TRANS_0 =
std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>()); std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_IDLE_TRANS_1 = auto ACS_TABLE_IDLE_TRANS_1 =
std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>()); std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_PTG_TRANS_0 = auto ACS_TABLE_PTG_TRANS_0 =
std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>()); std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_SEQUENCE_PTG_TARGET = auto ACS_SEQUENCE_PTG_TARGET =
std::make_pair(acs::AcsMode::PTG_TARGET, FixedArrayList<ModeListEntry, 3>()); std::make_pair(acs::AcsMode::PTG_TARGET, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_PTG_TARGET_TGT = auto ACS_TABLE_PTG_TARGET_TGT =
std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>()); std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_TRANS_1 = auto ACS_TABLE_PTG_TARGET_TRANS_1 =
std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>()); std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_PTG_TARGET_GS = auto ACS_SEQUENCE_PTG_TARGET_GS =
std::make_pair(acs::AcsMode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 3>()); std::make_pair(acs::AcsMode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_PTG_TARGET_GS_TGT = auto ACS_TABLE_PTG_TARGET_GS_TGT =
std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 6>()); std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 = auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 =
std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>()); std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_PTG_TARGET_NADIR = auto ACS_SEQUENCE_PTG_TARGET_NADIR =
std::make_pair(acs::AcsMode::PTG_NADIR, FixedArrayList<ModeListEntry, 3>()); std::make_pair(acs::AcsMode::PTG_NADIR, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_PTG_TARGET_NADIR_TGT = auto ACS_TABLE_PTG_TARGET_NADIR_TGT =
std::make_pair((acs::AcsMode::PTG_NADIR << 24) | 1, FixedArrayList<ModeListEntry, 6>()); std::make_pair((acs::AcsMode::PTG_NADIR << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 = auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 =
std::make_pair((acs::AcsMode::PTG_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>()); std::make_pair((acs::AcsMode::PTG_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_PTG_TARGET_INERTIAL = auto ACS_SEQUENCE_PTG_TARGET_INERTIAL =
std::make_pair(acs::AcsMode::PTG_INERTIAL, FixedArrayList<ModeListEntry, 3>()); std::make_pair(acs::AcsMode::PTG_INERTIAL, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT = auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT =
std::make_pair((acs::AcsMode::PTG_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>()); std::make_pair((acs::AcsMode::PTG_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 = auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 =
@ -114,6 +116,10 @@ Subsystem& satsystem::acs::init() {
TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.second)), TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.second)),
ctxc); ctxc);
// Build SUS board transition
iht(objects::SUS_BOARD_ASS, NML, 0, SUS_BOARD_NML_TRANS.second);
check(ACS_SUBSYSTEM.addTable(TableEntry(SUS_BOARD_NML_TRANS.first, &SUS_BOARD_NML_TRANS.second)), ctxc);
buildOffSequence(ACS_SUBSYSTEM, entry); buildOffSequence(ACS_SUBSYSTEM, entry);
buildSafeSequence(ACS_SUBSYSTEM, entry); buildSafeSequence(ACS_SUBSYSTEM, entry);
buildDetumbleSequence(ACS_SUBSYSTEM, entry); buildDetumbleSequence(ACS_SUBSYSTEM, entry);
@ -158,7 +164,6 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second); iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second); iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second); iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second); iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_1.first, &ACS_TABLE_OFF_TRANS_1.second)), ctxc); check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_1.first, &ACS_TABLE_OFF_TRANS_1.second)), ctxc);
@ -199,13 +204,14 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
// Build SAFE transition 0 // Build SAFE transition 0
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
iht(objects::RW_ASS, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::RW_ASS, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true), check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
ctxc); ctxc);
// SUS board transition table is defined above
// Build SAFE transition 1 // Build SAFE transition 1
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TRANS_1.second); iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TRANS_1.second);
check(ss.addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true), check(ss.addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
@ -213,6 +219,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
// Build SAFE sequence // Build SAFE sequence
ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, true); ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, true);
ihs(ACS_SEQUENCE_SAFE.second, SUS_BOARD_NML_TRANS.first, 0, false);
ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_0.first, 0, false); ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_0.first, 0, false);
ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_1.first, 0, false); ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_1.first, 0, false);
check(ss.addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_SAFE.first, check(ss.addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_SAFE.first,
@ -247,6 +254,8 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
check(ss.addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true), check(ss.addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true),
ctxc); ctxc);
// SUS board transition table is defined above
// Build DETUMBLE transition 0 // Build DETUMBLE transition 0
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
@ -265,6 +274,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
// Build DETUMBLE sequence // Build DETUMBLE sequence
ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TGT.first, 0, true); ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TGT.first, 0, true);
ihs(ACS_SEQUENCE_DETUMBLE.second, SUS_BOARD_NML_TRANS.first, 0, false);
ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_0.first, 0, false); ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_0.first, 0, false);
ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_1.first, 0, false); ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_1.first, 0, false);
check(ss.addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first, check(ss.addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first,
@ -299,6 +309,8 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true); ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);
// SUS board transition table is built above
// Build IDLE transition 0 // Build IDLE transition 0
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
@ -313,6 +325,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
// Build IDLE sequence // Build IDLE sequence
ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, true); ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, true);
ihs(ACS_SEQUENCE_IDLE.second, SUS_BOARD_NML_TRANS.first, 0, true);
ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_0.first, 0, true); ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_0.first, 0, true);
ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, true); ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, true);
ss.addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first, false, ss.addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first, false,
@ -349,6 +362,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true), check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true),
ctxc); ctxc);
// SUS board transition table is built above
// Transition 0 already built // Transition 0 already built
// Build TARGET PT transition 1 // Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TRANS_1.second); iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TRANS_1.second);
@ -358,6 +372,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
// Build IDLE sequence // Build IDLE sequence
ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET.second, SUS_BOARD_NML_TRANS.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TRANS_0.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, true);
check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first, check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first,
@ -407,6 +422,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
// Build IDLE sequence // Build IDLE sequence
ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TGT.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TGT.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, SUS_BOARD_NML_TRANS.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TRANS_0.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first, 0, true);
check( check(
@ -457,6 +473,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
// Build IDLE sequence // Build IDLE sequence
ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TGT.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TGT.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, SUS_BOARD_NML_TRANS.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TRANS_0.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TRANS_1.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TRANS_1.first, 0, true);
check(ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_GS.first, check(ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_GS.first,
@ -506,6 +523,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
// Build IDLE sequence // Build IDLE sequence
ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, SUS_BOARD_NML_TRANS.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TRANS_0.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first, 0, ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first, 0,
true); true);

2
mission/system/tree/system.cpp
View File

@ -95,7 +95,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
// Build Safe sequence // Build Safe sequence
ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TGT.first, 0, false); ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TGT.first, 0, false);
ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_0.first, 0, false); ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_0.first, 0, false);
ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_1.first, 3, false); ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_1.first, 4, false);
check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_SAFE.first, &EIVE_SEQUENCE_SAFE.second, check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_SAFE.first, &EIVE_SEQUENCE_SAFE.second,
EIVE_SEQUENCE_SAFE.first)), EIVE_SEQUENCE_SAFE.first)),
ctxc); ctxc);