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Merge pull request 'Swap PL and PS I2C' (#725) from swap-pl-ps-i2c into main
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Reviewed-on: #725
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>
This commit is contained in:
Robin Müller 2023-07-06 15:05:53 +02:00
commit ee4285075a
31 changed files with 318 additions and 170 deletions
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7
CHANGELOG.md
View File

@ -16,6 +16,13 @@ will consitute of a breaking change warranting a new major release:
# [unreleased]
## Changed
- Swapped PL and PS I2C, BPX battery and MGT are connected to PS I2C now for firmware versions
equal or above v4. However, this software version is compatible to both v3 and v4 of the firmware.
- The firmware version variables are global statics inititalized early during the program
runtime now. This makes it possible to check the firmware version earlier.
## Fixed
- TMP1075: Set dataset invalid on shutdown explicitely

2
CMakeLists.txt
View File

@ -150,7 +150,7 @@ set(OBSW_ADD_SYRLINKS
1
CACHE STRING "Add Syrlinks module")
set(OBSW_ADD_TMP_DEVICES
${INIT_VAL}
1
CACHE STRING "Add TMP devices")
set(OBSW_ADD_GOMSPACE_PCDU
1

2
bsp_hosted/ObjectFactory.cpp
View File

@ -113,7 +113,7 @@ void ObjectFactory::produce(void* args) {
if (heaterHandler == nullptr) {
sif::error << "HeaterHandler could not be created" << std::endl;
} else {
ObjectFactory::createThermalController(*heaterHandler);
ObjectFactory::createThermalController(*heaterHandler, true);
}
new TestTask(objects::TEST_TASK);
}

3
bsp_q7s/CMakeLists.txt
View File

@ -7,7 +7,8 @@ target_link_libraries(${SIMPLE_OBSW_NAME} PUBLIC ${LIB_FSFW_NAME})
target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
add_subdirectory(simple)
target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp)
target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp scheduling.cpp
objectFactory.cpp)
add_subdirectory(boardtest)

5
bsp_q7s/core/CMakeLists.txt
View File

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

23
bsp_q7s/core/CoreController.cpp
View File

@ -188,17 +188,6 @@ ReturnValue_t CoreController::initialize() {
}
triggerEvent(core::REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
announceCurrentImageInfo();
// This has to come before the version announce because it might be required for retrieving
// the firmware version.
if (common::OBSW_VERSION_MAJOR >= 6 or common::OBSW_VERSION_MAJOR == 4) {
UioMapper sysRomMapper(q7s::UIO_SYS_ROM);
result = sysRomMapper.getMappedAdress(&mappedSysRomAddr, UioMapper::Permissions::READ_ONLY);
if (result != returnvalue::OK) {
// TODO: This might be a reason to switch to another image..
sif::error << "Getting mapped SYS ROM UIO address failed" << std::endl;
result = ObjectManager::CHILD_INIT_FAILED;
}
}
announceVersionInfo();
return result;
@ -2526,14 +2515,10 @@ void CoreController::announceVersionInfo() {
}
triggerEvent(VERSION_INFO, p1, p2);
if (common::OBSW_VERSION_MAJOR >= 6 or common::OBSW_VERSION_MAJOR == 4) {
if (mappedSysRomAddr != nullptr) {
uint32_t p1Firmware = *(reinterpret_cast<uint32_t *>(mappedSysRomAddr));
uint32_t p2Firmware = *(reinterpret_cast<uint32_t *>(mappedSysRomAddr) + 1);
triggerEvent(FIRMWARE_INFO, p1Firmware, p2Firmware);
}
}
p1 = (core::FW_VERSION_MAJOR << 24) | (core::FW_VERSION_MINOR << 16) |
(core::FW_VERSION_REVISION << 8) | (core::FW_VERSION_HAS_SHA);
std::memcpy(&p2, core::FW_VERSION_GIT_SHA, 4);
triggerEvent(FIRMWARE_INFO, p1, p2);
}
void CoreController::announceCurrentImageInfo() {

2
bsp_q7s/core/CoreController.h
View File

@ -1,6 +1,7 @@
#ifndef BSP_Q7S_CORE_CORECONTROLLER_H_
#define BSP_Q7S_CORE_CORECONTROLLER_H_
#include <bsp_q7s/core/defs.h>
#include <fsfw/container/DynamicFIFO.h>
#include <fsfw/container/SimpleRingBuffer.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
@ -14,7 +15,6 @@
#include <atomic>
#include <cstddef>
#include "CoreDefinitions.h"
#include "OBSWConfig.h"
#include "bsp_q7s/fs/SdCardManager.h"
#include "events/subsystemIdRanges.h"

12
bsp_q7s/core/CoreDefinitions.h → bsp_q7s/core/defs.h
View File

@ -1,10 +1,16 @@
#ifndef BSP_Q7S_CORE_COREDEFINITIONS_H_
#define BSP_Q7S_CORE_COREDEFINITIONS_H_
#ifndef BSP_Q7S_CORE_DEFS_H_
#define BSP_Q7S_CORE_DEFS_H_
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
namespace core {
extern uint8_t FW_VERSION_MAJOR;
extern uint8_t FW_VERSION_MINOR;
extern uint8_t FW_VERSION_REVISION;
extern bool FW_VERSION_HAS_SHA;
extern char FW_VERSION_GIT_SHA[4];
static const uint8_t HK_SET_ENTRIES = 3;
static const uint32_t HK_SET_ID = 5;
@ -36,4 +42,4 @@ class HkSet : public StaticLocalDataSet<HK_SET_ENTRIES> {
} // namespace core
#endif /* BSP_Q7S_CORE_COREDEFINITIONS_H_ */
#endif /* BSP_Q7S_CORE_DEFS_H_ */

35
bsp_q7s/em/emObjectFactory.cpp
View File

@ -1,4 +1,5 @@
#include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
#include <bsp_q7s/objectFactory.h>
#include <dummies/ComCookieDummy.h>
#include <dummies/PcduHandlerDummy.h>
#include <fsfw/health/HealthTableIF.h>
@ -10,8 +11,8 @@
#include "OBSWConfig.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/core/ObjectFactory.h"
#include "busConf.h"
#include "common/config/devices/addresses.h"
#include "devConf.h"
#include "dummies/helperFactory.h"
#include "eive/objects.h"
@ -35,6 +36,7 @@ void ObjectFactory::produce(void* args) {
#endif
PersistentTmStores stores;
readFirmwareVersion();
ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
*SdCardManager::instance(), &ipcStore, &tmStore, stores, 200,
enableHkSets);
@ -44,7 +46,7 @@ void ObjectFactory::produce(void* args) {
SpiComIF* spiMainComIF = nullptr;
I2cComIF* i2cComIF = nullptr;
createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF);
/* Adding gpios for chip select decoding to the gpioComIf */
// Adding GPIOs for chip select decoding and initializing them.
q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
gpioCallbacks::disableAllDecoder(gpioComIF);
createPlI2cResetGpio(gpioComIF);
@ -60,6 +62,25 @@ void ObjectFactory::produce(void* args) {
#if OBSW_ADD_PLOC_SUPERVISOR == 1 || OBSW_ADD_PLOC_MPSOC == 1
dummyCfg.addPlocDummies = false;
#endif
#if OBSW_ADD_TMP_DEVICES == 1
std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd = {{
{objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
{objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
{objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
}};
const char* tmpI2cDev = q7s::I2C_PS_EIVE;
if (core::FW_VERSION_MAJOR >= 4) {
tmpI2cDev = q7s::I2C_PL_EIVE;
}
createTmpComponents(tmpDevsToAdd, tmpI2cDev);
dummy::Tmp1075Cfg tmpCfg{};
tmpCfg.addTcsBrd0 = true;
tmpCfg.addTcsBrd1 = true;
tmpCfg.addPlPcdu0 = false;
tmpCfg.addPlPcdu1 = false;
tmpCfg.addIfBrd = false;
dummyCfg.tmp1075Cfg = tmpCfg;
#endif
#if OBSW_ADD_GOMSPACE_PCDU == 1
dummyCfg.addPowerDummies = false;
// The ACU broke.
@ -97,8 +118,12 @@ void ObjectFactory::produce(void* args) {
gpioChecker(gpioComIF->addGpios(acsBoardGpios), "ACS Board");
#endif
const char* battAndImtqI2cDev = q7s::I2C_PL_EIVE;
if (core::FW_VERSION_MAJOR >= 4) {
battAndImtqI2cDev = q7s::I2C_PS_EIVE;
}
#if OBSW_ADD_MGT == 1
createImtqComponents(pwrSwitcher, enableHkSets);
createImtqComponents(pwrSwitcher, enableHkSets, battAndImtqI2cDev);
#endif
#if OBSW_ADD_SYRLINKS == 1
@ -110,7 +135,7 @@ void ObjectFactory::produce(void* args) {
#endif
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
createBpxBatteryComponent(enableHkSets);
createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
#endif
#if OBSW_ADD_STAR_TRACKER == 1
@ -142,6 +167,6 @@ void ObjectFactory::produce(void* args) {
createAcsController(true, enableHkSets);
HeaterHandler* heaterHandler;
createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
createThermalController(*heaterHandler);
createThermalController(*heaterHandler, true);
satsystem::init();
}

28
bsp_q7s/fmObjectFactory.cpp
View File

@ -1,4 +1,5 @@
#include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
#include <bsp_q7s/objectFactory.h>
#include <devices/gpioIds.h>
#include <fsfw/storagemanager/LocalPool.h>
#include <fsfw/storagemanager/PoolManager.h>
@ -7,9 +8,9 @@
#include "OBSWConfig.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/core/ObjectFactory.h"
#include "busConf.h"
#include "devConf.h"
#include "devices/addresses.h"
#include "eive/objects.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "linux/ObjectFactory.h"
@ -32,6 +33,7 @@ void ObjectFactory::produce(void* args) {
#endif
PersistentTmStores stores;
readFirmwareVersion();
ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
*SdCardManager::instance(), &ipcStore, &tmStore, stores, 200,
true);
@ -67,7 +69,19 @@ void ObjectFactory::produce(void* args) {
HeaterHandler* heaterHandler;
createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
#if OBSW_ADD_TMP_DEVICES == 1
createTmpComponents();
std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd = {{
{objects::TMP1075_HANDLER_TCS_0, addresses::TMP1075_TCS_0},
{objects::TMP1075_HANDLER_TCS_1, addresses::TMP1075_TCS_1},
{objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
// damaged
// {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
{objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
}};
const char* tmpI2cDev = q7s::I2C_PS_EIVE;
if (core::FW_VERSION_MAJOR >= 4) {
tmpI2cDev = q7s::I2C_PL_EIVE;
}
createTmpComponents(tmpDevsToAdd, tmpI2cDev);
#endif
createSolarArrayDeploymentComponents(*pwrSwitcher, *gpioComIF);
createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
@ -77,13 +91,17 @@ void ObjectFactory::produce(void* args) {
createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
createPayloadComponents(gpioComIF, *pwrSwitcher);
const char* battAndImtqI2cDev = q7s::I2C_PL_EIVE;
if (core::FW_VERSION_MAJOR >= 4) {
battAndImtqI2cDev = q7s::I2C_PS_EIVE;
}
#if OBSW_ADD_MGT == 1
createImtqComponents(pwrSwitcher, enableHkSets);
createImtqComponents(pwrSwitcher, enableHkSets, battAndImtqI2cDev);
#endif
createReactionWheelComponents(gpioComIF, pwrSwitcher);
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
createBpxBatteryComponent(enableHkSets);
createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
#endif
#if OBSW_ADD_STAR_TRACKER == 1
@ -113,7 +131,7 @@ void ObjectFactory::produce(void* args) {
#endif /* OBSW_ADD_TEST_CODE == 1 */
createMiscComponents();
createThermalController(*heaterHandler);
createThermalController(*heaterHandler, false);
createAcsController(true, enableHkSets);
satsystem::init();
}

69
bsp_q7s/core/ObjectFactory.cpp → bsp_q7s/objectFactory.cpp
View File

@ -1,8 +1,9 @@
#include "ObjectFactory.h"
#include "objectFactory.h"
#include <fsfw/devicehandlers/HealthDevice.h>
#include <fsfw/subsystem/Subsystem.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw_hal/linux/uio/UioMapper.h>
#include <linux/acs/AcsBoardPolling.h>
#include <linux/acs/GpsHyperionLinuxController.h>
#include <linux/acs/ImtqPollingTask.h>
@ -32,6 +33,9 @@
#include <mission/system/objects/CamSwitcher.h>
#include <mission/system/tcs/TmpDevFdir.h>
#include <cstdint>
#include <cstring>
#include "OBSWConfig.h"
#include "bsp_q7s/boardtest/Q7STestTask.h"
#include "bsp_q7s/callbacks/gnssCallback.h"
@ -100,6 +104,7 @@
#include <sstream>
#include "bsp_q7s/core/defs.h"
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tmtcpacket/pus/tm.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
@ -130,6 +135,11 @@ ResetArgs RESET_ARGS_GNSS;
std::atomic_bool LINK_STATE = CcsdsIpCoreHandler::LINK_DOWN;
std::atomic_bool PTME_LOCKED = false;
std::atomic_uint16_t I2C_FATAL_ERRORS = 0;
uint8_t core::FW_VERSION_MAJOR = 0;
uint8_t core::FW_VERSION_MINOR = 0;
uint8_t core::FW_VERSION_REVISION = 0;
bool core::FW_VERSION_HAS_SHA = false;
char core::FW_VERSION_GIT_SHA[4] = {};
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
@ -151,23 +161,16 @@ void Factory::setStaticFrameworkObjectIds() {
void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
void ObjectFactory::createTmpComponents() {
std::vector<std::pair<object_id_t, address_t>> tmpDevIds = {{
{objects::TMP1075_HANDLER_TCS_0, addresses::TMP1075_TCS_0},
{objects::TMP1075_HANDLER_TCS_1, addresses::TMP1075_TCS_1},
{objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
// damaged
// {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
{objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
}};
void ObjectFactory::createTmpComponents(std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd,
const char* i2cDev) {
std::vector<I2cCookie*> tmpDevCookies;
for (size_t idx = 0; idx < tmpDevIds.size(); idx++) {
for (size_t idx = 0; idx < tmpDevsToAdd.size(); idx++) {
tmpDevCookies.push_back(
new I2cCookie(tmpDevIds[idx].second, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_PS_EIVE));
new I2cCookie(tmpDevsToAdd[idx].second, TMP1075::MAX_REPLY_LENGTH, i2cDev));
auto* tmpDevHandler =
new Tmp1075Handler(tmpDevIds[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
tmpDevHandler->setCustomFdir(new TmpDevFdir(tmpDevIds[idx].first));
new Tmp1075Handler(tmpDevsToAdd[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
tmpDevHandler->setCustomFdir(new TmpDevFdir(tmpDevsToAdd[idx].first));
tmpDevHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
// TODO: Remove this after TCS subsystem was added
// These devices are connected to the 3V3 stack and should be powered permanently. Therefore,
@ -954,12 +957,13 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
starTracker->setCustomFdir(strFdir);
}
void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets) {
void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets,
const char* i2cDev) {
auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
new ImtqPollingTask(objects::IMTQ_POLLING, I2C_FATAL_ERRORS);
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, i2cDev);
auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::IMTQ_POLLING, imtqI2cCookie,
power::Switches::PDU1_CH3_MGT_5V, enableHkSets);
imtqHandler->enableThermalModule(ThermalStateCfg());
@ -975,8 +979,8 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enable
#endif
}
void ObjectFactory::createBpxBatteryComponent(bool enableHkSets) {
I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_PL_EIVE);
void ObjectFactory::createBpxBatteryComponent(bool enableHkSets, const char* i2cDev) {
I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, i2cDev);
BpxBatteryHandler* bpxHandler = new BpxBatteryHandler(
objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie, enableHkSets);
bpxHandler->setStartUpImmediately();
@ -1032,3 +1036,32 @@ void ObjectFactory::createPlI2cResetGpio(LinuxLibgpioIF* gpioIF) {
gpioIF->pullHigh(gpioIds::PL_I2C_ARESETN);
}
}
ReturnValue_t ObjectFactory::readFirmwareVersion() {
uint32_t* mappedSysRomAddr = nullptr;
// The SYS ROM FPGA block is only available in those versions.
if (not(common::OBSW_VERSION_MAJOR >= 6) or (common::OBSW_VERSION_MAJOR == 4)) {
return returnvalue::OK;
}
// This has to come before the version announce because it might be required for retrieving
// the firmware version.
UioMapper sysRomMapper(q7s::UIO_SYS_ROM);
ReturnValue_t result =
sysRomMapper.getMappedAdress(&mappedSysRomAddr, UioMapper::Permissions::READ_ONLY);
if (result != returnvalue::OK) {
sif::error << "Getting mapped SYS ROM UIO address failed" << std::endl;
return returnvalue::FAILED;
}
if (mappedSysRomAddr != nullptr) {
uint32_t firstEntry = *(reinterpret_cast<uint32_t*>(mappedSysRomAddr));
uint32_t secondEntry = *(reinterpret_cast<uint32_t*>(mappedSysRomAddr) + 1);
core::FW_VERSION_MAJOR = (firstEntry >> 24) & 0xff;
core::FW_VERSION_MINOR = (firstEntry >> 16) & 0xff;
core::FW_VERSION_REVISION = (firstEntry >> 8) & 0xff;
bool hasGitSha = (firstEntry & 0x0b1);
if (hasGitSha) {
std::memcpy(core::FW_VERSION_GIT_SHA, &secondEntry, 4);
}
}
return returnvalue::OK;
}

8
bsp_q7s/core/ObjectFactory.h → bsp_q7s/objectFactory.h
View File

@ -58,7 +58,8 @@ void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher
bool enableHkSets);
void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);
void createTmpComponents();
void createTmpComponents(std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd,
const char* i2cDev);
void createRadSensorChipSelect(LinuxLibgpioIF* gpioIF);
ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
void createAcsBoardGpios(GpioCookie& cookie);
@ -67,14 +68,15 @@ void createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF, Ser
adis1650x::Type adisType);
void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
HeaterHandler*& heaterHandler);
void createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets);
void createBpxBatteryComponent(bool enableHkSets);
void createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets, const char* i2cDev);
void createBpxBatteryComponent(bool enableHkSets, const char* i2cDev);
void createStrComponents(PowerSwitchIF* pwrSwitcher);
void createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher, GpioIF& gpioIF);
void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
void createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitcher);
void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
ReturnValue_t createCcsdsComponents(CcsdsComponentArgs& args);
ReturnValue_t readFirmwareVersion();
void createMiscComponents();
void createTestComponents(LinuxLibgpioIF* gpioComIF);

2
bsp_q7s/obsw.cpp
View File

@ -11,13 +11,13 @@
#include "OBSWConfig.h"
#include "bsp_q7s/core/WatchdogHandler.h"
#include "commonConfig.h"
#include "core/scheduling.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/version.h"
#include "mission/acs/defs.h"
#include "mission/com/defs.h"
#include "mission/system/systemTree.h"
#include "q7sConfig.h"
#include "scheduling.h"
#include "watchdog/definitions.h"
static constexpr int OBSW_ALREADY_RUNNING = -2;

13
bsp_q7s/core/scheduling.cpp → bsp_q7s/scheduling.cpp
View File

@ -9,7 +9,6 @@
#include <vector>
#include "OBSWConfig.h"
#include "bsp_q7s/core/ObjectFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/platform.h"
@ -21,6 +20,8 @@
#include "mission/pollingSeqTables.h"
#include "mission/scheduling.h"
#include "mission/utility/InitMission.h"
#include "objectFactory.h"
#include "q7sConfig.h"
/* This is configured for linux without CR */
#ifdef PLATFORM_UNIX
@ -531,7 +532,15 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
FixedTimeslotTaskIF* i2cPst =
factory.createFixedTimeslotTask("I2C_PS_PST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.6,
missedDeadlineFunc, &RR_SCHEDULING);
result = pst::pstI2cProcessingSystem(i2cPst);
pst::TmpSchedConfig tmpSchedConf;
#if OBSW_Q7S_EM == 1
tmpSchedConf.scheduleTmpDev0 = true;
tmpSchedConf.scheduleTmpDev1 = true;
tmpSchedConf.schedulePlPcduDev0 = true;
tmpSchedConf.schedulePlPcduDev1 = true;
tmpSchedConf.scheduleIfBoardDev = true;
#endif
result = pst::pstI2c(tmpSchedConf, i2cPst);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "scheduling::initTasks: I2C PST is empty" << std::endl;

0
bsp_q7s/core/scheduling.h → bsp_q7s/scheduling.h
View File

2
dummies/CoreControllerDummy.cpp
View File

@ -1,6 +1,6 @@
#include "CoreControllerDummy.h"
#include <bsp_q7s/core/CoreDefinitions.h>
#include <bsp_q7s/core/defs.h>
#include <objects/systemObjectList.h>
#include <cmath>

12
dummies/TemperatureSensorInserter.cpp
View File

@ -7,9 +7,9 @@
#include <cstdlib>
#include <utility>
TemperatureSensorInserter::TemperatureSensorInserter(object_id_t objectId,
Max31865DummyMap tempSensorDummies_,
Tmp1075DummyMap tempTmpSensorDummies_)
TemperatureSensorInserter::TemperatureSensorInserter(
object_id_t objectId, Max31865DummyMap tempSensorDummies_,
std::optional<Tmp1075DummyMap> tempTmpSensorDummies_)
: SystemObject(objectId),
max31865DummyMap(std::move(tempSensorDummies_)),
tmp1075DummyMap(std::move(tempTmpSensorDummies_)) {}
@ -25,8 +25,10 @@ ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
for (auto& rtdDummy : max31865DummyMap) {
rtdDummy.second->setTemperature(10, true);
}
for (auto& tmpDummy : tmp1075DummyMap) {
tmpDummy.second->setTemperature(10, true);
if (tmp1075DummyMap.has_value()) {
for (auto& tmpDummy : tmp1075DummyMap.value()) {
tmpDummy.second->setTemperature(10, true);
}
}
tempsWereInitialized = true;
}

4
dummies/TemperatureSensorInserter.h
View File

@ -12,7 +12,7 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
using Max31865DummyMap = std::map<object_id_t, Max31865Dummy*>;
using Tmp1075DummyMap = std::map<object_id_t, Tmp1075Dummy*>;
explicit TemperatureSensorInserter(object_id_t objectId, Max31865DummyMap tempSensorDummies_,
Tmp1075DummyMap tempTmpSensorDummies_);
std::optional<Tmp1075DummyMap> tempTmpSensorDummies_);
ReturnValue_t initialize() override;
ReturnValue_t initializeAfterTaskCreation() override;
@ -22,7 +22,7 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
private:
Max31865DummyMap max31865DummyMap;
Tmp1075DummyMap tmp1075DummyMap;
std::optional<Tmp1075DummyMap> tmp1075DummyMap;
enum TestCase {
NONE = 0,

17
dummies/Tmp1075Dummy.cpp
View File

@ -8,35 +8,46 @@ using namespace returnvalue;
Tmp1075Dummy::Tmp1075Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie), set(this) {}
void Tmp1075Dummy::doStartUp() { setMode(MODE_NORMAL); }
void Tmp1075Dummy::doStartUp() { setMode(MODE_ON); }
void Tmp1075Dummy::doShutDown() { setMode(MODE_OFF); }
ReturnValue_t Tmp1075Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t Tmp1075Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) { return OK; }
ReturnValue_t Tmp1075Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t Tmp1075Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
return 0;
return NOTHING_TO_SEND;
}
ReturnValue_t Tmp1075Dummy::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
return 0;
}
ReturnValue_t Tmp1075Dummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
return 0;
}
void Tmp1075Dummy::setTemperature(float temperature, bool valid) {
PoolReadGuard pg(&set);
set.temperatureCelcius.value = temperature;
set.setValidity(valid, true);
}
void Tmp1075Dummy::fillCommandAndReplyMap() {}
uint32_t Tmp1075Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 1000; }
ReturnValue_t Tmp1075Dummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(TMP1075::TEMPERATURE_C_TMP1075, new PoolEntry<float>({10.0}, true));
return OK;
}
LocalPoolDataSetBase *Tmp1075Dummy::getDataSetHandle(sid_t sid) { return &set; }

55
dummies/helperFactory.cpp
View File

@ -191,25 +191,36 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
objects::RTD_15_IC18_IMTQ,
new Max31865Dummy(objects::RTD_15_IC18_IMTQ, objects::DUMMY_COM_IF, comCookieDummy));
std::map<object_id_t, Tmp1075Dummy*> tmpSensorDummies;
tmpSensorDummies.emplace(
objects::TMP1075_HANDLER_TCS_0,
new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_0, objects::DUMMY_COM_IF, comCookieDummy));
tmpSensorDummies.emplace(
objects::TMP1075_HANDLER_TCS_1,
new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_1, objects::DUMMY_COM_IF, comCookieDummy));
tmpSensorDummies.emplace(
objects::TMP1075_HANDLER_PLPCDU_0,
new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_0, objects::DUMMY_COM_IF, comCookieDummy));
// damaged.
// tmpSensorDummies.emplace(
// objects::TMP1075_HANDLER_PLPCDU_1,
// new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1, objects::DUMMY_COM_IF,
// comCookieDummy));
tmpSensorDummies.emplace(
objects::TMP1075_HANDLER_IF_BOARD,
new Tmp1075Dummy(objects::TMP1075_HANDLER_IF_BOARD, objects::DUMMY_COM_IF, comCookieDummy));
std::optional<TemperatureSensorInserter::Tmp1075DummyMap> tmpSensorDummies;
if (cfg.addTmpDummies) {
TemperatureSensorInserter::Tmp1075DummyMap tmpDummyMap;
if (cfg.tmp1075Cfg.addTcsBrd0) {
tmpDummyMap.emplace(objects::TMP1075_HANDLER_TCS_0,
new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_0, objects::DUMMY_COM_IF,
comCookieDummy));
}
if (cfg.tmp1075Cfg.addTcsBrd1) {
tmpDummyMap.emplace(objects::TMP1075_HANDLER_TCS_1,
new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_1, objects::DUMMY_COM_IF,
comCookieDummy));
}
if (cfg.tmp1075Cfg.addPlPcdu0) {
tmpDummyMap.emplace(objects::TMP1075_HANDLER_PLPCDU_0,
new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_0,
objects::DUMMY_COM_IF, comCookieDummy));
}
if (cfg.tmp1075Cfg.addPlPcdu1) {
tmpDummyMap.emplace(objects::TMP1075_HANDLER_PLPCDU_1,
new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1,
objects::DUMMY_COM_IF, comCookieDummy));
}
if (cfg.tmp1075Cfg.addIfBrd) {
tmpDummyMap.emplace(objects::TMP1075_HANDLER_IF_BOARD,
new Tmp1075Dummy(objects::TMP1075_HANDLER_IF_BOARD,
objects::DUMMY_COM_IF, comCookieDummy));
}
tmpSensorDummies = std::move(tmpDummyMap);
}
new TemperatureSensorInserter(objects::THERMAL_TEMP_INSERTER, rtdSensorDummies,
tmpSensorDummies);
TcsBoardAssembly* tcsBoardAssy =
@ -217,8 +228,10 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
for (auto& rtd : rtdSensorDummies) {
rtd.second->connectModeTreeParent(*tcsBoardAssy);
}
for (auto& tmp : tmpSensorDummies) {
tmp.second->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
if (tmpSensorDummies.has_value()) {
for (auto& tmp : tmpSensorDummies.value()) {
tmp.second->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
}
}
}
if (cfg.addCamSwitcherDummy) {

10
dummies/helperFactory.h
View File

@ -6,6 +6,14 @@ class GpioIF;
namespace dummy {
struct Tmp1075Cfg {
bool addTcsBrd0 = true;
bool addTcsBrd1 = true;
bool addPlPcdu0 = true;
bool addPlPcdu1 = true;
bool addIfBrd = true;
};
// Default values targeted towards EM.
struct DummyCfg {
bool addCoreCtrlCfg = true;
@ -19,6 +27,8 @@ struct DummyCfg {
bool addTempSensorDummies = true;
bool addRtdComIFDummy = true;
bool addPlocDummies = true;
bool addTmpDummies = true;
Tmp1075Cfg tmp1075Cfg;
bool addCamSwitcherDummy = false;
};

37
mission/controller/ThermalController.cpp
View File

@ -1,6 +1,6 @@
#include "ThermalController.h"
#include <bsp_q7s/core/CoreDefinitions.h>
#include <bsp_q7s/core/defs.h>
#include <eive/objects.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/thermal/ThermalComponentIF.h>
@ -24,9 +24,11 @@
#define LOWER_RW_UPPER_LIMITS 0
ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater,
const std::atomic_bool& tcsBoardShortUnavailable)
const std::atomic_bool& tcsBoardShortUnavailable,
bool pollPcdu1Tmp)
: ExtendedControllerBase(objectId),
heaterHandler(heater),
pollPcdu1Tmp(pollPcdu1Tmp),
sensorTemperatures(this),
susTemperatures(this),
deviceTemperatures(this),
@ -55,8 +57,6 @@ ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater
tmp1075SetTcs0(objects::TMP1075_HANDLER_TCS_0),
tmp1075SetTcs1(objects::TMP1075_HANDLER_TCS_1),
tmp1075SetPlPcdu0(objects::TMP1075_HANDLER_PLPCDU_0),
// damaged
// tmp1075SetPlPcdu1(objects::TMP1075_HANDLER_PLPCDU_1),
tmp1075SetIfBoard(objects::TMP1075_HANDLER_IF_BOARD),
susSet0(objects::SUS_0_N_LOC_XFYFZM_PT_XF),
susSet1(objects::SUS_1_N_LOC_XBYFZM_PT_XB),
@ -71,6 +71,9 @@ ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater
susSet10(objects::SUS_10_N_LOC_XMYBZF_PT_ZF),
susSet11(objects::SUS_11_R_LOC_XBYMZB_PT_ZB),
tcsBrdShortlyUnavailable(tcsBoardShortUnavailable) {
if (pollPcdu1Tmp) {
tmp1075SetPlPcdu1 = new TMP1075::Tmp1075Dataset(objects::TMP1075_HANDLER_PLPCDU_1);
}
resetSensorsArray();
}
@ -536,19 +539,19 @@ void ThermalController::copySensors() {
}
}
}
// damaged
/*
{
PoolReadGuard pg(&tmp1075SetPlPcdu1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() == returnvalue::OK) {
sensorTemperatures.tmp1075PlPcdu1.value = tmp1075SetPlPcdu1.temperatureCelcius.value;
sensorTemperatures.tmp1075PlPcdu1.setValid(tmp1075SetPlPcdu1.temperatureCelcius.isValid());
if (not tmp1075SetPlPcdu1.temperatureCelcius.isValid()) {
sensorTemperatures.tmp1075PlPcdu1.value = INVALID_TEMPERATURE;
// damaged on FM, and no dummies for now
if (pollPcdu1Tmp) {
{
PoolReadGuard pg(tmp1075SetPlPcdu1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() == returnvalue::OK) {
sensorTemperatures.tmp1075PlPcdu1.value = tmp1075SetPlPcdu1->temperatureCelcius.value;
sensorTemperatures.tmp1075PlPcdu1.setValid(tmp1075SetPlPcdu1->temperatureCelcius.isValid());
if (not tmp1075SetPlPcdu1->temperatureCelcius.isValid()) {
sensorTemperatures.tmp1075PlPcdu1.value = INVALID_TEMPERATURE;
}
}
}
}
*/
{
PoolReadGuard pg(&tmp1075SetIfBoard, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() == returnvalue::OK) {
@ -1828,6 +1831,12 @@ void ThermalController::heaterSwitchHelperAllOff() {
}
}
ThermalController::~ThermalController() {
if (tmp1075SetPlPcdu1 != nullptr) {
delete tmp1075SetPlPcdu1;
}
}
void ThermalController::tooHotHandlerWhichClearsOneShotFlag(object_id_t object, bool& oneShotFlag) {
// Clear the one shot flag is the component is in acceptable temperature range.
if (not tooHotHandler(object, oneShotFlag) and not componentAboveUpperLimit) {

8
mission/controller/ThermalController.h
View File

@ -1,7 +1,7 @@
#ifndef MISSION_CONTROLLER_THERMALCONTROLLER_H_
#define MISSION_CONTROLLER_THERMALCONTROLLER_H_
#include <bsp_q7s/core/CoreDefinitions.h>
#include <bsp_q7s/core/defs.h>
#include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/devicehandlers/DeviceHandlerThermalSet.h>
#include <fsfw/timemanager/Countdown.h>
@ -103,7 +103,8 @@ class ThermalController : public ExtendedControllerBase {
static constexpr int16_t SANITY_LIMIT_UPPER_TEMP = 160;
ThermalController(object_id_t objectId, HeaterHandler& heater,
const std::atomic_bool& tcsBoardShortUnavailable);
const std::atomic_bool& tcsBoardShortUnavailable, bool pollPcdu1Tmp);
virtual ~ThermalController();
ReturnValue_t initialize() override;
@ -142,6 +143,7 @@ class ThermalController : public ExtendedControllerBase {
HeaterHandler& heaterHandler;
bool pollPcdu1Tmp;
tcsCtrl::SensorTemperatures sensorTemperatures;
tcsCtrl::SusTemperatures susTemperatures;
tcsCtrl::DeviceTemperatures deviceTemperatures;
@ -173,7 +175,7 @@ class ThermalController : public ExtendedControllerBase {
TMP1075::Tmp1075Dataset tmp1075SetTcs1;
TMP1075::Tmp1075Dataset tmp1075SetPlPcdu0;
// damaged
// TMP1075::Tmp1075Dataset tmp1075SetPlPcdu1;
TMP1075::Tmp1075Dataset* tmp1075SetPlPcdu1;
TMP1075::Tmp1075Dataset tmp1075SetIfBoard;
// SUS

4
mission/genericFactory.cpp
View File

@ -311,9 +311,9 @@ void ObjectFactory::createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF&
heaterHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
}
void ObjectFactory::createThermalController(HeaterHandler& heaterHandler) {
void ObjectFactory::createThermalController(HeaterHandler& heaterHandler, bool pollPlPcduTmp1) {
auto* tcsCtrl = new ThermalController(objects::THERMAL_CONTROLLER, heaterHandler,
tcs::TCS_BOARD_SHORTLY_UNAVAILABLE);
tcs::TCS_BOARD_SHORTLY_UNAVAILABLE, pollPlPcduTmp1);
tcsCtrl->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
}
void ObjectFactory::createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t theSwitch,

2
mission/genericFactory.h
View File

@ -50,7 +50,7 @@ void produceGenericObjects(HealthTableIF** healthTable, PusTmFunnel** pusFunnel,
void createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF& pwrSwitcher,
HeaterHandler*& heaterHandler);
void createThermalController(HeaterHandler& heaterHandler);
void createThermalController(HeaterHandler& heaterHandler, bool pollPlPcduTmp1);
void createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t theSwitch,
std::array<DeviceHandlerBase*, 4> rws, std::array<object_id_t, 4> rwIds);
void createSusAssy(PowerSwitchIF& pwrSwitcher, std::array<DeviceHandlerBase*, 12> suses);

99
mission/pollingSeqTables.cpp
View File

@ -39,56 +39,67 @@ ReturnValue_t pst::pstSyrlinks(FixedTimeslotTaskIF *thisSequence) {
// I don't think this needs to be in a PST because linux takes care of bus serialization, but
// keep it like this for now, it works
ReturnValue_t pst::pstI2cProcessingSystem(FixedTimeslotTaskIF *thisSequence) {
ReturnValue_t pst::pstI2c(TmpSchedConfig schedConf, FixedTimeslotTaskIF *thisSequence) {
// Length of a communication cycle
uint32_t length = thisSequence->getPeriodMs();
static_cast<void>(length);
// These are actually part of another bus, but this works, so keep it like this for now
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.2,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.2, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.3, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.3, DeviceHandlerIF::GET_READ);
if (schedConf.scheduleTmpDev0) {
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.1, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.1, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.1, DeviceHandlerIF::GET_READ);
}
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::GET_READ);
if (schedConf.scheduleTmpDev1) {
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.2,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.2, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.3, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.3, DeviceHandlerIF::GET_READ);
}
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.6,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.6,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.6,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.7,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.7, DeviceHandlerIF::GET_READ);
// damaged
/*
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4, DeviceHandlerIF::GET_READ);
*/
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.9,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.9, DeviceHandlerIF::GET_READ);
if (schedConf.schedulePlPcduDev0) {
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.5,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.5,
DeviceHandlerIF::GET_READ);
}
if (schedConf.schedulePlPcduDev1) {
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.6,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.6,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.6,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.7,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.7,
DeviceHandlerIF::GET_READ);
}
if (schedConf.scheduleIfBoardDev) {
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.9,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.9,
DeviceHandlerIF::GET_READ);
}
static_cast<void>(length);
return thisSequence->checkSequence();
}

12
mission/pollingSeqTables.h
View File

@ -39,6 +39,16 @@ struct AcsPstCfg {
bool scheduleStr = true;
};
// Default config is for FM.
struct TmpSchedConfig {
bool scheduleTmpDev0 = true;
bool scheduleTmpDev1 = true;
bool schedulePlPcduDev0 = true;
// damaged on FM
bool schedulePlPcduDev1 = false;
bool scheduleIfBoardDev = true;
};
/**
* @brief This function creates the PST for all gomspace devices.
* @details
@ -51,7 +61,7 @@ ReturnValue_t pstSyrlinks(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstTcsAndAcs(FixedTimeslotTaskIF* thisSequence, AcsPstCfg cfg);
ReturnValue_t pstI2cProcessingSystem(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstI2c(TmpSchedConfig schedConf, FixedTimeslotTaskIF* thisSequence);
/**
* Generic test PST

2
mission/system/tcs/TmpDevFdir.cpp
View File

@ -28,7 +28,7 @@ ReturnValue_t TmpDevFdir::eventReceived(EventMessage* event) {
case DeviceHandlerIF::DEVICE_UNKNOWN_REPLY: // Some DH's generate generic reply-ids.
case DeviceHandlerIF::DEVICE_BUILDING_COMMAND_FAILED:
// These faults all mean that there were stupid replies from a device.
// With now way to do a recovery, set the device to faulty immediately.
// With no way to do a recovery, set the device to faulty instead of trying a recovery.
if (strangeReplyCount.incrementAndCheck()) {
setFaulty(event->getEvent());
}

8
mission/tcs/Tmp1075Handler.cpp
View File

@ -1,5 +1,5 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include <OBSWConfig.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <mission/tcs/Tmp1075Definitions.h>
#include <mission/tcs/Tmp1075Handler.h>
@ -12,11 +12,7 @@ Tmp1075Handler::Tmp1075Handler(object_id_t objectId, object_id_t comIF, CookieIF
Tmp1075Handler::~Tmp1075Handler() {}
void Tmp1075Handler::doStartUp() {
if (getMode() == _MODE_START_UP) {
setMode(MODE_ON);
}
}
void Tmp1075Handler::doStartUp() { setMode(MODE_ON); }
void Tmp1075Handler::doShutDown() {
communicationStep = CommunicationStep::START_ADC_CONVERSION;

2
tmtc

@ -1 +1 @@
Subproject commit 18304c31fa423b1af6ff47764d4be81c7f20c8f2
Subproject commit c48f04eed5152f319b217870292968fb67b763d4

3
unittest/controller/testThermalController.cpp
View File

@ -30,7 +30,8 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
// testEnvironment::initialize();
ThermalController controller(THERMAL_CONTROLLER_ID, *heaterHandler, tcsBrdShortlyUnavailable);
ThermalController controller(THERMAL_CONTROLLER_ID, *heaterHandler, tcsBrdShortlyUnavailable,
true);
ReturnValue_t result = controller.initialize();
REQUIRE(result == returnvalue::OK);