Merge remote-tracking branch 'origin/develop' into feature_imtq_assy
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42
CHANGELOG.md
42
CHANGELOG.md
@ -16,27 +16,45 @@ will consitute of a breaking change warranting a new major release:
|
|||||||
|
|
||||||
# [unreleased]
|
# [unreleased]
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||||||
|
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||||||
|
## Added
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||||||
|
|
||||||
|
- Add IMTQ assembly
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||||||
|
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||||||
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# [v1.34.0] 2023-03-03
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||||||
|
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||||||
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eive-tmtc: v2.16.3
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||||||
|
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||||||
|
This might include the fix for the race condition where CPU usage jumped to 200 %. The race
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||||||
|
condition was traced to the `Countdown` class, more specifically to the `getUptime` function where
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||||||
|
the `/proc/uptime` file is read.
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||||||
|
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||||||
## Changed
|
## Changed
|
||||||
|
|
||||||
- Moved polling of all SPI parts to the same PST.
|
- Moved polling of all SPI parts to the same PST.
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||||||
- Allow quicker transition for the EIVE system component by allowing consecutive TCS and ACS
|
- Allow quicker transition for the EIVE system component by allowing consecutive TCS and ACS
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component commanding again.
|
component commanding again.
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|
- Changed a lot of lock guards to use timeouts
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|
- Queue sizes of TCP/UDP servers increased from 20 to 50
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|
- Significantly simplified and improved lock guard handling in TCS and ACS board polling
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tasks.
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||||||
|
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||||||
## Fixed
|
## Fixed
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||||||
|
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||||||
- IMTQ: Sets were filled with wrong data, e.g. Raw MTM was filled with calibrated MTM measurements.
|
- IMTQ: Sets were filled with wrong data, e.g. Raw MTM was filled with calibrated MTM measurements.
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- Set RM3100 dataset to valid.
|
- Set RM3100 dataset to valid.
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||||||
- Fixed units in calculation of ACS control laws safe and detumble.
|
- Fixed units in calculation of ACS control laws safe and detumble.
|
||||||
|
- Bump FSFW for change in Countdown: Use system clock instead of reading uptime from file
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|
to prevent possible race condition.
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||||||
|
- GPS: No fix considered a fault now after 30 minutes instead of 5 hours.
|
||||||
|
- SUS Assembly FDIR: Prevent permanent SAFE mode fallbacks by introducing special health
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||||||
|
handling.
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||||||
|
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/418/files
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||||||
|
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||||||
## Added
|
## Added
|
||||||
|
|
||||||
- Added Syrlinks Assembly object to allow recovery handling and to fix faulty FDIR behaviour.
|
- Added Syrlinks Assembly object to allow recovery handling and to fix faulty FDIR behaviour.
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|
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||||||
## Added
|
# [v1.33.0] 2023-03-01
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||||||
|
|
||||||
- Add IMTQ assembly
|
|
||||||
|
|
||||||
# [v1.33.0]
|
|
||||||
|
|
||||||
eive-tmtc: v2.16.2
|
eive-tmtc: v2.16.2
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||||||
|
|
||||||
@ -50,7 +68,7 @@ eive-tmtc: v2.16.2
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|||||||
- Linux GPS handler now checks the individual `*_SET` flags when analysing the `gpsd` struct.
|
- Linux GPS handler now checks the individual `*_SET` flags when analysing the `gpsd` struct.
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PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/400
|
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/400
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||||||
|
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# [v1.32.0]
|
# [v1.32.0] 2023-02-24
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|
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eive-tmtc: v2.16.1
|
eive-tmtc: v2.16.1
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|
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@ -91,7 +109,7 @@ eive-tmtc: v2.16.1
|
|||||||
- `RwDummy` now initializes with a non faulty state
|
- `RwDummy` now initializes with a non faulty state
|
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|
|
||||||
|
|
||||||
# [v1.31.1]
|
# [v1.31.1] 2023-02-23
|
||||||
|
|
||||||
## Fixed
|
## Fixed
|
||||||
|
|
||||||
@ -101,7 +119,7 @@ eive-tmtc: v2.16.1
|
|||||||
for actuator control which lead to a crash.
|
for actuator control which lead to a crash.
|
||||||
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/403
|
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/403
|
||||||
|
|
||||||
# [v1.31.0]
|
# [v1.31.0] 2023-02-23
|
||||||
|
|
||||||
eive-tmtc: v2.16.0
|
eive-tmtc: v2.16.0
|
||||||
|
|
||||||
@ -142,7 +160,7 @@ COM PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/364
|
|||||||
- `MekfData` now includes `mekfStatus`
|
- `MekfData` now includes `mekfStatus`
|
||||||
- `CtrlValData` now includes `tgtRotRate`
|
- `CtrlValData` now includes `tgtRotRate`
|
||||||
|
|
||||||
# [v1.30.0]
|
# [v1.30.0] 2023-02-22
|
||||||
|
|
||||||
eive-tmtc: v2.14.0
|
eive-tmtc: v2.14.0
|
||||||
|
|
||||||
@ -159,7 +177,7 @@ Event IDs for PDEC handler have changed in a breaking manner.
|
|||||||
an event is triggered and the task is delayed for 400 ms.
|
an event is triggered and the task is delayed for 400 ms.
|
||||||
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/393
|
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/393
|
||||||
|
|
||||||
# [v1.29.1]
|
# [v1.29.1] 2023-02-21
|
||||||
|
|
||||||
## Fixed
|
## Fixed
|
||||||
|
|
||||||
@ -171,7 +189,7 @@ Event IDs for PDEC handler have changed in a breaking manner.
|
|||||||
Issue: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/388
|
Issue: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/388
|
||||||
- Disable stopwatch in MAX31865 polling task
|
- Disable stopwatch in MAX31865 polling task
|
||||||
|
|
||||||
# [v1.29.0]
|
# [v1.29.0] 2023-02-21
|
||||||
|
|
||||||
eive-tmtc: v2.13.0
|
eive-tmtc: v2.13.0
|
||||||
|
|
||||||
@ -192,7 +210,7 @@ eive-tmtc: v2.13.0
|
|||||||
will be part of the TCS tree.
|
will be part of the TCS tree.
|
||||||
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/351
|
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/351
|
||||||
|
|
||||||
# [v1.28.1]
|
# [v1.28.1] 2023-02-21
|
||||||
|
|
||||||
## Fixed
|
## Fixed
|
||||||
|
|
||||||
|
@ -10,7 +10,7 @@
|
|||||||
cmake_minimum_required(VERSION 3.13)
|
cmake_minimum_required(VERSION 3.13)
|
||||||
|
|
||||||
set(OBSW_VERSION_MAJOR 1)
|
set(OBSW_VERSION_MAJOR 1)
|
||||||
set(OBSW_VERSION_MINOR 33)
|
set(OBSW_VERSION_MINOR 34)
|
||||||
set(OBSW_VERSION_REVISION 0)
|
set(OBSW_VERSION_REVISION 0)
|
||||||
|
|
||||||
# set(CMAKE_VERBOSE TRUE)
|
# set(CMAKE_VERBOSE TRUE)
|
||||||
|
@ -20,14 +20,14 @@
|
|||||||
SdCardManager* SdCardManager::INSTANCE = nullptr;
|
SdCardManager* SdCardManager::INSTANCE = nullptr;
|
||||||
|
|
||||||
SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor(256) {
|
SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor(256) {
|
||||||
mutex = MutexFactory::instance()->createMutex();
|
sdLock = MutexFactory::instance()->createMutex();
|
||||||
ReturnValue_t result = mutex->lockMutex();
|
ReturnValue_t result = sdLock->lockMutex();
|
||||||
if (result != returnvalue::OK) {
|
if (result != returnvalue::OK) {
|
||||||
sif::error << "SdCardManager::SdCardManager: Mutex lock failed" << std::endl;
|
sif::error << "SdCardManager::SdCardManager: Mutex lock failed" << std::endl;
|
||||||
}
|
}
|
||||||
uint8_t prefSdRaw = 0;
|
uint8_t prefSdRaw = 0;
|
||||||
result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw);
|
result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw);
|
||||||
if (mutex->unlockMutex() != returnvalue::OK) {
|
if (sdLock->unlockMutex() != returnvalue::OK) {
|
||||||
sif::error << "SdCardManager::SdCardManager: Mutex unlock failed" << std::endl;
|
sif::error << "SdCardManager::SdCardManager: Mutex unlock failed" << std::endl;
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -195,7 +195,7 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
|
|||||||
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|
||||||
ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& active) {
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ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& active) {
|
||||||
using namespace std;
|
using namespace std;
|
||||||
MutexGuard mg(mutex);
|
MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
if (not filesystem::exists(SD_STATE_FILE)) {
|
if (not filesystem::exists(SD_STATE_FILE)) {
|
||||||
return STATUS_FILE_NEXISTS;
|
return STATUS_FILE_NEXISTS;
|
||||||
}
|
}
|
||||||
@ -378,7 +378,7 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& act
|
|||||||
}
|
}
|
||||||
|
|
||||||
std::optional<sd::SdCard> SdCardManager::getPreferredSdCard() const {
|
std::optional<sd::SdCard> SdCardManager::getPreferredSdCard() const {
|
||||||
MutexGuard mg(mutex);
|
MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
auto res = mg.getLockResult();
|
auto res = mg.getLockResult();
|
||||||
if (res != returnvalue::OK) {
|
if (res != returnvalue::OK) {
|
||||||
sif::error << "SdCardManager::getPreferredSdCard: Lock error" << std::endl;
|
sif::error << "SdCardManager::getPreferredSdCard: Lock error" << std::endl;
|
||||||
@ -387,7 +387,7 @@ std::optional<sd::SdCard> SdCardManager::getPreferredSdCard() const {
|
|||||||
}
|
}
|
||||||
|
|
||||||
ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
|
ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
|
||||||
MutexGuard mg(mutex);
|
MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
if (sdCard == sd::SdCard::BOTH) {
|
if (sdCard == sd::SdCard::BOTH) {
|
||||||
return returnvalue::FAILED;
|
return returnvalue::FAILED;
|
||||||
}
|
}
|
||||||
@ -399,7 +399,7 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
|
|||||||
if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
|
if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
|
||||||
return CommandExecutor::COMMAND_PENDING;
|
return CommandExecutor::COMMAND_PENDING;
|
||||||
}
|
}
|
||||||
MutexGuard mg(mutex);
|
MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
// Use q7hw utility and pipe the command output into the state file
|
// Use q7hw utility and pipe the command output into the state file
|
||||||
std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE);
|
std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE);
|
||||||
cmdExecutor.load(updateCmd, blocking, printCmdOutput);
|
cmdExecutor.load(updateCmd, blocking, printCmdOutput);
|
||||||
@ -411,7 +411,7 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
|
|||||||
}
|
}
|
||||||
|
|
||||||
const char* SdCardManager::getCurrentMountPrefix() const {
|
const char* SdCardManager::getCurrentMountPrefix() const {
|
||||||
MutexGuard mg(mutex);
|
MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
if (currentPrefix.has_value()) {
|
if (currentPrefix.has_value()) {
|
||||||
return currentPrefix.value().c_str();
|
return currentPrefix.value().c_str();
|
||||||
}
|
}
|
||||||
@ -464,7 +464,7 @@ void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = p
|
|||||||
|
|
||||||
bool SdCardManager::isSdCardUsable(std::optional<sd::SdCard> sdCard) {
|
bool SdCardManager::isSdCardUsable(std::optional<sd::SdCard> sdCard) {
|
||||||
{
|
{
|
||||||
MutexGuard mg(mutex);
|
MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
if (markedUnusable) {
|
if (markedUnusable) {
|
||||||
return false;
|
return false;
|
||||||
}
|
}
|
||||||
@ -560,7 +560,7 @@ ReturnValue_t SdCardManager::performFsck(sd::SdCard sdcard, bool printOutput, in
|
|||||||
}
|
}
|
||||||
|
|
||||||
void SdCardManager::setActiveSdCard(sd::SdCard sdCard) {
|
void SdCardManager::setActiveSdCard(sd::SdCard sdCard) {
|
||||||
MutexGuard mg(mutex);
|
MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
sdInfo.active = sdCard;
|
sdInfo.active = sdCard;
|
||||||
if (sdInfo.active == sd::SdCard::SLOT_0) {
|
if (sdInfo.active == sd::SdCard::SLOT_0) {
|
||||||
currentPrefix = config::SD_0_MOUNT_POINT;
|
currentPrefix = config::SD_0_MOUNT_POINT;
|
||||||
@ -570,7 +570,7 @@ void SdCardManager::setActiveSdCard(sd::SdCard sdCard) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
std::optional<sd::SdCard> SdCardManager::getActiveSdCard() const {
|
std::optional<sd::SdCard> SdCardManager::getActiveSdCard() const {
|
||||||
MutexGuard mg(mutex);
|
MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
if (markedUnusable) {
|
if (markedUnusable) {
|
||||||
return std::nullopt;
|
return std::nullopt;
|
||||||
}
|
}
|
||||||
@ -578,6 +578,6 @@ std::optional<sd::SdCard> SdCardManager::getActiveSdCard() const {
|
|||||||
}
|
}
|
||||||
|
|
||||||
void SdCardManager::markUnusable() {
|
void SdCardManager::markUnusable() {
|
||||||
MutexGuard mg(mutex);
|
MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
markedUnusable = true;
|
markedUnusable = true;
|
||||||
}
|
}
|
||||||
|
@ -223,7 +223,10 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
|
|||||||
bool sdCardActive = true;
|
bool sdCardActive = true;
|
||||||
bool printCmdOutput = true;
|
bool printCmdOutput = true;
|
||||||
bool markedUnusable = false;
|
bool markedUnusable = false;
|
||||||
MutexIF* mutex = nullptr;
|
MutexIF* sdLock = nullptr;
|
||||||
|
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
|
||||||
|
static constexpr uint32_t LOCK_TIMEOUT = 40;
|
||||||
|
static constexpr char LOCK_CTX[] = "SdCardManager";
|
||||||
|
|
||||||
SdCardManager();
|
SdCardManager();
|
||||||
|
|
||||||
|
2
fsfw
2
fsfw
@ -1 +1 @@
|
|||||||
Subproject commit 511d07c0c78de7b1850e341dfcf8be7589f3c523
|
Subproject commit 33de15205b4560c54a108e35609536374b026c22
|
@ -4,6 +4,7 @@
|
|||||||
#include <fsfw/globalfunctions/arrayprinter.h>
|
#include <fsfw/globalfunctions/arrayprinter.h>
|
||||||
#include <fsfw/tasks/SemaphoreFactory.h>
|
#include <fsfw/tasks/SemaphoreFactory.h>
|
||||||
#include <fsfw/tasks/TaskFactory.h>
|
#include <fsfw/tasks/TaskFactory.h>
|
||||||
|
#include <fsfw/timemanager/Stopwatch.h>
|
||||||
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
|
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
|
||||||
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
|
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
|
||||||
#include <fsfw_hal/linux/UnixFileGuard.h>
|
#include <fsfw_hal/linux/UnixFileGuard.h>
|
||||||
@ -25,12 +26,15 @@ AcsBoardPolling::AcsBoardPolling(object_id_t objectId, SpiComIF& lowLevelComIF,
|
|||||||
|
|
||||||
ReturnValue_t AcsBoardPolling::performOperation(uint8_t operationCode) {
|
ReturnValue_t AcsBoardPolling::performOperation(uint8_t operationCode) {
|
||||||
while (true) {
|
while (true) {
|
||||||
ipcLock->lockMutex();
|
ipcLock->lockMutex(LOCK_TYPE, LOCK_TIMEOUT);
|
||||||
state = InternalState::IDLE;
|
state = InternalState::IDLE;
|
||||||
ipcLock->unlockMutex();
|
ipcLock->unlockMutex();
|
||||||
semaphore->acquire();
|
semaphore->acquire();
|
||||||
// Give all tasks or the PST some time to submit all consecutive requests.
|
// Give all tasks or the PST some time to submit all consecutive requests.
|
||||||
TaskFactory::delayTask(2);
|
TaskFactory::delayTask(2);
|
||||||
|
{
|
||||||
|
// Measured to take 0-1 ms in debug build.
|
||||||
|
// Stopwatch watch;
|
||||||
gyroAdisHandler(gyro0Adis);
|
gyroAdisHandler(gyro0Adis);
|
||||||
gyroAdisHandler(gyro2Adis);
|
gyroAdisHandler(gyro2Adis);
|
||||||
gyroL3gHandler(gyro1L3g);
|
gyroL3gHandler(gyro1L3g);
|
||||||
@ -39,6 +43,7 @@ ReturnValue_t AcsBoardPolling::performOperation(uint8_t operationCode) {
|
|||||||
mgmRm3100Handler(mgm3Rm3100);
|
mgmRm3100Handler(mgm3Rm3100);
|
||||||
mgmLis3Handler(mgm0Lis3);
|
mgmLis3Handler(mgm0Lis3);
|
||||||
mgmLis3Handler(mgm2Lis3);
|
mgmLis3Handler(mgm2Lis3);
|
||||||
|
}
|
||||||
// To prevent task being not reactivated by tardy tasks
|
// To prevent task being not reactivated by tardy tasks
|
||||||
TaskFactory::delayTask(20);
|
TaskFactory::delayTask(20);
|
||||||
}
|
}
|
||||||
@ -105,12 +110,10 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
|
|||||||
return returnvalue::FAILED;
|
return returnvalue::FAILED;
|
||||||
}
|
}
|
||||||
auto* req = reinterpret_cast<const acs::Adis1650XRequest*>(sendData);
|
auto* req = reinterpret_cast<const acs::Adis1650XRequest*>(sendData);
|
||||||
MutexGuard mg(ipcLock);
|
|
||||||
if (req->mode != adis.mode) {
|
if (req->mode != adis.mode) {
|
||||||
if (req->mode == acs::SimpleSensorMode::NORMAL) {
|
if (req->mode == acs::SimpleSensorMode::NORMAL) {
|
||||||
adis.type = req->type;
|
adis.type = req->type;
|
||||||
adis.countdown.setTimeout(adis1650x::START_UP_TIME);
|
adis.countdown.setTimeout(adis1650x::START_UP_TIME);
|
||||||
adis.countdown.resetTimer();
|
|
||||||
if (adis.type == adis1650x::Type::ADIS16507) {
|
if (adis.type == adis1650x::Type::ADIS16507) {
|
||||||
adis.ownReply.data.accelScaling = adis1650x::ACCELEROMETER_RANGE_16507;
|
adis.ownReply.data.accelScaling = adis1650x::ACCELEROMETER_RANGE_16507;
|
||||||
} else if (adis.type == adis1650x::Type::ADIS16505) {
|
} else if (adis.type == adis1650x::Type::ADIS16505) {
|
||||||
@ -135,7 +138,6 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
|
|||||||
return returnvalue::FAILED;
|
return returnvalue::FAILED;
|
||||||
}
|
}
|
||||||
auto* req = reinterpret_cast<const acs::GyroL3gRequest*>(sendData);
|
auto* req = reinterpret_cast<const acs::GyroL3gRequest*>(sendData);
|
||||||
MutexGuard mg(ipcLock);
|
|
||||||
if (req->mode != gyro.mode) {
|
if (req->mode != gyro.mode) {
|
||||||
if (req->mode == acs::SimpleSensorMode::NORMAL) {
|
if (req->mode == acs::SimpleSensorMode::NORMAL) {
|
||||||
std::memcpy(gyro.sensorCfg, req->ctrlRegs, 5);
|
std::memcpy(gyro.sensorCfg, req->ctrlRegs, 5);
|
||||||
@ -154,7 +156,6 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
|
|||||||
return returnvalue::FAILED;
|
return returnvalue::FAILED;
|
||||||
}
|
}
|
||||||
auto* req = reinterpret_cast<const acs::MgmLis3Request*>(sendData);
|
auto* req = reinterpret_cast<const acs::MgmLis3Request*>(sendData);
|
||||||
MutexGuard mg(ipcLock);
|
|
||||||
if (req->mode != mgm.mode) {
|
if (req->mode != mgm.mode) {
|
||||||
if (req->mode == acs::SimpleSensorMode::NORMAL) {
|
if (req->mode == acs::SimpleSensorMode::NORMAL) {
|
||||||
mgm.performStartup = true;
|
mgm.performStartup = true;
|
||||||
@ -173,7 +174,6 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
|
|||||||
return returnvalue::FAILED;
|
return returnvalue::FAILED;
|
||||||
}
|
}
|
||||||
auto* req = reinterpret_cast<const acs::MgmRm3100Request*>(sendData);
|
auto* req = reinterpret_cast<const acs::MgmRm3100Request*>(sendData);
|
||||||
MutexGuard mg(ipcLock);
|
|
||||||
if (req->mode != mgm.mode) {
|
if (req->mode != mgm.mode) {
|
||||||
if (req->mode == acs::SimpleSensorMode::NORMAL) {
|
if (req->mode == acs::SimpleSensorMode::NORMAL) {
|
||||||
mgm.performStartup = true;
|
mgm.performStartup = true;
|
||||||
@ -184,6 +184,8 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
|
|||||||
}
|
}
|
||||||
return returnvalue::OK;
|
return returnvalue::OK;
|
||||||
};
|
};
|
||||||
|
{
|
||||||
|
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
switch (spiCookie->getChipSelectPin()) {
|
switch (spiCookie->getChipSelectPin()) {
|
||||||
case (gpioIds::MGM_0_LIS3_CS): {
|
case (gpioIds::MGM_0_LIS3_CS): {
|
||||||
handleLis3Request(mgm0Lis3);
|
handleLis3Request(mgm0Lis3);
|
||||||
@ -218,11 +220,11 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
|
|||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
MutexGuard mg(ipcLock);
|
|
||||||
if (state == InternalState::IDLE) {
|
if (state == InternalState::IDLE) {
|
||||||
state = InternalState::BUSY;
|
state = InternalState::BUSY;
|
||||||
semaphore->release();
|
|
||||||
}
|
}
|
||||||
|
}
|
||||||
|
semaphore->release();
|
||||||
return returnvalue::OK;
|
return returnvalue::OK;
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -238,7 +240,7 @@ ReturnValue_t AcsBoardPolling::readReceivedMessage(CookieIF* cookie, uint8_t** b
|
|||||||
if (spiCookie == nullptr) {
|
if (spiCookie == nullptr) {
|
||||||
return returnvalue::FAILED;
|
return returnvalue::FAILED;
|
||||||
}
|
}
|
||||||
MutexGuard mg(ipcLock);
|
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
auto handleAdisReply = [&](GyroAdis& gyro) {
|
auto handleAdisReply = [&](GyroAdis& gyro) {
|
||||||
std::memcpy(&gyro.readerReply, &gyro.ownReply, sizeof(acs::Adis1650XReply));
|
std::memcpy(&gyro.readerReply, &gyro.ownReply, sizeof(acs::Adis1650XReply));
|
||||||
*buffer = reinterpret_cast<uint8_t*>(&gyro.readerReply);
|
*buffer = reinterpret_cast<uint8_t*>(&gyro.readerReply);
|
||||||
@ -294,10 +296,10 @@ ReturnValue_t AcsBoardPolling::readReceivedMessage(CookieIF* cookie, uint8_t** b
|
|||||||
|
|
||||||
void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
|
void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
|
||||||
ReturnValue_t result;
|
ReturnValue_t result;
|
||||||
acs::SimpleSensorMode mode;
|
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
|
||||||
bool gyroPerformStartup;
|
bool gyroPerformStartup = false;
|
||||||
{
|
{
|
||||||
MutexGuard mg(ipcLock);
|
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
mode = l3g.mode;
|
mode = l3g.mode;
|
||||||
gyroPerformStartup = l3g.performStartup;
|
gyroPerformStartup = l3g.performStartup;
|
||||||
}
|
}
|
||||||
@ -320,7 +322,7 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
|
|||||||
if (result != returnvalue::OK) {
|
if (result != returnvalue::OK) {
|
||||||
l3g.replyResult = returnvalue::OK;
|
l3g.replyResult = returnvalue::OK;
|
||||||
}
|
}
|
||||||
MutexGuard mg(ipcLock);
|
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
// Cross check configuration as verification that communication is working
|
// Cross check configuration as verification that communication is working
|
||||||
for (uint8_t idx = 0; idx < 5; idx++) {
|
for (uint8_t idx = 0; idx < 5; idx++) {
|
||||||
if (rawReply[idx + 1] != l3g.sensorCfg[idx]) {
|
if (rawReply[idx + 1] != l3g.sensorCfg[idx]) {
|
||||||
@ -345,7 +347,7 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
|
|||||||
l3g.replyResult = returnvalue::FAILED;
|
l3g.replyResult = returnvalue::FAILED;
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
MutexGuard mg(ipcLock);
|
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
// The regular read function always returns the full sensor config as well. Use that
|
// The regular read function always returns the full sensor config as well. Use that
|
||||||
// to verify communications.
|
// to verify communications.
|
||||||
for (uint8_t idx = 0; idx < 5; idx++) {
|
for (uint8_t idx = 0; idx < 5; idx++) {
|
||||||
@ -440,11 +442,11 @@ ReturnValue_t AcsBoardPolling::readAdisCfg(SpiCookie& cookie, size_t transferLen
|
|||||||
|
|
||||||
void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
|
void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
|
||||||
ReturnValue_t result;
|
ReturnValue_t result;
|
||||||
acs::SimpleSensorMode mode;
|
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
|
||||||
bool cdHasTimedOut = false;
|
bool cdHasTimedOut = false;
|
||||||
bool mustPerformStartup = false;
|
bool mustPerformStartup = false;
|
||||||
{
|
{
|
||||||
MutexGuard mg(ipcLock);
|
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
mode = gyro.mode;
|
mode = gyro.mode;
|
||||||
cdHasTimedOut = gyro.countdown.hasTimedOut();
|
cdHasTimedOut = gyro.countdown.hasTimedOut();
|
||||||
mustPerformStartup = gyro.performStartup;
|
mustPerformStartup = gyro.performStartup;
|
||||||
@ -478,7 +480,7 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
|
|||||||
gyro.replyResult = returnvalue::FAILED;
|
gyro.replyResult = returnvalue::FAILED;
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
MutexGuard mg(ipcLock);
|
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
gyro.ownReply.cfgWasSet = true;
|
gyro.ownReply.cfgWasSet = true;
|
||||||
gyro.ownReply.cfg.diagStat = (rawReply[2] << 8) | rawReply[3];
|
gyro.ownReply.cfg.diagStat = (rawReply[2] << 8) | rawReply[3];
|
||||||
gyro.ownReply.cfg.filterSetting = (rawReply[4] << 8) | rawReply[5];
|
gyro.ownReply.cfg.filterSetting = (rawReply[4] << 8) | rawReply[5];
|
||||||
@ -525,7 +527,7 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
|
|||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
MutexGuard mg(ipcLock);
|
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
gyro.ownReply.dataWasSet = true;
|
gyro.ownReply.dataWasSet = true;
|
||||||
gyro.ownReply.cfg.diagStat = rawReply[2] << 8 | rawReply[3];
|
gyro.ownReply.cfg.diagStat = rawReply[2] << 8 | rawReply[3];
|
||||||
gyro.ownReply.data.angVelocities[0] = (rawReply[4] << 8) | rawReply[5];
|
gyro.ownReply.data.angVelocities[0] = (rawReply[4] << 8) | rawReply[5];
|
||||||
@ -542,10 +544,10 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
|
|||||||
|
|
||||||
void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
|
void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
|
||||||
ReturnValue_t result;
|
ReturnValue_t result;
|
||||||
acs::SimpleSensorMode mode;
|
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
|
||||||
bool mustPerformStartup = false;
|
bool mustPerformStartup = false;
|
||||||
{
|
{
|
||||||
MutexGuard mg(ipcLock);
|
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
mode = mgm.mode;
|
mode = mgm.mode;
|
||||||
mustPerformStartup = mgm.performStartup;
|
mustPerformStartup = mgm.performStartup;
|
||||||
}
|
}
|
||||||
@ -605,7 +607,7 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
|
|||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
{
|
{
|
||||||
MutexGuard mg(ipcLock);
|
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
mgm.ownReply.dataWasSet = true;
|
mgm.ownReply.dataWasSet = true;
|
||||||
mgm.ownReply.sensitivity = mgmLis3::getSensitivityFactor(mgmLis3::getSensitivity(mgm.cfg[1]));
|
mgm.ownReply.sensitivity = mgmLis3::getSensitivityFactor(mgmLis3::getSensitivity(mgm.cfg[1]));
|
||||||
mgm.ownReply.mgmValuesRaw[0] =
|
mgm.ownReply.mgmValuesRaw[0] =
|
||||||
@ -627,7 +629,7 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
|
|||||||
mgm.replyResult = result;
|
mgm.replyResult = result;
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
MutexGuard mg(ipcLock);
|
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
mgm.ownReply.temperatureWasSet = true;
|
mgm.ownReply.temperatureWasSet = true;
|
||||||
mgm.ownReply.temperatureRaw = (rawReply[2] << 8) | rawReply[1];
|
mgm.ownReply.temperatureRaw = (rawReply[2] << 8) | rawReply[1];
|
||||||
}
|
}
|
||||||
@ -635,10 +637,10 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
|
|||||||
|
|
||||||
void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
|
void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
|
||||||
ReturnValue_t result;
|
ReturnValue_t result;
|
||||||
acs::SimpleSensorMode mode;
|
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
|
||||||
bool mustPerformStartup = false;
|
bool mustPerformStartup = false;
|
||||||
{
|
{
|
||||||
MutexGuard mg(ipcLock);
|
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
mode = mgm.mode;
|
mode = mgm.mode;
|
||||||
mustPerformStartup = mgm.performStartup;
|
mustPerformStartup = mgm.performStartup;
|
||||||
}
|
}
|
||||||
@ -712,7 +714,7 @@ void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
|
|||||||
mgm.replyResult = result;
|
mgm.replyResult = result;
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
MutexGuard mg(ipcLock);
|
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
for (uint8_t idx = 0; idx < 3; idx++) {
|
for (uint8_t idx = 0; idx < 3; idx++) {
|
||||||
// Hardcoded, but note that the gain depends on the cycle count
|
// Hardcoded, but note that the gain depends on the cycle count
|
||||||
// value which is configurable!
|
// value which is configurable!
|
||||||
|
@ -22,6 +22,9 @@ class AcsBoardPolling : public SystemObject,
|
|||||||
private:
|
private:
|
||||||
enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
|
enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
|
||||||
MutexIF* ipcLock;
|
MutexIF* ipcLock;
|
||||||
|
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
|
||||||
|
static constexpr uint32_t LOCK_TIMEOUT = 20;
|
||||||
|
static constexpr char LOCK_CTX[] = "AcsBoardPolling";
|
||||||
SemaphoreIF* semaphore;
|
SemaphoreIF* semaphore;
|
||||||
std::array<uint8_t, 32> cmdBuf;
|
std::array<uint8_t, 32> cmdBuf;
|
||||||
|
|
||||||
|
@ -19,9 +19,7 @@
|
|||||||
|
|
||||||
GpsHyperionLinuxController::GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
|
GpsHyperionLinuxController::GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
|
||||||
bool debugHyperionGps)
|
bool debugHyperionGps)
|
||||||
: ExtendedControllerBase(objectId), gpsSet(this), debugHyperionGps(debugHyperionGps) {
|
: ExtendedControllerBase(objectId), gpsSet(this), debugHyperionGps(debugHyperionGps) {}
|
||||||
timeUpdateCd.resetTimer();
|
|
||||||
}
|
|
||||||
|
|
||||||
GpsHyperionLinuxController::~GpsHyperionLinuxController() {
|
GpsHyperionLinuxController::~GpsHyperionLinuxController() {
|
||||||
gps_stream(&gps, WATCH_DISABLE, nullptr);
|
gps_stream(&gps, WATCH_DISABLE, nullptr);
|
||||||
@ -196,8 +194,8 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
|
|||||||
if (mode != MODE_OFF) {
|
if (mode != MODE_OFF) {
|
||||||
if (maxTimeToReachFix.hasTimedOut() and oneShotSwitches.cantGetFixSwitch) {
|
if (maxTimeToReachFix.hasTimedOut() and oneShotSwitches.cantGetFixSwitch) {
|
||||||
sif::warning << "GpsHyperionLinuxController: No mode could be set in allowed "
|
sif::warning << "GpsHyperionLinuxController: No mode could be set in allowed "
|
||||||
<< maxTimeToReachFix.timeout / 1000 << " seconds" << std::endl;
|
<< maxTimeToReachFix.getTimeoutMs() / 1000 << " seconds" << std::endl;
|
||||||
triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.timeout);
|
triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.getTimeoutMs());
|
||||||
oneShotSwitches.cantGetFixSwitch = false;
|
oneShotSwitches.cantGetFixSwitch = false;
|
||||||
}
|
}
|
||||||
modeIsSet = false;
|
modeIsSet = false;
|
||||||
|
@ -23,7 +23,8 @@
|
|||||||
*/
|
*/
|
||||||
class GpsHyperionLinuxController : public ExtendedControllerBase {
|
class GpsHyperionLinuxController : public ExtendedControllerBase {
|
||||||
public:
|
public:
|
||||||
static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 60 * 5;
|
// 30 minutes
|
||||||
|
static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 30;
|
||||||
|
|
||||||
enum ReadModes { SHM = 0, SOCKET = 1 };
|
enum ReadModes { SHM = 0, SOCKET = 1 };
|
||||||
|
|
||||||
@ -79,7 +80,6 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
|
|||||||
|
|
||||||
bool debugHyperionGps = false;
|
bool debugHyperionGps = false;
|
||||||
int32_t noModeSetCntr = 0;
|
int32_t noModeSetCntr = 0;
|
||||||
Countdown timeUpdateCd = Countdown(60);
|
|
||||||
|
|
||||||
// Returns true if the function should be called again or false if other
|
// Returns true if the function should be called again or false if other
|
||||||
// controller handling can be done.
|
// controller handling can be done.
|
||||||
|
@ -19,25 +19,19 @@ static constexpr uint8_t BASE_CFG =
|
|||||||
Max31865RtdPolling::Max31865RtdPolling(object_id_t objectId, SpiComIF* lowLevelComIF,
|
Max31865RtdPolling::Max31865RtdPolling(object_id_t objectId, SpiComIF* lowLevelComIF,
|
||||||
GpioIF* gpioIF)
|
GpioIF* gpioIF)
|
||||||
: SystemObject(objectId), rtds(EiveMax31855::NUM_RTDS), comIF(lowLevelComIF), gpioIF(gpioIF) {
|
: SystemObject(objectId), rtds(EiveMax31855::NUM_RTDS), comIF(lowLevelComIF), gpioIF(gpioIF) {
|
||||||
readerMutex = MutexFactory::instance()->createMutex();
|
readerLock = MutexFactory::instance()->createMutex();
|
||||||
}
|
}
|
||||||
|
|
||||||
ReturnValue_t Max31865RtdPolling::performOperation(uint8_t operationCode) {
|
ReturnValue_t Max31865RtdPolling::performOperation(uint8_t operationCode) {
|
||||||
using namespace MAX31865;
|
using namespace MAX31865;
|
||||||
ReturnValue_t result = returnvalue::OK;
|
ReturnValue_t result = returnvalue::OK;
|
||||||
static_cast<void>(result);
|
static_cast<void>(result);
|
||||||
|
// Measured to take 0-1 ms in debug build
|
||||||
// Stopwatch watch;
|
// Stopwatch watch;
|
||||||
if (periodicInitHandling()) {
|
periodicInitHandling();
|
||||||
#if OBSW_RTD_AUTO_MODE == 0
|
#if OBSW_RTD_AUTO_MODE == 0
|
||||||
// 10 ms delay for VBIAS startup
|
// 10 ms delay for VBIAS startup
|
||||||
TaskFactory::delayTask(10);
|
TaskFactory::delayTask(10);
|
||||||
#endif
|
|
||||||
} else {
|
|
||||||
// No devices usable (e.g. TCS board off)
|
|
||||||
return returnvalue::OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
#if OBSW_RTD_AUTO_MODE == 0
|
|
||||||
result = periodicReadReqHandling();
|
result = periodicReadReqHandling();
|
||||||
if (result != returnvalue::OK) {
|
if (result != returnvalue::OK) {
|
||||||
return result;
|
return result;
|
||||||
@ -56,19 +50,28 @@ bool Max31865RtdPolling::rtdIsActive(uint8_t idx) {
|
|||||||
return false;
|
return false;
|
||||||
}
|
}
|
||||||
|
|
||||||
bool Max31865RtdPolling::periodicInitHandling() {
|
ReturnValue_t Max31865RtdPolling::periodicInitHandling() {
|
||||||
using namespace MAX31865;
|
using namespace MAX31865;
|
||||||
ReturnValue_t result = returnvalue::OK;
|
ReturnValue_t result = returnvalue::OK;
|
||||||
for (auto& rtd : rtds) {
|
for (auto& rtd : rtds) {
|
||||||
if (rtd == nullptr) {
|
if (rtd == nullptr) {
|
||||||
continue;
|
continue;
|
||||||
}
|
}
|
||||||
MutexGuard mg(readerMutex);
|
bool mustPerformInitHandling = false;
|
||||||
|
bool doWriteLowThreshold = false;
|
||||||
|
bool doWriteHighThreshold = false;
|
||||||
|
{
|
||||||
|
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
if (mg.getLockResult() != returnvalue::OK) {
|
if (mg.getLockResult() != returnvalue::OK) {
|
||||||
sif::warning << "Max31865RtdReader::periodicInitHandling: Mutex lock failed" << std::endl;
|
sif::warning << "Max31865RtdReader::periodicInitHandling: Mutex lock failed" << std::endl;
|
||||||
return false;
|
continue;
|
||||||
}
|
}
|
||||||
if ((rtd->on or rtd->db.active) and not rtd->db.configured and rtd->cd.hasTimedOut()) {
|
mustPerformInitHandling =
|
||||||
|
(rtd->on or rtd->db.active) and not rtd->db.configured and rtd->cd.hasTimedOut();
|
||||||
|
doWriteHighThreshold = rtd->writeHighThreshold;
|
||||||
|
doWriteLowThreshold = rtd->writeLowThreshold;
|
||||||
|
}
|
||||||
|
if (mustPerformInitHandling) {
|
||||||
// Please note that using the manual CS lock wrapper here is problematic. Might be a SPI
|
// Please note that using the manual CS lock wrapper here is problematic. Might be a SPI
|
||||||
// or hardware specific issue where the CS needs to be pulled high and then low again
|
// or hardware specific issue where the CS needs to be pulled high and then low again
|
||||||
// between transfers
|
// between transfers
|
||||||
@ -77,13 +80,13 @@ bool Max31865RtdPolling::periodicInitHandling() {
|
|||||||
handleSpiError(rtd, result, "writeCfgReg");
|
handleSpiError(rtd, result, "writeCfgReg");
|
||||||
continue;
|
continue;
|
||||||
}
|
}
|
||||||
if (rtd->writeLowThreshold) {
|
if (doWriteLowThreshold) {
|
||||||
result = writeLowThreshold(rtd->spiCookie, rtd->lowThreshold);
|
result = writeLowThreshold(rtd->spiCookie, rtd->lowThreshold);
|
||||||
if (result != returnvalue::OK) {
|
if (result != returnvalue::OK) {
|
||||||
handleSpiError(rtd, result, "writeLowThreshold");
|
handleSpiError(rtd, result, "writeLowThreshold");
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
if (rtd->writeHighThreshold) {
|
if (doWriteHighThreshold) {
|
||||||
result = writeHighThreshold(rtd->spiCookie, rtd->highThreshold);
|
result = writeHighThreshold(rtd->spiCookie, rtd->highThreshold);
|
||||||
if (result != returnvalue::OK) {
|
if (result != returnvalue::OK) {
|
||||||
handleSpiError(rtd, result, "writeHighThreshold");
|
handleSpiError(rtd, result, "writeHighThreshold");
|
||||||
@ -93,38 +96,23 @@ bool Max31865RtdPolling::periodicInitHandling() {
|
|||||||
if (result != returnvalue::OK) {
|
if (result != returnvalue::OK) {
|
||||||
handleSpiError(rtd, result, "clearFaultStatus");
|
handleSpiError(rtd, result, "clearFaultStatus");
|
||||||
}
|
}
|
||||||
|
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
rtd->db.configured = true;
|
rtd->db.configured = true;
|
||||||
rtd->db.active = true;
|
rtd->db.active = true;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
bool someRtdUsable = false;
|
return returnvalue::OK;
|
||||||
for (auto& rtd : rtds) {
|
|
||||||
if (rtd == nullptr) {
|
|
||||||
continue;
|
|
||||||
}
|
|
||||||
if (rtdIsActive(rtd->idx)) {
|
|
||||||
#if OBSW_RTD_AUTO_MODE == 0
|
|
||||||
result = writeBiasSel(Bias::ON, rtd->spiCookie, BASE_CFG);
|
|
||||||
#endif
|
|
||||||
someRtdUsable = true;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
return someRtdUsable;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
ReturnValue_t Max31865RtdPolling::periodicReadReqHandling() {
|
ReturnValue_t Max31865RtdPolling::periodicReadReqHandling() {
|
||||||
using namespace MAX31865;
|
using namespace MAX31865;
|
||||||
|
updateActiveRtdsArray();
|
||||||
// Now request one shot config for all active RTDs
|
// Now request one shot config for all active RTDs
|
||||||
for (auto& rtd : rtds) {
|
for (auto& rtd : rtds) {
|
||||||
if (rtd == nullptr) {
|
if (rtd == nullptr) {
|
||||||
continue;
|
continue;
|
||||||
}
|
}
|
||||||
MutexGuard mg(readerMutex);
|
if (activeRtdsArray[rtd->idx]) {
|
||||||
if (mg.getLockResult() != returnvalue::OK) {
|
|
||||||
sif::warning << "Max31865RtdReader::periodicReadReqHandling: Mutex lock failed" << std::endl;
|
|
||||||
return returnvalue::FAILED;
|
|
||||||
}
|
|
||||||
if (rtdIsActive(rtd->idx)) {
|
|
||||||
ReturnValue_t result = writeCfgReg(rtd->spiCookie, BASE_CFG | (1 << CfgBitPos::ONE_SHOT));
|
ReturnValue_t result = writeCfgReg(rtd->spiCookie, BASE_CFG | (1 << CfgBitPos::ONE_SHOT));
|
||||||
if (result != returnvalue::OK) {
|
if (result != returnvalue::OK) {
|
||||||
handleSpiError(rtd, result, "writeCfgReg");
|
handleSpiError(rtd, result, "writeCfgReg");
|
||||||
@ -139,17 +127,13 @@ ReturnValue_t Max31865RtdPolling::periodicReadReqHandling() {
|
|||||||
ReturnValue_t Max31865RtdPolling::periodicReadHandling() {
|
ReturnValue_t Max31865RtdPolling::periodicReadHandling() {
|
||||||
using namespace MAX31865;
|
using namespace MAX31865;
|
||||||
auto result = returnvalue::OK;
|
auto result = returnvalue::OK;
|
||||||
|
updateActiveRtdsArray();
|
||||||
// Now read the RTD values
|
// Now read the RTD values
|
||||||
for (auto& rtd : rtds) {
|
for (auto& rtd : rtds) {
|
||||||
if (rtd == nullptr) {
|
if (rtd == nullptr) {
|
||||||
continue;
|
continue;
|
||||||
}
|
}
|
||||||
MutexGuard mg(readerMutex);
|
if (activeRtdsArray[rtd->idx]) {
|
||||||
if (mg.getLockResult() != returnvalue::OK) {
|
|
||||||
sif::warning << "Max31865RtdReader::periodicReadHandling: Mutex lock failed" << std::endl;
|
|
||||||
return returnvalue::FAILED;
|
|
||||||
}
|
|
||||||
if (rtdIsActive(rtd->idx)) {
|
|
||||||
// Please note that using the manual CS lock wrapper here is problematic. Might be a SPI
|
// Please note that using the manual CS lock wrapper here is problematic. Might be a SPI
|
||||||
// or hardware specific issue where the CS needs to be pulled high and then low again
|
// or hardware specific issue where the CS needs to be pulled high and then low again
|
||||||
// between transfers
|
// between transfers
|
||||||
@ -166,6 +150,7 @@ ReturnValue_t Max31865RtdPolling::periodicReadHandling() {
|
|||||||
handleSpiError(rtd, result, "readRtdVal");
|
handleSpiError(rtd, result, "readRtdVal");
|
||||||
continue;
|
continue;
|
||||||
}
|
}
|
||||||
|
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
if (faultBitSet) {
|
if (faultBitSet) {
|
||||||
rtd->db.faultBitSet = faultBitSet;
|
rtd->db.faultBitSet = faultBitSet;
|
||||||
}
|
}
|
||||||
@ -200,7 +185,7 @@ ReturnValue_t Max31865RtdPolling::initializeInterface(CookieIF* cookie) {
|
|||||||
throw std::invalid_argument("Invalid RTD index");
|
throw std::invalid_argument("Invalid RTD index");
|
||||||
}
|
}
|
||||||
rtds[rtdCookie->idx] = rtdCookie;
|
rtds[rtdCookie->idx] = rtdCookie;
|
||||||
MutexGuard mg(readerMutex);
|
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
if (dbLen == 0) {
|
if (dbLen == 0) {
|
||||||
dbLen = rtdCookie->db.getSerializedSize();
|
dbLen = rtdCookie->db.getSerializedSize();
|
||||||
}
|
}
|
||||||
@ -212,16 +197,19 @@ ReturnValue_t Max31865RtdPolling::sendMessage(CookieIF* cookie, const uint8_t* s
|
|||||||
if (cookie == nullptr) {
|
if (cookie == nullptr) {
|
||||||
return returnvalue::FAILED;
|
return returnvalue::FAILED;
|
||||||
}
|
}
|
||||||
|
auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
|
||||||
|
if (rtdCookie == nullptr) {
|
||||||
|
return returnvalue::FAILED;
|
||||||
|
}
|
||||||
// Empty command.. don't fail for now
|
// Empty command.. don't fail for now
|
||||||
if (sendLen < 1) {
|
if (sendLen < 1) {
|
||||||
return returnvalue::OK;
|
return returnvalue::OK;
|
||||||
}
|
}
|
||||||
MutexGuard mg(readerMutex);
|
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
if (mg.getLockResult() != returnvalue::OK) {
|
if (mg.getLockResult() != returnvalue::OK) {
|
||||||
sif::warning << "Max31865RtdReader::sendMessage: Mutex lock failed" << std::endl;
|
sif::warning << "Max31865RtdReader::sendMessage: Mutex lock failed" << std::endl;
|
||||||
return returnvalue::FAILED;
|
return returnvalue::FAILED;
|
||||||
}
|
}
|
||||||
auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
|
|
||||||
uint8_t cmdRaw = sendData[0];
|
uint8_t cmdRaw = sendData[0];
|
||||||
if (cmdRaw > EiveMax31855::RtdCommands::NUM_CMDS) {
|
if (cmdRaw > EiveMax31855::RtdCommands::NUM_CMDS) {
|
||||||
sif::warning << "Max31865RtdReader::sendMessage: Invalid command" << std::endl;
|
sif::warning << "Max31865RtdReader::sendMessage: Invalid command" << std::endl;
|
||||||
@ -240,7 +228,6 @@ ReturnValue_t Max31865RtdPolling::sendMessage(CookieIF* cookie, const uint8_t* s
|
|||||||
case (EiveMax31855::RtdCommands::ON): {
|
case (EiveMax31855::RtdCommands::ON): {
|
||||||
if (not rtdCookie->on) {
|
if (not rtdCookie->on) {
|
||||||
rtdCookie->cd.setTimeout(MAX31865::WARMUP_MS);
|
rtdCookie->cd.setTimeout(MAX31865::WARMUP_MS);
|
||||||
rtdCookie->cd.resetTimer();
|
|
||||||
rtdCookie->on = true;
|
rtdCookie->on = true;
|
||||||
rtdCookie->db.active = false;
|
rtdCookie->db.active = false;
|
||||||
rtdCookie->db.configured = false;
|
rtdCookie->db.configured = false;
|
||||||
@ -253,7 +240,6 @@ ReturnValue_t Max31865RtdPolling::sendMessage(CookieIF* cookie, const uint8_t* s
|
|||||||
case (EiveMax31855::RtdCommands::ACTIVE): {
|
case (EiveMax31855::RtdCommands::ACTIVE): {
|
||||||
if (not rtdCookie->on) {
|
if (not rtdCookie->on) {
|
||||||
rtdCookie->cd.setTimeout(MAX31865::WARMUP_MS);
|
rtdCookie->cd.setTimeout(MAX31865::WARMUP_MS);
|
||||||
rtdCookie->cd.resetTimer();
|
|
||||||
rtdCookie->on = true;
|
rtdCookie->on = true;
|
||||||
rtdCookie->db.active = true;
|
rtdCookie->db.active = true;
|
||||||
rtdCookie->db.configured = false;
|
rtdCookie->db.configured = false;
|
||||||
@ -312,15 +298,15 @@ ReturnValue_t Max31865RtdPolling::requestReceiveMessage(CookieIF* cookie, size_t
|
|||||||
|
|
||||||
ReturnValue_t Max31865RtdPolling::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
|
ReturnValue_t Max31865RtdPolling::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
|
||||||
size_t* size) {
|
size_t* size) {
|
||||||
MutexGuard mg(readerMutex);
|
|
||||||
if (mg.getLockResult() != returnvalue::OK) {
|
|
||||||
// TODO: Emit warning
|
|
||||||
return returnvalue::FAILED;
|
|
||||||
}
|
|
||||||
auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
|
auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
|
||||||
if (rtdCookie == nullptr) {
|
if (rtdCookie == nullptr) {
|
||||||
return returnvalue::FAILED;
|
return returnvalue::FAILED;
|
||||||
}
|
}
|
||||||
|
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
|
if (mg.getLockResult() != returnvalue::OK) {
|
||||||
|
// TODO: Emit warning
|
||||||
|
return returnvalue::FAILED;
|
||||||
|
}
|
||||||
uint8_t* exchangePtr = rtdCookie->exchangeBuf.data();
|
uint8_t* exchangePtr = rtdCookie->exchangeBuf.data();
|
||||||
size_t serLen = 0;
|
size_t serLen = 0;
|
||||||
auto result = rtdCookie->db.serialize(&exchangePtr, &serLen, rtdCookie->exchangeBuf.size(),
|
auto result = rtdCookie->db.serialize(&exchangePtr, &serLen, rtdCookie->exchangeBuf.size(),
|
||||||
@ -461,6 +447,18 @@ ReturnValue_t Max31865RtdPolling::readNFromReg(SpiCookie* cookie, uint8_t reg, s
|
|||||||
return returnvalue::OK;
|
return returnvalue::OK;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
ReturnValue_t Max31865RtdPolling::updateActiveRtdsArray() {
|
||||||
|
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
|
if (mg.getLockResult() != returnvalue::OK) {
|
||||||
|
sif::warning << "Max31865RtdReader::periodicReadHandling: Mutex lock failed" << std::endl;
|
||||||
|
return returnvalue::FAILED;
|
||||||
|
}
|
||||||
|
for (const auto& rtd : rtds) {
|
||||||
|
activeRtdsArray[rtd->idx] = rtdIsActive(rtd->idx);
|
||||||
|
}
|
||||||
|
return returnvalue::OK;
|
||||||
|
}
|
||||||
|
|
||||||
ReturnValue_t Max31865RtdPolling::handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result,
|
ReturnValue_t Max31865RtdPolling::handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result,
|
||||||
const char* ctx) {
|
const char* ctx) {
|
||||||
cookie->db.spiErrorCount.value += 1;
|
cookie->db.spiErrorCount.value += 1;
|
||||||
|
@ -47,8 +47,12 @@ class Max31865RtdPolling : public SystemObject,
|
|||||||
private:
|
private:
|
||||||
std::vector<Max31865ReaderCookie*> rtds;
|
std::vector<Max31865ReaderCookie*> rtds;
|
||||||
std::array<uint8_t, 4> cmdBuf = {};
|
std::array<uint8_t, 4> cmdBuf = {};
|
||||||
|
std::array<bool, 12> activeRtdsArray{};
|
||||||
size_t dbLen = 0;
|
size_t dbLen = 0;
|
||||||
MutexIF* readerMutex;
|
MutexIF* readerLock;
|
||||||
|
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
|
||||||
|
static constexpr uint32_t LOCK_TIMEOUT = 20;
|
||||||
|
static constexpr char LOCK_CTX[] = "Max31865RtdPolling";
|
||||||
|
|
||||||
SpiComIF* comIF;
|
SpiComIF* comIF;
|
||||||
GpioIF* gpioIF;
|
GpioIF* gpioIF;
|
||||||
@ -56,7 +60,7 @@ class Max31865RtdPolling : public SystemObject,
|
|||||||
uint32_t csTimeoutMs = spi::RTD_CS_TIMEOUT;
|
uint32_t csTimeoutMs = spi::RTD_CS_TIMEOUT;
|
||||||
MutexIF* csLock = nullptr;
|
MutexIF* csLock = nullptr;
|
||||||
|
|
||||||
bool periodicInitHandling();
|
ReturnValue_t periodicInitHandling();
|
||||||
ReturnValue_t periodicReadReqHandling();
|
ReturnValue_t periodicReadReqHandling();
|
||||||
ReturnValue_t periodicReadHandling();
|
ReturnValue_t periodicReadHandling();
|
||||||
|
|
||||||
@ -81,6 +85,8 @@ class Max31865RtdPolling : public SystemObject,
|
|||||||
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
|
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
|
||||||
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
|
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
|
||||||
|
|
||||||
|
ReturnValue_t updateActiveRtdsArray();
|
||||||
|
|
||||||
ReturnValue_t handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result, const char* ctx);
|
ReturnValue_t handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result, const char* ctx);
|
||||||
};
|
};
|
||||||
|
|
||||||
|
@ -220,7 +220,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
|
|||||||
}
|
}
|
||||||
pullCsLow(gpioId, gpioIF);
|
pullCsLow(gpioId, gpioIF);
|
||||||
bool lastByteWasFrameMarker = false;
|
bool lastByteWasFrameMarker = false;
|
||||||
Countdown cd(3000);
|
Countdown cd(2000);
|
||||||
size_t readIdx = 0;
|
size_t readIdx = 0;
|
||||||
|
|
||||||
while (true) {
|
while (true) {
|
||||||
|
@ -9,12 +9,12 @@ MutexIF* DATARATE_LOCK = nullptr;
|
|||||||
MutexIF* lazyLock();
|
MutexIF* lazyLock();
|
||||||
|
|
||||||
com::Datarate com::getCurrentDatarate() {
|
com::Datarate com::getCurrentDatarate() {
|
||||||
MutexGuard mg(lazyLock());
|
MutexGuard mg(lazyLock(), MutexIF::TimeoutType::WAITING, 20, "com");
|
||||||
return DATARATE_CFG_RAW;
|
return DATARATE_CFG_RAW;
|
||||||
}
|
}
|
||||||
|
|
||||||
void com::setCurrentDatarate(com::Datarate newRate) {
|
void com::setCurrentDatarate(com::Datarate newRate) {
|
||||||
MutexGuard mg(lazyLock());
|
MutexGuard mg(lazyLock(), MutexIF::TimeoutType::WAITING, 20, "com");
|
||||||
DATARATE_CFG_RAW = newRate;
|
DATARATE_CFG_RAW = newRate;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -9,6 +9,9 @@ namespace torquer {
|
|||||||
// Additional buffer time to accont for time until I2C command arrives and ramp up / ramp down
|
// Additional buffer time to accont for time until I2C command arrives and ramp up / ramp down
|
||||||
// time of the MGT
|
// time of the MGT
|
||||||
static constexpr dur_millis_t TORQUE_BUFFER_TIME_MS = 20;
|
static constexpr dur_millis_t TORQUE_BUFFER_TIME_MS = 20;
|
||||||
|
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
|
||||||
|
static constexpr uint32_t LOCK_TIMEOUT = 20;
|
||||||
|
static constexpr char LOCK_CTX[] = "torquer";
|
||||||
|
|
||||||
MutexIF* lazyLock();
|
MutexIF* lazyLock();
|
||||||
extern bool TORQUEING;
|
extern bool TORQUEING;
|
||||||
|
@ -432,7 +432,8 @@ ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole,
|
|||||||
uint16_t rampTime) {
|
uint16_t rampTime) {
|
||||||
{
|
{
|
||||||
PoolReadGuard pg(&dipoleSet);
|
PoolReadGuard pg(&dipoleSet);
|
||||||
MutexGuard mg(torquer::lazyLock());
|
MutexGuard mg(torquer::lazyLock(), torquer::LOCK_TYPE, torquer::LOCK_TIMEOUT,
|
||||||
|
torquer::LOCK_CTX);
|
||||||
torquer::NEW_ACTUATION_FLAG = true;
|
torquer::NEW_ACTUATION_FLAG = true;
|
||||||
dipoleSet.setDipoles(xDipole, yDipole, zDipole, dipoleTorqueDuration);
|
dipoleSet.setDipoles(xDipole, yDipole, zDipole, dipoleTorqueDuration);
|
||||||
}
|
}
|
||||||
|
@ -84,21 +84,23 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
|
|||||||
}
|
}
|
||||||
|
|
||||||
// Will be the version in worst case scenario in event of no working MEKF (nor GYRs)
|
// Will be the version in worst case scenario in event of no working MEKF (nor GYRs)
|
||||||
ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
|
ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid,
|
||||||
bool sunRateBValid, double *magFieldB, bool magFieldBValid,
|
double *sunRateB, bool sunRateBValid, double *magFieldB,
|
||||||
double *magRateB, bool magRateBValid, double *sunDirRef,
|
bool magFieldBValid, double *magRateB, bool magRateBValid,
|
||||||
double *satRateRef, double *outputAngle, double *outputMagMomB) {
|
double *sunDirRef, double *satRateRef, double *outputAngle,
|
||||||
|
double *outputMagMomB) {
|
||||||
// Check for invalid Inputs
|
// Check for invalid Inputs
|
||||||
if (!susDirBValid || !magFieldBValid || !magRateBValid) {
|
if (!susDirBValid || !magFieldBValid || !magRateBValid) {
|
||||||
return returnvalue::FAILED;
|
return returnvalue::FAILED;
|
||||||
}
|
}
|
||||||
|
|
||||||
// change unit from uT to T
|
// change unit from uT to T
|
||||||
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldB, 3);
|
double magFieldBT[3] = {0, 0, 0};
|
||||||
|
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
|
||||||
|
|
||||||
// normalize sunDir and magDir
|
// normalize sunDir and magDir
|
||||||
double magDirB[3] = {0, 0, 0};
|
double magDirB[3] = {0, 0, 0};
|
||||||
VectorOperations<double>::normalize(magFieldB, magDirB, 3);
|
VectorOperations<double>::normalize(magFieldBT, magDirB, 3);
|
||||||
VectorOperations<double>::normalize(susDirB, susDirB, 3);
|
VectorOperations<double>::normalize(susDirB, susDirB, 3);
|
||||||
|
|
||||||
// Cosinus angle between sunDir and magDir
|
// Cosinus angle between sunDir and magDir
|
||||||
@ -159,8 +161,8 @@ ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBVal
|
|||||||
// Magnetic moment
|
// Magnetic moment
|
||||||
double magMomB[3] = {0, 0, 0};
|
double magMomB[3] = {0, 0, 0};
|
||||||
double crossMagFieldTorque[3] = {0, 0, 0};
|
double crossMagFieldTorque[3] = {0, 0, 0};
|
||||||
VectorOperations<double>::cross(magFieldB, torqueB, crossMagFieldTorque);
|
VectorOperations<double>::cross(magFieldBT, torqueB, crossMagFieldTorque);
|
||||||
double magMomFactor = pow(VectorOperations<double>::norm(magFieldB, 3), 2);
|
double magMomFactor = pow(VectorOperations<double>::norm(magFieldBT, 3), 2);
|
||||||
VectorOperations<double>::mulScalar(crossMagFieldTorque, 1 / magMomFactor, magMomB, 3);
|
VectorOperations<double>::mulScalar(crossMagFieldTorque, 1 / magMomFactor, magMomB, 3);
|
||||||
|
|
||||||
std::memcpy(outputMagMomB, magMomB, 3 * sizeof(double));
|
std::memcpy(outputMagMomB, magMomB, 3 * sizeof(double));
|
||||||
|
@ -117,14 +117,16 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
|
|||||||
|
|
||||||
#if OBSW_ADD_TCPIP_SERVERS == 1
|
#if OBSW_ADD_TCPIP_SERVERS == 1
|
||||||
#if OBSW_ADD_TMTC_UDP_SERVER == 1
|
#if OBSW_ADD_TMTC_UDP_SERVER == 1
|
||||||
auto udpBridge = new UdpTmTcBridge(objects::UDP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR);
|
auto udpBridge =
|
||||||
|
new UdpTmTcBridge(objects::UDP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR, 50);
|
||||||
new UdpTcPollingTask(objects::UDP_TMTC_POLLING_TASK, objects::UDP_TMTC_SERVER);
|
new UdpTcPollingTask(objects::UDP_TMTC_POLLING_TASK, objects::UDP_TMTC_SERVER);
|
||||||
sif::info << "Created UDP server for TMTC commanding with listener port "
|
sif::info << "Created UDP server for TMTC commanding with listener port "
|
||||||
<< udpBridge->getUdpPort() << std::endl;
|
<< udpBridge->getUdpPort() << std::endl;
|
||||||
udpBridge->setMaxNumberOfPacketsStored(config::MAX_STORED_CMDS_UDP);
|
udpBridge->setMaxNumberOfPacketsStored(config::MAX_STORED_CMDS_UDP);
|
||||||
#endif
|
#endif
|
||||||
#if OBSW_ADD_TMTC_TCP_SERVER == 1
|
#if OBSW_ADD_TMTC_TCP_SERVER == 1
|
||||||
auto tcpBridge = new TcpTmTcBridge(objects::TCP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR);
|
auto tcpBridge =
|
||||||
|
new TcpTmTcBridge(objects::TCP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR, 50);
|
||||||
TcpTmTcServer::TcpConfig cfg(true, true);
|
TcpTmTcServer::TcpConfig cfg(true, true);
|
||||||
auto tcpServer = new TcpTmTcServer(objects::TCP_TMTC_POLLING_TASK, objects::TCP_TMTC_SERVER, cfg);
|
auto tcpServer = new TcpTmTcServer(objects::TCP_TMTC_POLLING_TASK, objects::TCP_TMTC_SERVER, cfg);
|
||||||
// TCP is stream based. Use packet ID as start marker when parsing for space packets
|
// TCP is stream based. Use packet ID as start marker when parsing for space packets
|
||||||
|
@ -30,8 +30,8 @@ HeaterHandler::HeaterHandler(object_id_t setObjectId_, GpioIF* gpioInterface_, H
|
|||||||
if (mainLineSwitcher == nullptr) {
|
if (mainLineSwitcher == nullptr) {
|
||||||
throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid PowerSwitchIF");
|
throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid PowerSwitchIF");
|
||||||
}
|
}
|
||||||
heaterHealthAndStateMutex = MutexFactory::instance()->createMutex();
|
handlerLock = MutexFactory::instance()->createMutex();
|
||||||
if (heaterHealthAndStateMutex == nullptr) {
|
if (handlerLock == nullptr) {
|
||||||
throw std::runtime_error("HeaterHandler::HeaterHandler: Creating Mutex failed");
|
throw std::runtime_error("HeaterHandler::HeaterHandler: Creating Mutex failed");
|
||||||
}
|
}
|
||||||
auto mqArgs = MqArgs(setObjectId_, static_cast<void*>(this));
|
auto mqArgs = MqArgs(setObjectId_, static_cast<void*>(this));
|
||||||
@ -144,7 +144,7 @@ ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId, MessageQueueId_t
|
|||||||
if (action == SwitchAction::SET_SWITCH_ON) {
|
if (action == SwitchAction::SET_SWITCH_ON) {
|
||||||
HasHealthIF::HealthState health;
|
HasHealthIF::HealthState health;
|
||||||
{
|
{
|
||||||
MutexGuard mg(heaterHealthAndStateMutex);
|
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
health = heater.healthDevice->getHealth();
|
health = heater.healthDevice->getHealth();
|
||||||
}
|
}
|
||||||
if (health == HasHealthIF::FAULTY or health == HasHealthIF::PERMANENT_FAULTY or
|
if (health == HasHealthIF::FAULTY or health == HasHealthIF::PERMANENT_FAULTY or
|
||||||
@ -270,7 +270,7 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
|
|||||||
} else {
|
} else {
|
||||||
triggerEvent(HEATER_WENT_ON, heaterIdx, 0);
|
triggerEvent(HEATER_WENT_ON, heaterIdx, 0);
|
||||||
{
|
{
|
||||||
MutexGuard mg(heaterHealthAndStateMutex);
|
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
heater.switchState = ON;
|
heater.switchState = ON;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@ -320,7 +320,7 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
|
|||||||
triggerEvent(GPIO_PULL_LOW_FAILED, result);
|
triggerEvent(GPIO_PULL_LOW_FAILED, result);
|
||||||
} else {
|
} else {
|
||||||
{
|
{
|
||||||
MutexGuard mg(heaterHealthAndStateMutex);
|
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
heater.switchState = OFF;
|
heater.switchState = OFF;
|
||||||
}
|
}
|
||||||
triggerEvent(HEATER_WENT_OFF, heaterIdx, 0);
|
triggerEvent(HEATER_WENT_OFF, heaterIdx, 0);
|
||||||
@ -346,7 +346,7 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
HeaterHandler::SwitchState HeaterHandler::checkSwitchState(heater::Switchers switchNr) const {
|
HeaterHandler::SwitchState HeaterHandler::checkSwitchState(heater::Switchers switchNr) const {
|
||||||
MutexGuard mg(heaterHealthAndStateMutex);
|
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
return heaterVec.at(switchNr).switchState;
|
return heaterVec.at(switchNr).switchState;
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -396,7 +396,7 @@ object_id_t HeaterHandler::getObjectId() const { return SystemObject::getObjectI
|
|||||||
|
|
||||||
ReturnValue_t HeaterHandler::getAllSwitchStates(std::array<SwitchState, 8>& statesBuf) {
|
ReturnValue_t HeaterHandler::getAllSwitchStates(std::array<SwitchState, 8>& statesBuf) {
|
||||||
{
|
{
|
||||||
MutexGuard mg(heaterHealthAndStateMutex);
|
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
if (mg.getLockResult() != returnvalue::OK) {
|
if (mg.getLockResult() != returnvalue::OK) {
|
||||||
return returnvalue::FAILED;
|
return returnvalue::FAILED;
|
||||||
}
|
}
|
||||||
@ -409,7 +409,7 @@ ReturnValue_t HeaterHandler::getAllSwitchStates(std::array<SwitchState, 8>& stat
|
|||||||
|
|
||||||
bool HeaterHandler::allSwitchesOff() {
|
bool HeaterHandler::allSwitchesOff() {
|
||||||
bool allSwitchesOrd = false;
|
bool allSwitchesOrd = false;
|
||||||
MutexGuard mg(heaterHealthAndStateMutex);
|
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
/* Or all switches. As soon one switch is on, allSwitchesOrd will be true */
|
/* Or all switches. As soon one switch is on, allSwitchesOrd will be true */
|
||||||
for (power::Switch_t switchNr = 0; switchNr < heater::NUMBER_OF_SWITCHES; switchNr++) {
|
for (power::Switch_t switchNr = 0; switchNr < heater::NUMBER_OF_SWITCHES; switchNr++) {
|
||||||
allSwitchesOrd = allSwitchesOrd || heaterVec.at(switchNr).switchState;
|
allSwitchesOrd = allSwitchesOrd || heaterVec.at(switchNr).switchState;
|
||||||
@ -442,7 +442,7 @@ uint32_t HeaterHandler::getSwitchDelayMs(void) const { return 2000; }
|
|||||||
HasHealthIF::HealthState HeaterHandler::getHealth(heater::Switchers heater) {
|
HasHealthIF::HealthState HeaterHandler::getHealth(heater::Switchers heater) {
|
||||||
auto* healthDev = heaterVec.at(heater).healthDevice;
|
auto* healthDev = heaterVec.at(heater).healthDevice;
|
||||||
if (healthDev != nullptr) {
|
if (healthDev != nullptr) {
|
||||||
MutexGuard mg(heaterHealthAndStateMutex);
|
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
return healthDev->getHealth();
|
return healthDev->getHealth();
|
||||||
}
|
}
|
||||||
return HasHealthIF::HealthState::FAULTY;
|
return HasHealthIF::HealthState::FAULTY;
|
||||||
|
@ -136,7 +136,10 @@ class HeaterHandler : public ExecutableObjectIF,
|
|||||||
|
|
||||||
HeaterMap heaterVec = {};
|
HeaterMap heaterVec = {};
|
||||||
|
|
||||||
MutexIF* heaterHealthAndStateMutex = nullptr;
|
MutexIF* handlerLock = nullptr;
|
||||||
|
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
|
||||||
|
static constexpr uint32_t LOCK_TIMEOUT = 20;
|
||||||
|
static constexpr char LOCK_CTX[] = "HeaterHandler";
|
||||||
|
|
||||||
HeaterHelper helper;
|
HeaterHelper helper;
|
||||||
ModeHelper modeHelper;
|
ModeHelper modeHelper;
|
||||||
|
@ -214,7 +214,8 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
|
|||||||
<< ", y = " << dipoleSet.yDipole.value << ", z = " << dipoleSet.zDipole.value
|
<< ", y = " << dipoleSet.yDipole.value << ", z = " << dipoleSet.zDipole.value
|
||||||
<< ", duration = " << dipoleSet.currentTorqueDurationMs.value << std::endl;
|
<< ", duration = " << dipoleSet.currentTorqueDurationMs.value << std::endl;
|
||||||
}
|
}
|
||||||
MutexGuard mg(torquer::lazyLock());
|
MutexGuard mg(torquer::lazyLock(), torquer::LOCK_TYPE, torquer::LOCK_TIMEOUT,
|
||||||
|
torquer::LOCK_CTX);
|
||||||
torquer::TORQUEING = true;
|
torquer::TORQUEING = true;
|
||||||
torquer::TORQUE_COUNTDOWN.setTimeout(dipoleSet.currentTorqueDurationMs.value);
|
torquer::TORQUE_COUNTDOWN.setTimeout(dipoleSet.currentTorqueDurationMs.value);
|
||||||
rawPacket = commandBuffer;
|
rawPacket = commandBuffer;
|
||||||
|
@ -18,7 +18,7 @@ PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize)
|
|||||||
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
|
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
|
||||||
commandQueue = QueueFactory::instance()->createMessageQueue(
|
commandQueue = QueueFactory::instance()->createMessageQueue(
|
||||||
cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
|
cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
|
||||||
pwrMutex = MutexFactory::instance()->createMutex();
|
pwrLock = MutexFactory::instance()->createMutex();
|
||||||
}
|
}
|
||||||
|
|
||||||
PCDUHandler::~PCDUHandler() {}
|
PCDUHandler::~PCDUHandler() {}
|
||||||
@ -41,7 +41,7 @@ ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
|
|||||||
if (pg.getReadResult() == returnvalue::OK) {
|
if (pg.getReadResult() == returnvalue::OK) {
|
||||||
if (switcherSet.p60Dock5VStack.value != switchState) {
|
if (switcherSet.p60Dock5VStack.value != switchState) {
|
||||||
triggerEvent(power::SWITCH_HAS_CHANGED, switchState, pcdu::Switches::P60_DOCK_5V_STACK);
|
triggerEvent(power::SWITCH_HAS_CHANGED, switchState, pcdu::Switches::P60_DOCK_5V_STACK);
|
||||||
MutexGuard mg(pwrMutex);
|
MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
switchStates[pcdu::P60_DOCK_5V_STACK] = switchState;
|
switchStates[pcdu::P60_DOCK_5V_STACK] = switchState;
|
||||||
}
|
}
|
||||||
switcherSet.p60Dock5VStack.setValid(true);
|
switcherSet.p60Dock5VStack.setValid(true);
|
||||||
@ -179,7 +179,7 @@ void PCDUHandler::updatePdu2SwitchStates() {
|
|||||||
switcherSet.pdu2Switches[idx] = pdu2CoreHk.outputEnables[idx];
|
switcherSet.pdu2Switches[idx] = pdu2CoreHk.outputEnables[idx];
|
||||||
}
|
}
|
||||||
switcherSet.pdu2Switches.setValid(true);
|
switcherSet.pdu2Switches.setValid(true);
|
||||||
MutexGuard mg(pwrMutex);
|
MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH0_Q7S, pdu2CoreHk.outputEnables[Channels::Q7S]);
|
checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH0_Q7S, pdu2CoreHk.outputEnables[Channels::Q7S]);
|
||||||
|
|
||||||
checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
|
checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
|
||||||
@ -216,7 +216,7 @@ void PCDUHandler::updatePdu1SwitchStates() {
|
|||||||
switcherSet.pdu1Switches[idx] = pdu1CoreHk.outputEnables[idx];
|
switcherSet.pdu1Switches[idx] = pdu1CoreHk.outputEnables[idx];
|
||||||
}
|
}
|
||||||
switcherSet.pdu1Switches.setValid(true);
|
switcherSet.pdu1Switches.setValid(true);
|
||||||
MutexGuard mg(pwrMutex);
|
MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH0_TCS_BOARD_3V3,
|
checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH0_TCS_BOARD_3V3,
|
||||||
pdu1CoreHk.outputEnables[Channels::TCS_BOARD_3V3]);
|
pdu1CoreHk.outputEnables[Channels::TCS_BOARD_3V3]);
|
||||||
checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH1_SYRLINKS_12V,
|
checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH1_SYRLINKS_12V,
|
||||||
@ -402,9 +402,11 @@ ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
|
|||||||
sif::debug << "PCDUHandler::getSwitchState: Invalid switch number" << std::endl;
|
sif::debug << "PCDUHandler::getSwitchState: Invalid switch number" << std::endl;
|
||||||
return returnvalue::FAILED;
|
return returnvalue::FAILED;
|
||||||
}
|
}
|
||||||
pwrMutex->lockMutex();
|
uint8_t currentState = 0;
|
||||||
uint8_t currentState = switchStates[switchNr];
|
{
|
||||||
pwrMutex->unlockMutex();
|
MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
|
currentState = switchStates[switchNr];
|
||||||
|
}
|
||||||
if (currentState == 1) {
|
if (currentState == 1) {
|
||||||
return PowerSwitchIF::SWITCH_ON;
|
return PowerSwitchIF::SWITCH_ON;
|
||||||
} else {
|
} else {
|
||||||
|
@ -51,7 +51,10 @@ class PCDUHandler : public PowerSwitchIF,
|
|||||||
|
|
||||||
private:
|
private:
|
||||||
uint32_t pstIntervalMs = 0;
|
uint32_t pstIntervalMs = 0;
|
||||||
MutexIF* pwrMutex = nullptr;
|
MutexIF* pwrLock = nullptr;
|
||||||
|
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
|
||||||
|
static constexpr uint32_t LOCK_TIMEOUT = 20;
|
||||||
|
static constexpr char LOCK_CTX[] = "PcduHandler";
|
||||||
|
|
||||||
/** Housekeeping manager. Handles updates of local pool variables. */
|
/** Housekeeping manager. Handles updates of local pool variables. */
|
||||||
LocalDataPoolManager poolManager;
|
LocalDataPoolManager poolManager;
|
||||||
|
@ -5,7 +5,7 @@ Stack5VHandler::Stack5VHandler(PowerSwitchIF& switcher) : switcher(switcher) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
ReturnValue_t Stack5VHandler::deviceToOn(StackCommander commander, bool updateStates) {
|
ReturnValue_t Stack5VHandler::deviceToOn(StackCommander commander, bool updateStates) {
|
||||||
MutexGuard mg(stackLock);
|
MutexGuard mg(stackLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
if (updateStates) {
|
if (updateStates) {
|
||||||
updateInternalStates();
|
updateInternalStates();
|
||||||
}
|
}
|
||||||
@ -27,7 +27,7 @@ ReturnValue_t Stack5VHandler::deviceToOn(StackCommander commander, bool updateSt
|
|||||||
}
|
}
|
||||||
|
|
||||||
ReturnValue_t Stack5VHandler::deviceToOff(StackCommander commander, bool updateStates) {
|
ReturnValue_t Stack5VHandler::deviceToOff(StackCommander commander, bool updateStates) {
|
||||||
MutexGuard mg(stackLock);
|
MutexGuard mg(stackLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
if (updateStates) {
|
if (updateStates) {
|
||||||
updateInternalStates();
|
updateInternalStates();
|
||||||
}
|
}
|
||||||
@ -55,12 +55,12 @@ ReturnValue_t Stack5VHandler::deviceToOff(StackCommander commander, bool updateS
|
|||||||
}
|
}
|
||||||
|
|
||||||
bool Stack5VHandler::isSwitchOn() {
|
bool Stack5VHandler::isSwitchOn() {
|
||||||
MutexGuard mg(stackLock);
|
MutexGuard mg(stackLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
return updateInternalStates();
|
return updateInternalStates();
|
||||||
}
|
}
|
||||||
|
|
||||||
void Stack5VHandler::update() {
|
void Stack5VHandler::update() {
|
||||||
MutexGuard mg(stackLock);
|
MutexGuard mg(stackLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
|
||||||
updateInternalStates();
|
updateInternalStates();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -21,7 +21,11 @@ class Stack5VHandler {
|
|||||||
void update();
|
void update();
|
||||||
|
|
||||||
private:
|
private:
|
||||||
|
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
|
||||||
|
static constexpr uint32_t LOCK_TIMEOUT = 20;
|
||||||
|
|
||||||
MutexIF* stackLock;
|
MutexIF* stackLock;
|
||||||
|
static constexpr char LOCK_CTX[] = "Stack5VHandler";
|
||||||
PowerSwitchIF& switcher;
|
PowerSwitchIF& switcher;
|
||||||
bool switchIsOn = false;
|
bool switchIsOn = false;
|
||||||
bool targetState = false;
|
bool targetState = false;
|
||||||
|
2
tmtc
2
tmtc
@ -1 +1 @@
|
|||||||
Subproject commit 77fbcede10d44fd15dc7d5d1b3965f06c6a8e7fc
|
Subproject commit 94ae2d16e21ade8f89723b2e62356967a67b171d
|
Loading…
Reference in New Issue
Block a user