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Merge remote-tracking branch 'origin/develop' into add_heater_info_set
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Robin Müller 2023-02-08 21:39:27 +01:00
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220
CHANGELOG.md
View File

@ -8,19 +8,233 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/).
The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
list yields a list of all related PRs for each release.
Starting at v2.0.0, the following changes will consitute of a breaking
change warranting a new major release:
- The TMTC interface changes in any shape of form.
- The behavour of the OBSW changes in a major shape or form relevant
for operations
# [unreleased]
- Added new heater info set for the TCS controller. This set contains the heater switch states
and the current draw.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/351
# [v1.26.2] 2023-02-08
## Changed
- ACS Controller scheduling is now configurable via the `eive/definitions.h` file. Also ensured
that scheduling is done in big blocks to reduce risk of missed deadlines.
- Replaced chained locks for polling new sensor data to the `AcsController`.
- Made TM store even larger.
## Fixed
- Bugfix for PDEC handler which causes the PIR register of the PDEC to never
be cleared on release builds. The dummy variable used to read the register
needs to be declared volatile to avoid compiler optimizations.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/374
- Bumped FSFW for fix of possible memory leaks in TCP/IP TMTC bridge
inside the FSFW.
## Added
- Create TCS controller for EM build.
# [v1.26.1] 2023-02-08
- Initialize parameter helper in ACS controller.
# [v1.26.0] 2023-02-08
eive-tmtc v2.12.1
## Changed
### ACS
- Readded calibration matrices for MGM calibration.
- Added calculation of satellite velocity vector from GPS position data
- Added detumble mode using GYR values
- Added inertial pointing mode
- Added nadir pointing mode
- Added ground station target mode
- Added antistiction for RWs
- Added `sunTargetSafe` differentiation for LEOP
- Added check for existance of `SD_0_SKEWED_PTG_FILE` and `SD_1_SKEWED_PTG_FILE` to determine
which `sunTargetSafe` to use
- Added `gpsVelocity` and `gpsPosition` to `gpsProcessed`
- Removed deprecated `OutputValues`
- Added `HasParametersIF` to `AcsParameters`
- Added `ReceivesParameterMessagesIF` and `ParameterHelper` to `AcsController`
- Updated `AcsParameters` with actual values and changed structure
- Sun vector model and magnetic field vector model calculations are always executed now
- `domainId` is now used as identifier for parameter structs
- Changed onboard GYR value handling from deg/s to rad/s
## Fixed
- Single sourcing the version information into `CMakeLists.txt`. The `git describe` functionality
is only used to retrieve the git SHA hash now. Also removed `OBSWVersion.h` accordingly.
- Build system: Fixed small bug, where the version itself was
stored as the git SHA hash in `commonConfig.h`. This will be
an empty string now for regular versions.
- Bump FSFW for important fix in PUS mode service.
### ACS
- Bugfixes in 'SensorProcessing' where previously MGM values would be calibrated before being
transformed in body RF. However, the calibration values are in the body RF. Also fixed the
validity flag of 'mgmVecTotDerivative'.
- Fixed calculation of model sun vector
- Fixed calculation of model magnetic field vector
- Fixed MEKF algorithm
- Fixed several variable initializations
- Fixed several variable types
- Fixed use of `sunMagAngleMin` for safe mode
- Fixed MEKF not using correct `sampleTime`
- Fixed assignment of `SUS0` and `SUS6` calibration matrices due to wiring being mixed up
- Various smaller bugfixes
# [v1.25.0] 2023-02-06
eive-tmtc version: v2.12.0
## Changed
- Updated Subsystem mode IDs to avoid clashes with regular device handler modes.
## Fixed
- `GpsHyperionLinuxController`: Fix `gpsd` polling by continuously calling `gps_read` in one cycle
until it does not have any data left anymore. Also, the data is now polled in a permanent loop,
where controller handling is done on 0.2 second timeouts.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/368
# [v1.24.0] 2023-02-03
- eive-tmtc v2.10.0
- `AcsSubsystem`: OFF, SAFE and DETUMBLE mode were tested. Auto-transitions SAFE <-> DETUMBLE tested
as well. Other modes still need to be tested.
## Fixed
- `AcsController`: Parameter fix in `DetumbleParameter`.
- Set GPS set entries to invalid on MODE_OFF command.
- Bump FSFW for bugfix in `setNormalDatapoolEntriesInvalid` where the validity was not set to false
properly
- Fixed usage of uint instead of int for commanding MTQ. Also fixed the range in which the ACS Ctrl
commands the MTQ to match the actual commanding range.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/363
- Regression: Revert swap of SUS0 and SUS6. Those devices are on separate power lines. In a
future fix, the calibration matrices of SUS0 and SUS6 will be swapped.
## Changed
- Update ACS scheduling to represent the actual ACS design. There is one ACS PST now for all
timing sensitive ACS operations. In the debug builds, the new ACS polling sequence table
will have a period of 0.6 seconds, but will remain 0.4 seconds for the release build.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
- `ACS::SensorValues` is now an ACS controller member to reduce the risk of stack overflow.
- ACS Subsystem Sequence Mode IDs updated.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
TMTC PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/130
- Update and tweak ACS subsystem to represent the actual ACS design
- Event handling in the ACS subsystem for events triggered by the ACS controller.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
# [v1.23.1] 2023-02-02
TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3
## Fixed
- Bugfix in FSFW where the sequence flags of the PUS packets were set to continuation segment (0b00)
instead of unsegmented (0b11).
- Bugfix in FSFW where the MGM RM3100 value Z axis data was parse incorrectly.
PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/123
# [v1.23.0] 2023-02-01
TMTC version: v2.9.0
## Changed
- Bumped FSFW to include improvements and bugfix for Health Service. The health service now
supports the announce all health info command.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
## Fixed
- Bumped FSFW to include fixes in the time service.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
- The CCSDS handler starts the transmitter timer each time it is commanded to MODE_ON and times
out the timer when the handler is commanded to MODE_OFF
- If the timer is timed out the CCSDS handler will disable the TX clock which will cause the
syrlinks to got to standby mode
- PDEC handler now parses the FAR register also in interrupt mode
# [v1.22.1] 2023-01-30
## Changed
- Updated FSFW to include addition where the `SO_REUSEADDR` option is set
on the TCP server, which should improve its ergonomics.
# [v1.22.0] 2023-01-28
TMTC version: v2.6.1
## Added
- First COM subsystem implementation. It mirrors the Syrlinks mode/submodes but also takes
care of commanding the CCSDS handler. It expects the Syrlinks submodes as mode commands.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/358
- The CCSDS handler has has a new submode (3) to configure the default datarate.
- Default datarate parameter commanding moved to COM subsystem.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/358
# [v1.21.0] 2023-01-26
TMTC version: v2.5.0
Syrlinks PR: PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/353
## Fixed
- The `OBSW_SYRLINKS_SIMULATED` flag is set to 0 for for both EM and FM.
- MGM4 handling in ACS sensor processing: Bugfix in `mulScalar` operation
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/354
- Subsystem ID clash: CORE subsystem ID was the same as Syrlinks subsystem ID.
## Changed
- Startracker temperature set and PCDU switcher set are diagnostic now
- `SyrlinksHkHandler` renamed to `SyrlinksHandler` to better reflect that it does more than
just HK and is also responsible for setting the TX mode of the device.
- `SyrlinksHandler`: Go to startup immediately because the Syrlinks device should always be on
by default.
- `SyrlinksHandler`: Go to normal mode at startup.
## Added
- The Syrlinks handler has submodes for the TX mode now: RX Only (0), RX and TX default
datarate (1), RX and TX Low Rate (2), RX and TX High Rate (3) and TX Carrier Wave (4).
The submodes apply for both ON and NORMAL mode. The default datarate can be updated using
a parameter command (domain ID 0 and unique ID 0) with value 0 for low rate and 1 for high rate.
- The Syrlinks handler always sets TX to standby when switching off
- The Syrlinks handler triggers a new TX_ON event when the transmitter was switched on successfully
and a TX_OFF event when it was switched off successfully.
- Startracker temperature set and PCDU switcher set are diagnostic now
- The CCSDS handler can accept mode commands now. It accepts ON and OFF commands. Furthermore
it has a submode for low datarate (1) and high datarate (2) for the ON command.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/352
## Added
- Startracker temperature set and PCDU switcher set are diagnostic now
- Added new heater info set for the TCS controller. This set contains the heater switch states
and the current draw.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/351
# [v1.20.0] 2023-01-24

23
CMakeLists.txt
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@ -9,9 +9,9 @@
# ##############################################################################
cmake_minimum_required(VERSION 3.13)
set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 1)
set(OBSW_VERSION_MINOR_IF_GIT_FAILS 20)
set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)
set(OBSW_VERSION_MAJOR 1)
set(OBSW_VERSION_MINOR 26)
set(OBSW_VERSION_REVISION 2)
# set(CMAKE_VERBOSE TRUE)
@ -150,7 +150,7 @@ set(OBSW_ADD_SCEX_DEVICE
${INIT_VAL}
CACHE STRING "Add Solar Cell Experiment module")
set(OBSW_SYRLINKS_SIMULATED
${OBSW_Q7S_EM}
0
CACHE STRING "Syrlinks is simulated")
# ##############################################################################
@ -168,10 +168,13 @@ if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
set(GIT_INFO
${GIT_INFO}
CACHE STRING "Version information retrieved with git describe")
list(GET GIT_INFO 1 OBSW_VERSION_MAJOR)
list(GET GIT_INFO 2 OBSW_VERSION_MINOR)
list(GET GIT_INFO 3 OBSW_VERSION_REVISION)
# CMakeLists.txt is now single source of information. list(GET GIT_INFO 1
# OBSW_VERSION_MAJOR) list(GET GIT_INFO 2 OBSW_VERSION_MINOR) list(GET
# GIT_INFO 3 OBSW_VERSION_REVISION)
list(LENGTH GIT_INFO LIST_LEN)
if(LIST_LEN GREATER 4)
list(GET GIT_INFO 4 OBSW_VERSION_CST_GIT_SHA1)
endif()
if(NOT OBSW_VERSION_MAJOR)
set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
endif()
@ -301,6 +304,9 @@ else()
endif()
endif()
include(BuildType)
set_build_type()
# Configuration files
configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
@ -559,6 +565,3 @@ add_custom_command(
POST_BUILD
COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
COMMENT ${POST_BUILD_COMMENT})
include(BuildType)
set_build_type()

1
bsp_hosted/OBSWConfig.h.in
View File

@ -7,7 +7,6 @@
#define FSFWCONFIG_OBSWCONFIG_H_
#include "commonConfig.h"
#include "OBSWVersion.h"
/*******************************************************************/
/** All of the following flags should be enabled for mission code */

16
bsp_hosted/ObjectFactory.cpp
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@ -10,10 +10,8 @@
#include "OBSWConfig.h"
#include "devConf.h"
#include "eive/definitions.h"
#include "fsfw/platform.h"
#include "fsfw_tests/integration/task/TestTask.h"
#include "tmtc/pusIds.h"
#if OBSW_ADD_TMTC_UDP_SERVER == 1
#include "fsfw/osal/common/UdpTcPollingTask.h"
@ -46,8 +44,8 @@
#include <dummies/StarTrackerDummy.h>
#include <dummies/SusDummy.h>
#include <dummies/SyrlinksDummy.h>
#include <dummies/TemperatureSensorsDummy.h>
#include "../dummies/TemperatureSensorInserter.h"
#include "dummies/helpers.h"
#include "mission/utility/GlobalConfigHandler.h"
@ -80,7 +78,7 @@ void ObjectFactory::produce(void* args) {
CfdpTmFunnel* cfdpFunnel;
ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel);
DummyGpioIF* dummyGpioIF = new DummyGpioIF();
auto* dummyGpioIF = new DummyGpioIF();
auto* dummySwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
static_cast<void>(dummyGpioIF);
#ifdef PLATFORM_UNIX
@ -110,6 +108,14 @@ void ObjectFactory::produce(void* args) {
dummy::DummyCfg cfg;
dummy::createDummies(cfg, *dummySwitcher);
new ThermalController(objects::THERMAL_CONTROLLER);
HeaterHandler* heaterHandler = nullptr;
// new ThermalController(objects::THERMAL_CONTROLLER);
ObjectFactory::createGenericHeaterComponents(*dummyGpioIF, *dummySwitcher, heaterHandler);
if (heaterHandler == nullptr) {
sif::error << "HeaterHandler could not be created" << std::endl;
} else {
ObjectFactory::createThermalController(*heaterHandler);
}
new TestTask(objects::TEST_TASK);
}

2
bsp_hosted/fsfwconfig/objects/systemObjectList.h
View File

@ -24,7 +24,7 @@ enum sourceObjects : uint32_t {
/* 0x49 ('I') for Communication Interfaces **/
ARDUINO_COM_IF = 0x49000001,
DUMMY_COM_IF = 0x49000002
DUMMY_COM_IF = 0x49000002,
};
}

11
bsp_hosted/fsfwconfig/pollingsequence/DummyPst.cpp
View File

@ -44,12 +44,11 @@ ReturnValue_t dummy_pst::pst(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);

19
bsp_hosted/scheduling.cpp
View File

@ -14,6 +14,7 @@
#include "OBSWConfig.h"
#include "ObjectFactory.h"
#include "mission/core/scheduling.h"
#include "scheduling.h"
#ifdef LINUX
@ -186,6 +187,8 @@ void scheduling::initTasks() {
PeriodicTaskIF* dummyTask = factory->createPeriodicTask(
"DUMMY_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
scheduling::scheduleTmpTempSensors(dummyTask);
scheduling::scheduleRtdSensors(dummyTask);
dummyTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
dummyTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
dummyTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
@ -198,22 +201,6 @@ void scheduling::initTasks() {
dummyTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
dummyTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
dummyTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
dummyTask->addComponent(objects::RTD_0_IC3_PLOC_HEATSPREADER);
dummyTask->addComponent(objects::RTD_1_IC4_PLOC_MISSIONBOARD);
dummyTask->addComponent(objects::RTD_2_IC5_4K_CAMERA);
dummyTask->addComponent(objects::RTD_3_IC6_DAC_HEATSPREADER);
dummyTask->addComponent(objects::RTD_4_IC7_STARTRACKER);
dummyTask->addComponent(objects::RTD_5_IC8_RW1_MX_MY);
dummyTask->addComponent(objects::RTD_6_IC9_DRO);
dummyTask->addComponent(objects::RTD_7_IC10_SCEX);
dummyTask->addComponent(objects::RTD_8_IC11_X8);
dummyTask->addComponent(objects::RTD_9_IC12_HPA);
dummyTask->addComponent(objects::RTD_10_IC13_PL_TX);
dummyTask->addComponent(objects::RTD_11_IC14_MPA);
dummyTask->addComponent(objects::RTD_12_IC15_ACU);
dummyTask->addComponent(objects::RTD_13_IC16_PLPCDU_HEATSPREADER);
dummyTask->addComponent(objects::RTD_14_IC17_TCS_BOARD);
dummyTask->addComponent(objects::RTD_15_IC18_IMTQ);
sif::info << "Starting tasks.." << std::endl;
tmtcDistributor->startTask();

3
bsp_q7s/OBSWConfig.h.in
View File

@ -8,7 +8,8 @@
#include "commonConfig.h"
#include "q7sConfig.h"
#include "OBSWVersion.h"
#cmakedefine RELEASE_BUILD
/*******************************************************************/
/** All of the following flags should be enabled for mission code */

2
bsp_q7s/boardtest/Q7STestTask.h
View File

@ -3,7 +3,7 @@
#include <libgpsmm.h>
#include "test/testtasks/TestTask.h"
#include "test/TestTask.h"
class CoreController;

28
bsp_q7s/core/CoreController.cpp
View File

@ -5,7 +5,7 @@
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/tasks/TaskFactory.h>
#include "OBSWVersion.h"
#include "commonConfig.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/timemanager/Stopwatch.h"
#include "fsfw/version.h"
@ -179,6 +179,26 @@ ReturnValue_t CoreController::initializeAfterTaskCreation() {
ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t *data, size_t size) {
switch (actionId) {
case (ANNOUNCE_VERSION): {
uint32_t p1 = (common::OBSW_VERSION_MAJOR << 24) | (common::OBSW_VERSION_MINOR << 16) |
(common::OBSW_VERSION_REVISION << 8);
uint32_t p2 = 0;
if (strcmp("", common::OBSW_VERSION_CST_GIT_SHA1) != 0) {
p1 |= 1;
auto shaAsStr = std::string(common::OBSW_VERSION_CST_GIT_SHA1);
size_t posDash = shaAsStr.find("-");
auto gitHash = shaAsStr.substr(posDash + 2, 4);
// Only copy first 4 letters of git hash
memcpy(&p2, gitHash.c_str(), 4);
}
triggerEvent(VERSION_INFO, p1, p2);
return HasActionsIF::EXECUTION_FINISHED;
}
case (ANNOUNCE_CURRENT_IMAGE): {
triggerEvent(CURRENT_IMAGE_INFO, CURRENT_CHIP, CURRENT_COPY);
return HasActionsIF::EXECUTION_FINISHED;
}
case (LIST_DIRECTORY_INTO_FILE): {
return actionListDirectoryIntoFile(actionId, commandedBy, data, size);
}
@ -673,9 +693,9 @@ ReturnValue_t CoreController::initVersionFile() {
sif::warning << "CoreController::versionFileInit: Retrieving uname line failed" << std::endl;
}
std::string fullObswVersionString = "OBSW: v" + std::to_string(SW_VERSION) + "." +
std::to_string(SW_SUBVERSION) + "." +
std::to_string(SW_REVISION);
std::string fullObswVersionString = "OBSW: v" + std::to_string(common::OBSW_VERSION_MAJOR) + "." +
std::to_string(common::OBSW_VERSION_MINOR) + "." +
std::to_string(common::OBSW_VERSION_REVISION);
char versionString[16] = {};
fsfw::FSFW_VERSION.getVersion(versionString, sizeof(versionString));
std::string fullFsfwVersionString = "FSFW: v" + std::string(versionString);

8
bsp_q7s/core/CoreController.h
View File

@ -74,6 +74,8 @@ class CoreController : public ExtendedControllerBase {
static constexpr dur_millis_t DEFAULT_SD_CARD_CHECK_TIMEOUT = 60000;
static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
static constexpr ActionId_t ANNOUNCE_VERSION = 1;
static constexpr ActionId_t ANNOUNCE_CURRENT_IMAGE = 2;
static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
@ -109,6 +111,12 @@ class CoreController : public ExtendedControllerBase {
//! [EXPORT] : [COMMENT] No SD card was active. Core controller will attempt to re-initialize
//! a SD card.
static constexpr Event NO_SD_CARD_ACTIVE = event::makeEvent(SUBSYSTEM_ID, 4, severity::HIGH);
//! [EXPORT] : [COMMENT]
//! P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash
//! P2: First four letters of Git SHA is the last byte of P1 is set.
static constexpr Event VERSION_INFO = event::makeEvent(SUBSYSTEM_ID, 5, severity::INFO);
//! [EXPORT] : [COMMENT] P1: Current Chip, P2: Current Copy
static constexpr Event CURRENT_IMAGE_INFO = event::makeEvent(SUBSYSTEM_ID, 6, severity::INFO);
CoreController(object_id_t objectId);
virtual ~CoreController();

40
bsp_q7s/core/ObjectFactory.cpp
View File

@ -23,7 +23,7 @@
#include "linux/boardtest/UartTestClass.h"
#include "linux/callbacks/gpioCallbacks.h"
#include "linux/csp/CspComIF.h"
#include "linux/devices/GPSHyperionLinuxController.h"
#include "linux/devices/GpsHyperionLinuxController.h"
#include "linux/devices/ScexUartReader.h"
#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
@ -48,6 +48,7 @@
#include "mission/system/objects/RwAssembly.h"
#include "mission/system/objects/TcsBoardAssembly.h"
#include "mission/system/tree/acsModeTree.h"
#include "mission/system/tree/comModeTree.h"
#include "mission/system/tree/payloadModeTree.h"
#include "mission/system/tree/tcsModeTree.h"
#include "tmtc/pusIds.h"
@ -56,6 +57,7 @@
#endif
#include <mission/devices/ImtqHandler.h>
#include <mission/devices/PcduHandler.h>
#include <mission/devices/SyrlinksHandler.h>
#include <sstream>
@ -88,7 +90,6 @@
#include "mission/devices/RadiationSensorHandler.h"
#include "mission/devices/RwHandler.h"
#include "mission/devices/SolarArrayDeploymentHandler.h"
#include "mission/devices/SyrlinksHkHandler.h"
#include "mission/devices/Tmp1075Handler.h"
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
@ -473,7 +474,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
RESET_ARGS_GNSS.gpioComIF = gpioComIF;
RESET_ARGS_GNSS.waitPeriodMs = 100;
auto gpsCtrl =
new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
AcsBoardHelper acsBoardHelper = AcsBoardHelper(
@ -496,7 +497,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
}
void ObjectFactory::createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher,
HealthTableIF* healthTable) {
HealthTableIF* healthTable,
HeaterHandler*& heaterHandler) {
using namespace gpio;
GpioCookie* heaterGpiosCookie = new GpioCookie;
GpiodRegularByLineName* gpio = nullptr;
@ -539,19 +541,7 @@ void ObjectFactory::createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwi
gpioIF->addGpios(heaterGpiosCookie);
HeaterHelper helper({{
{new HealthDevice(objects::HEATER_0_PLOC_PROC_BRD, MessageQueueIF::NO_QUEUE),
gpioIds::HEATER_0},
{new HealthDevice(objects::HEATER_1_PCDU_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_1},
{new HealthDevice(objects::HEATER_2_ACS_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_2},
{new HealthDevice(objects::HEATER_3_OBC_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_3},
{new HealthDevice(objects::HEATER_4_CAMERA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_4},
{new HealthDevice(objects::HEATER_5_STR, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_5},
{new HealthDevice(objects::HEATER_6_DRO, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_6},
{new HealthDevice(objects::HEATER_7_HPA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_7},
}});
new HeaterHandler(objects::HEATER_HANDLER, gpioIF, helper, pwrSwitcher,
pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
ObjectFactory::createGenericHeaterComponents(*gpioIF, *pwrSwitcher, heaterHandler);
}
void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher,
@ -580,15 +570,17 @@ void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitc
void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
auto* syrlinksUartCookie =
new SerialCookie(objects::SYRLINKS_HK_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
syrlinksUartCookie->setParityEven();
auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HK_HANDLER);
auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
auto syrlinksHandler =
new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
syrlinksHandler->setPowerSwitcher(pwrSwitcher);
syrlinksHandler->setStartUpImmediately();
syrlinksHandler->connectModeTreeParent(satsystem::com::SUBSYSTEM);
#if OBSW_DEBUG_SYRLINKS == 1
syrlinksHandler->setDebugMode(true);
#endif
@ -799,6 +791,13 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF,
vc = new VirtualChannel(ccsds::VC3, config::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
(*ipCoreHandler)->addVirtualChannel(ccsds::VC3, vc);
ReturnValue_t result = (*ipCoreHandler)->connectModeTreeParent(satsystem::com::SUBSYSTEM);
if (result != returnvalue::OK) {
sif::error
<< "ObjectFactory::createCcsdsComponents: Connecting COM subsystem to CCSDS handler failed"
<< std::endl;
}
GpioCookie* gpioCookiePdec = new GpioCookie;
consumer.str("");
consumer << "0x" << std::hex << objects::PDEC_HANDLER;
@ -927,6 +926,7 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
pcdu::Switches::PDU1_CH3_MGT_5V);
imtqHandler->setThermalStateRequestPoolIds();
imtqHandler->setPowerSwitcher(pwrSwitcher);
imtqHandler->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
static_cast<void>(imtqHandler);

4
bsp_q7s/core/ObjectFactory.h
View File

@ -2,6 +2,7 @@
#define BSP_Q7S_OBJECTFACTORY_H_
#include <fsfw/returnvalues/returnvalue.h>
#include <mission/devices/HeaterHandler.h>
#include <mission/system/objects/Stack5VHandler.h>
#include <mission/tmtc/CcsdsIpCoreHandler.h>
#include <mission/tmtc/CfdpTmFunnel.h>
@ -33,7 +34,8 @@ void createTmpComponents();
ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
PowerSwitchIF* pwrSwitcher);
void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable);
void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
HeaterHandler*& heaterHandler);
void createImtqComponents(PowerSwitchIF* pwrSwitcher);
void createBpxBatteryComponent();
void createStrComponents(PowerSwitchIF* pwrSwitcher);

150
bsp_q7s/core/scheduling.cpp
View File

@ -1,6 +1,7 @@
#include "scheduling.h"
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/subsystem/Subsystem.h>
#include <linux/scheduling.h>
#include <iostream>
@ -16,6 +17,7 @@
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/TaskFactory.h"
#include "mission/core/scheduling.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#include "mission/utility/InitMission.h"
#include "pollingsequence/pollingSequenceFactory.h"
@ -142,10 +144,15 @@ void scheduling::initTasks() {
#endif
#endif
PeriodicTaskIF* comTask = factory->createPeriodicTask(
"COM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
result = comTask->addComponent(objects::COM_SUBSYSTEM);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("COM subsystem", objects::COM_SUBSYSTEM);
}
#if OBSW_ADD_CCSDS_IP_CORES == 1
PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
"CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
result = comTask->addComponent(objects::CCSDS_HANDLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
}
@ -168,53 +175,17 @@ void scheduling::initTasks() {
}
#endif
PeriodicTaskIF* acsCtrlTask = factory->createPeriodicTask(
"ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
#if OBSW_ADD_GPS_CTRL == 1
result = acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
"GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = gpsTask->addComponent(objects::GPS_CONTROLLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
}
#endif /* OBSW_ADD_GPS_CTRL */
#if OBSW_ADD_ACS_CTRL == 1
acsCtrlTask->addComponent(objects::ACS_CONTROLLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
}
#endif
#if OBSW_Q7S_EM == 1
acsCtrlTask->addComponent(objects::MGM_0_LIS3_HANDLER);
acsCtrlTask->addComponent(objects::MGM_1_RM3100_HANDLER);
acsCtrlTask->addComponent(objects::MGM_2_LIS3_HANDLER);
acsCtrlTask->addComponent(objects::MGM_3_RM3100_HANDLER);
acsCtrlTask->addComponent(objects::IMTQ_HANDLER);
acsCtrlTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
acsCtrlTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
acsCtrlTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
acsCtrlTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
acsCtrlTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
acsCtrlTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
acsCtrlTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
acsCtrlTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
acsCtrlTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
acsCtrlTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
acsCtrlTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
acsCtrlTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
acsCtrlTask->addComponent(objects::GYRO_0_ADIS_HANDLER);
acsCtrlTask->addComponent(objects::GYRO_1_L3G_HANDLER);
acsCtrlTask->addComponent(objects::GYRO_2_ADIS_HANDLER);
acsCtrlTask->addComponent(objects::GYRO_3_L3G_HANDLER);
acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
acsCtrlTask->addComponent(objects::STAR_TRACKER);
acsCtrlTask->addComponent(objects::RW1);
acsCtrlTask->addComponent(objects::RW2);
acsCtrlTask->addComponent(objects::RW3);
acsCtrlTask->addComponent(objects::RW4);
#endif
PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
"SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
"SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
static_cast<void>(acsSysTask);
#if OBSW_ADD_ACS_BOARD == 1
result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
@ -249,32 +220,7 @@ void scheduling::initTasks() {
PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
"TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = {
objects::RTD_0_IC3_PLOC_HEATSPREADER,
objects::RTD_1_IC4_PLOC_MISSIONBOARD,
objects::RTD_2_IC5_4K_CAMERA,
objects::RTD_3_IC6_DAC_HEATSPREADER,
objects::RTD_4_IC7_STARTRACKER,
objects::RTD_5_IC8_RW1_MX_MY,
objects::RTD_6_IC9_DRO,
objects::RTD_7_IC10_SCEX,
objects::RTD_8_IC11_X8,
objects::RTD_9_IC12_HPA,
objects::RTD_10_IC13_PL_TX,
objects::RTD_11_IC14_MPA,
objects::RTD_12_IC15_ACU,
objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
objects::RTD_14_IC17_TCS_BOARD,
objects::RTD_15_IC18_IMTQ,
};
for (const auto& rtd : rtdIds) {
tcsTask->addComponent(rtd, DeviceHandlerIF::PERFORM_OPERATION);
tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_WRITE);
tcsTask->addComponent(rtd, DeviceHandlerIF::GET_WRITE);
tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
}
scheduling::scheduleRtdSensors(tcsTask);
#endif
PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
@ -343,7 +289,8 @@ void scheduling::initTasks() {
std::vector<PeriodicTaskIF*> pusTasks;
createPusTasks(*factory, missedDeadlineFunc, pusTasks);
std::vector<PeriodicTaskIF*> pstTasks;
createPstTasks(*factory, missedDeadlineFunc, pstTasks);
AcsPstCfg cfg;
createPstTasks(*factory, missedDeadlineFunc, pstTasks, cfg);
#if OBSW_ADD_TEST_CODE == 1
#if OBSW_TEST_CCSDS_BRIDGE == 1
@ -380,8 +327,8 @@ void scheduling::initTasks() {
#endif
#endif
comTask->startTask();
#if OBSW_ADD_CCSDS_IP_CORES == 1
ccsdsHandlerTask->startTask();
pdecHandlerTask->startTask();
#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
@ -409,7 +356,9 @@ void scheduling::initTasks() {
strHelperTask->startTask();
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
acsCtrlTask->startTask();
#if OBSW_ADD_GPS_CTRL == 1
gpsTask->startTask();
#endif
acsSysTask->startTask();
#if OBSW_ADD_RTD_DEVICES == 1
tcsPollingTask->startTask();
@ -431,13 +380,32 @@ void scheduling::initTasks() {
}
void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
std::vector<PeriodicTaskIF*>& taskVec, AcsPstCfg cfg) {
ReturnValue_t result = returnvalue::OK;
#ifdef RELEASE_BUILD
static constexpr float acsPstPeriod = 0.4;
#else
static constexpr float acsPstPeriod = 0.6;
#endif
FixedTimeslotTaskIF* acsPst = factory.createFixedTimeslotTask(
"ACS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
result = pst::pstAcs(acsPst, cfg);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "scheduling::initTasks: ACS PST is empty" << std::endl;
} else {
sif::error << "scheduling::initTasks: Creating ACS PST failed!" << std::endl;
}
} else {
taskVec.push_back(acsPst);
}
/* Polling Sequence Table Default */
#if OBSW_ADD_SPI_TEST_CODE == 0
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"MAIN_SPI", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
result = pst::pstSpi(spiPst);
"MAIN_SPI", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
result = pst::pstSpiAndSyrlinks(spiPst);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
@ -449,37 +417,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
}
#endif
#if OBSW_ADD_RW == 1
FixedTimeslotTaskIF* rwPstTask = factory.createFixedTimeslotTask(
"RW_SPI", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
result = pst::pstSpiRw(rwPstTask);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
} else {
sif::error << "scheduling::initTasks: Creating SPI PST failed!" << std::endl;
}
} else {
taskVec.push_back(rwPstTask);
}
#endif
FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
"UART_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
result = pst::pstUart(uartPst);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "scheduling::initTasks: UART PST is empty" << std::endl;
} else {
sif::error << "scheduling::initTasks: Creating UART PST failed!" << std::endl;
}
} else {
taskVec.push_back(uartPst);
}
#if OBSW_ADD_I2C_TEST_CODE == 0
FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
"I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
"I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
result = pst::pstI2c(i2cPst);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@ -494,7 +434,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
#if OBSW_ADD_GOMSPACE_PCDU == 1
FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
"GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
"GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
result = pst::pstGompaceCan(gomSpacePstTask);
if (result != returnvalue::OK) {
if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {

6
bsp_q7s/core/scheduling.h
View File

@ -1,10 +1,14 @@
#ifndef BSP_Q7S_INITMISSION_H_
#define BSP_Q7S_INITMISSION_H_
#include <pollingsequence/pollingSequenceFactory.h>
#include <vector>
#include "fsfw/tasks/definitions.h"
using pst::AcsPstCfg;
class PeriodicTaskIF;
class TaskFactory;
@ -13,7 +17,7 @@ void initMission();
void initTasks();
void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
std::vector<PeriodicTaskIF*>& taskVec, AcsPstCfg cfg);
void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,

6
bsp_q7s/em/emObjectFactory.cpp
View File

@ -14,6 +14,7 @@
#include "linux/ObjectFactory.h"
#include "linux/callbacks/gpioCallbacks.h"
#include "mission/core/GenericFactory.h"
#include "mission/system/tree/comModeTree.h"
void ObjectFactory::produce(void* args) {
ObjectFactory::setStatics();
@ -42,6 +43,9 @@ void ObjectFactory::produce(void* args) {
#if OBSW_ADD_GOMSPACE_PCDU == 1
dummyCfg.addPowerDummies = false;
#endif
#if OBSW_ADD_ACS_BOARD == 1
dummyCfg.addAcsBoardDummies = false;
#endif
PowerSwitchIF* pwrSwitcher = nullptr;
#if OBSW_ADD_GOMSPACE_PCDU == 0
@ -108,4 +112,6 @@ void ObjectFactory::produce(void* args) {
pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
#endif
createAcsController(true);
createThermalController();
satsystem::com::init();
}

5
bsp_q7s/fmObjectFactory.cpp
View File

@ -45,7 +45,8 @@ void ObjectFactory::produce(void* args) {
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
#endif
createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
HeaterHandler* heaterHandler;
createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
#if OBSW_ADD_TMP_DEVICES == 1
createTmpComponents();
#endif
@ -87,7 +88,7 @@ void ObjectFactory::produce(void* args) {
#endif /* OBSW_ADD_TEST_CODE == 1 */
createMiscComponents();
createThermalController();
createThermalController(*heaterHandler);
createAcsController(true);
satsystem::init();
}

3
cmake/BuildType.cmake
View File

@ -21,10 +21,13 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
)
endif()
set(RELEASE_BUILD 1 PARENT_SCOPE)
if(${CMAKE_BUILD_TYPE} MATCHES "Debug")
message(STATUS
"Building Debug application with flags: ${CMAKE_C_FLAGS_DEBUG}"
)
set(RELEASE_BUILD 0 PARENT_SCOPE)
elseif(${CMAKE_BUILD_TYPE} MATCHES "RelWithDebInfo")
message(STATUS
"Building Release (Debug) application with "

4
cmake/EiveHelpers.cmake
View File

@ -4,7 +4,7 @@
# 2. Major version
# 3. Minor version
# 4. Revision
# 5. git SHA hash and commits since tag
# 5. (Optional) git SHA hash and commits since tag when applicable
function(determine_version_with_git)
include(GetGitRevisionDescription)
git_describe(VERSION ${ARGN})
@ -22,7 +22,9 @@ function(determine_version_with_git)
list(APPEND GIT_INFO ${_VERSION_MAJOR})
list(APPEND GIT_INFO ${_VERSION_MINOR})
list(APPEND GIT_INFO ${_VERSION_PATCH})
if(NOT VERSION_SHA1 STREQUAL VERSION)
list(APPEND GIT_INFO ${VERSION_SHA1})
endif()
set(GIT_INFO ${GIT_INFO} PARENT_SCOPE)
message(STATUS "eive | Set git version info into GIT_INFO from the git tag ${VERSION}")
endfunction()

10
common/config/OBSWVersion.h
View File

@ -1,10 +0,0 @@
#ifndef COMMON_CONFIG_OBSWVERSION_H_
#define COMMON_CONFIG_OBSWVERSION_H_
const char* const SW_NAME = "eive";
#define SW_VERSION 1
#define SW_SUBVERSION 12
#define SW_REVISION 1
#endif /* COMMON_CONFIG_OBSWVERSION_H_ */

2
common/config/devices/addresses.h
View File

@ -9,7 +9,7 @@
namespace addresses {
/* Logical addresses have uint32_t datatype */
enum logicalAddresses : address_t {
enum LogicAddress : address_t {
PCDU,
MGM_0_LIS3 = objects::MGM_0_LIS3_HANDLER,

2
common/config/devices/heaterSwitcherList.h
View File

@ -12,7 +12,7 @@ enum Switchers : uint8_t {
HEATER_4_CAMERA,
HEATER_5_STR,
HEATER_6_DRO,
HEATER_7_HPA,
HEATER_7_S_BAND,
NUMBER_OF_SWITCHES
};
}

18
common/config/eive/definitions.h
View File

@ -50,6 +50,24 @@ static constexpr uint8_t VC1_QUEUE_SIZE = 80;
static constexpr uint8_t VC2_QUEUE_SIZE = 50;
static constexpr uint8_t VC3_QUEUE_SIZE = 50;
static constexpr uint32_t MAX_PUS_FUNNEL_QUEUE_DEPTH = 100;
static constexpr uint32_t MAX_STORED_CMDS_UDP = 120;
static constexpr uint32_t MAX_STORED_CMDS_TCP = 120;
namespace acs {
static constexpr uint32_t SCHED_BLOCK_1_SENSORS_MS = 15;
static constexpr uint32_t SCHED_BLOCK_2_ACS_CTRL_MS = 40;
static constexpr uint32_t SCHED_BLOCK_3_ACTUATOR_MS = 45;
// 15 ms for FM
static constexpr float SCHED_BLOCK_1_PERIOD = static_cast<float>(SCHED_BLOCK_1_SENSORS_MS) / 400.0;
static constexpr float SCHED_BLOCK_2_PERIOD = static_cast<float>(SCHED_BLOCK_2_ACS_CTRL_MS) / 400.0;
static constexpr float SCHED_BLOCK_3_PERIOD = static_cast<float>(SCHED_BLOCK_3_ACTUATOR_MS) / 400.0;
} // namespace acs
} // namespace config
#endif /* COMMON_CONFIG_DEFINITIONS_H_ */

2
common/config/eive/eventSubsystemIds.h
View File

@ -35,6 +35,8 @@ enum : uint8_t {
SYRLINKS = 137,
SCEX_HANDLER = 138,
CONFIGHANDLER = 139,
CORE = 140,
TCS_CONTROLLER = 141,
COMMON_SUBSYSTEM_ID_END
};

11
common/config/eive/objects.h
View File

@ -50,7 +50,7 @@ enum commonObjects : uint32_t {
TMP1075_HANDLER_PLPCDU_0 = 0x44420006,
TMP1075_HANDLER_PLPCDU_1 = 0x44420007,
TMP1075_HANDLER_IF_BOARD = 0x44420008,
TMP1075_HANDLER_OBC_IF_BOARD = 0x44420009,
PCDU_HANDLER = 0x442000A1,
P60DOCK_HANDLER = 0x44250000,
PDU1_HANDLER = 0x44250001,
@ -117,7 +117,9 @@ enum commonObjects : uint32_t {
SUS_5_N_LOC_XFYMZB_PT_ZB = 0x44120037,
SUS_11_R_LOC_XBYMZB_PT_ZB = 0x44120043,
SYRLINKS_HK_HANDLER = 0x445300A3,
SYRLINKS_HANDLER = 0x445300A3,
// might be obsolete, was not used in Q7S FM SW
// CCSDS_IP_CORE_BRIDGE = 0x73500000,
/* 0x49 ('I') for Communication Interfaces */
SPI_RTD_COM_IF = 0x49020006,
@ -142,11 +144,16 @@ enum commonObjects : uint32_t {
ACS_SUBSYSTEM = 0x73010001,
PL_SUBSYSTEM = 0x73010002,
TCS_SUBSYSTEM = 0x73010003,
COM_SUBSYSTEM = 0x73010004,
TM_FUNNEL = 0x73000100,
PUS_TM_FUNNEL = 0x73000101,
CFDP_TM_FUNNEL = 0x73000102,
CFDP_HANDLER = 0x73000205,
CFDP_DISTRIBUTOR = 0x73000206,
// Other stuff
THERMAL_TEMP_INSERTER = 0x90000003,
};
}

5
common/config/eive/resultClassIds.h
View File

@ -35,6 +35,11 @@ enum commonClassIds : uint8_t {
SA_DEPL_HANDLER, // SADPL
MPSOC_RETURN_VALUES_IF, // MPSOCRTVIF
SUPV_RETURN_VALUES_IF, // SPVRTVIF
ACS_KALMAN, // ACSKAL
ACS_SAFE, // ACSSAF
ACS_PTG, // ACSPTG
ACS_DETUMBLE, // ACSDTB
ACS_MEKF, // ACSMEK
COMMON_CLASS_ID_END // [EXPORT] : [END]
};

6
dummies/CMakeLists.txt
View File

@ -1,11 +1,12 @@
target_sources(
${LIB_DUMMIES}
PUBLIC TemperatureSensorsDummy.cpp
PUBLIC TemperatureSensorInserter.cpp
SusDummy.cpp
BpxDummy.cpp
ComIFDummy.cpp
ComCookieDummy.cpp
RwDummy.cpp
Max31865Dummy.cpp
StarTrackerDummy.cpp
SyrlinksDummy.cpp
ImtqDummy.cpp
@ -20,4 +21,5 @@ target_sources(
PlPcduDummy.cpp
CoreControllerDummy.cpp
helpers.cpp
MgmRm3100Dummy.cpp)
MgmRm3100Dummy.cpp
Tmp1075Dummy.cpp)

2
dummies/ImtqDummy.cpp
View File

@ -5,7 +5,7 @@
ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie) {}
ImtqDummy::~ImtqDummy() {}
ImtqDummy::~ImtqDummy() = default;
void ImtqDummy::doStartUp() {}

2
dummies/ImtqDummy.h
View File

@ -12,7 +12,7 @@ class ImtqDummy : public DeviceHandlerBase {
static const uint8_t PERIODIC_REPLY_DATA = 2;
ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
virtual ~ImtqDummy();
~ImtqDummy() override;
protected:
void doStartUp() override;

45
dummies/Max31865Dummy.cpp Normal file
View File

@ -0,0 +1,45 @@
#include "Max31865Dummy.h"
using namespace returnvalue;
Max31865Dummy::Max31865Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie), set(this, EiveMax31855::EXCHANGE_SET_ID) {}
void Max31865Dummy::doStartUp() { setMode(MODE_ON); }
void Max31865Dummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
ReturnValue_t Max31865Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t Max31865Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) { return OK; }
ReturnValue_t Max31865Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
return 0;
}
ReturnValue_t Max31865Dummy::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
return 0;
}
ReturnValue_t Max31865Dummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
return 0;
}
void Max31865Dummy::fillCommandAndReplyMap() {}
uint32_t Max31865Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 0; }
ReturnValue_t Max31865Dummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
using namespace MAX31865;
localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::RTD_VALUE), new PoolEntry<float>({0}));
localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::TEMPERATURE_C), new PoolEntry<float>({0}));
localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::LAST_FAULT_BYTE),
new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::FAULT_BYTE), new PoolEntry<uint8_t>({0}));
return OK;
}
void Max31865Dummy::setTemperature(float temperature) {
set.temperatureCelcius.value = temperature;
}
LocalPoolDataSetBase *Max31865Dummy::getDataSetHandle(sid_t sid) { return &set; }
Max31865Dummy::Max31865Dummy(object_id_t objectId, CookieIF *cookie)
: DeviceHandlerBase(objectId, objects::DUMMY_COM_IF, cookie),
set(this, EiveMax31855::EXCHANGE_SET_ID) {}

33
dummies/Max31865Dummy.h Normal file
View File

@ -0,0 +1,33 @@
#ifndef EIVE_OBSW_MAX31865DUMMY_H
#define EIVE_OBSW_MAX31865DUMMY_H
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
class Max31865Dummy : public DeviceHandlerBase {
public:
Max31865Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
Max31865Dummy(object_id_t objectId, CookieIF *comCookie);
void setTemperature(float temperature);
private:
MAX31865::PrimarySet set;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
};
#endif // EIVE_OBSW_MAX31865DUMMY_H

39
dummies/TemperatureSensorInserter.cpp Normal file
View File

@ -0,0 +1,39 @@
#include "TemperatureSensorInserter.h"
#include <objects/systemObjectList.h>
#include <cmath>
#include <cstdlib>
TemperatureSensorInserter::TemperatureSensorInserter(object_id_t objectId,
const Max31865DummyMap& tempSensorDummies_,
const Tmp1075DummyMap& tempTmpSensorDummies_)
: SystemObject(objects::THERMAL_TEMP_INSERTER),
max31865DummyMap(tempSensorDummies_),
tmp1075DummyMap(tempTmpSensorDummies_) {}
ReturnValue_t TemperatureSensorInserter::initialize() {
if (performTest) {
if (testCase == TestCase::COOL_SYRLINKS) {
}
}
return returnvalue::OK;
}
ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
/*
ReturnValue_t result = max31865PlocHeatspreaderSet.read();
if (result != returnvalue::OK) {
sif::warning << "Failed to read temperature from MAX31865 dataset" << std::endl;
}
max31865PlocHeatspreaderSet.rtdValue = value - 5;
max31865PlocHeatspreaderSet.temperatureCelcius = value;
if ((iteration % 100) < 20) {
max31865PlocHeatspreaderSet.setValidity(false, true);
} else {
max31865PlocHeatspreaderSet.setValidity(true, true);
}
max31865PlocHeatspreaderSet.commit();
*/
return returnvalue::OK;
}

31
dummies/TemperatureSensorInserter.h Normal file
View File

@ -0,0 +1,31 @@
#pragma once
#include <fsfw/controller/ExtendedControllerBase.h>
#include <mission/devices/devicedefinitions/Max31865Definitions.h>
#include "Max31865Dummy.h"
#include "Tmp1075Dummy.h"
class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject {
public:
using Max31865DummyMap = std::map<object_id_t, Max31865Dummy*>;
using Tmp1075DummyMap = std::map<object_id_t, Tmp1075Dummy*>;
explicit TemperatureSensorInserter(object_id_t objectId,
const Max31865DummyMap& tempSensorDummies_,
const Tmp1075DummyMap& tempTmpSensorDummies_);
ReturnValue_t initialize() override;
protected:
ReturnValue_t performOperation(uint8_t opCode) override;
private:
Max31865DummyMap max31865DummyMap;
Tmp1075DummyMap tmp1075DummyMap;
enum TestCase { NONE = 0, COOL_SYRLINKS = 1 };
int iteration = 0;
bool performTest = false;
TestCase testCase = TestCase::NONE;
// void noise();
};

102
dummies/TemperatureSensorsDummy.cpp
View File

@ -1,102 +0,0 @@
#include "TemperatureSensorsDummy.h"
#include <objects/systemObjectList.h>
#include <cmath>
#include <cstdlib>
TemperatureSensorsDummy::TemperatureSensorsDummy()
: ExtendedControllerBase(objects::RTD_0_IC3_PLOC_HEATSPREADER),
max31865Set(this, MAX31865::MAX31865_SET_ID) {
ObjectManager::instance()->insert(objects::RTD_1_IC4_PLOC_MISSIONBOARD, this);
ObjectManager::instance()->insert(objects::RTD_2_IC5_4K_CAMERA, this);
ObjectManager::instance()->insert(objects::RTD_3_IC6_DAC_HEATSPREADER, this);
ObjectManager::instance()->insert(objects::RTD_4_IC7_STARTRACKER, this);
ObjectManager::instance()->insert(objects::RTD_5_IC8_RW1_MX_MY, this);
ObjectManager::instance()->insert(objects::RTD_6_IC9_DRO, this);
ObjectManager::instance()->insert(objects::RTD_7_IC10_SCEX, this);
ObjectManager::instance()->insert(objects::RTD_8_IC11_X8, this);
ObjectManager::instance()->insert(objects::RTD_9_IC12_HPA, this);
ObjectManager::instance()->insert(objects::RTD_10_IC13_PL_TX, this);
ObjectManager::instance()->insert(objects::RTD_11_IC14_MPA, this);
ObjectManager::instance()->insert(objects::RTD_12_IC15_ACU, this);
ObjectManager::instance()->insert(objects::RTD_13_IC16_PLPCDU_HEATSPREADER, this);
ObjectManager::instance()->insert(objects::RTD_14_IC17_TCS_BOARD, this);
ObjectManager::instance()->insert(objects::RTD_15_IC18_IMTQ, this);
ObjectManager::instance()->insert(objects::TMP1075_HANDLER_TCS_0, this);
ObjectManager::instance()->insert(objects::TMP1075_HANDLER_TCS_1, this);
ObjectManager::instance()->insert(objects::TMP1075_HANDLER_PLPCDU_0, this);
ObjectManager::instance()->insert(objects::TMP1075_HANDLER_PLPCDU_1, this);
ObjectManager::instance()->insert(objects::TMP1075_HANDLER_IF_BOARD, this);
}
ReturnValue_t TemperatureSensorsDummy::initialize() {
static bool done = false;
if (not done) {
done = true;
ReturnValue_t result = ExtendedControllerBase::initialize();
if (result != returnvalue::OK) {
return result;
}
}
return returnvalue::OK;
}
ReturnValue_t TemperatureSensorsDummy::handleCommandMessage(CommandMessage* message) {
return returnvalue::FAILED;
}
void TemperatureSensorsDummy::performControlOperation() {
iteration++;
value = sin(iteration / 80. * M_PI) * 10;
ReturnValue_t result = max31865Set.read();
if (result != returnvalue::OK) {
sif::warning << "Failed to read temperature from MAX31865 dataset" << std::endl;
}
max31865Set.rtdValue = value - 5;
max31865Set.temperatureCelcius = value;
if ((iteration % 100) < 20) {
max31865Set.setValidity(false, true);
} else {
max31865Set.setValidity(true, true);
}
max31865Set.commit();
}
ReturnValue_t TemperatureSensorsDummy::initializeLocalDataPool(
localpool::DataPool& localDataPoolMap, LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(static_cast<lp_id_t>(MAX31865::PoolIds::RTD_VALUE),
new PoolEntry<float>({0}));
localDataPoolMap.emplace(static_cast<lp_id_t>(MAX31865::PoolIds::TEMPERATURE_C),
new PoolEntry<float>({0}));
localDataPoolMap.emplace(static_cast<lp_id_t>(MAX31865::PoolIds::LAST_FAULT_BYTE),
new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(static_cast<lp_id_t>(MAX31865::PoolIds::FAULT_BYTE),
new PoolEntry<uint8_t>({0}));
return returnvalue::OK;
}
LocalPoolDataSetBase* TemperatureSensorsDummy::getDataSetHandle(sid_t sid) {
sif::debug << "getHandle" << std::endl;
switch (sid.ownerSetId) {
case MAX31865::MAX31865_SET_ID:
return &max31865Set;
default:
return nullptr;
}
}
ReturnValue_t TemperatureSensorsDummy::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) {
if (submode != SUBMODE_NONE) {
return INVALID_SUBMODE;
}
if ((mode != MODE_OFF) && (mode != MODE_ON) && (mode != MODE_NORMAL)) {
return INVALID_MODE;
}
return returnvalue::OK;
}

29
dummies/TemperatureSensorsDummy.h
View File

@ -1,29 +0,0 @@
#pragma once
#include <fsfw/controller/ExtendedControllerBase.h>
#include <mission/devices/devicedefinitions/Max31865Definitions.h>
class TemperatureSensorsDummy : public ExtendedControllerBase {
public:
TemperatureSensorsDummy();
ReturnValue_t initialize() override;
protected:
virtual ReturnValue_t handleCommandMessage(CommandMessage* message) override;
virtual void performControlOperation() override;
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
// Mode abstract functions
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
private:
int iteration = 0;
float value = 0;
MAX31865::Max31865Set max31865Set;
void noise();
};

34
dummies/Tmp1075Dummy.cpp Normal file
View File

@ -0,0 +1,34 @@
#include "Tmp1075Dummy.h"
#include "mission/devices/devicedefinitions/Tmp1075Definitions.h"
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_ON); }
void Tmp1075Dummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
ReturnValue_t Tmp1075Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t Tmp1075Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) { return OK; }
ReturnValue_t Tmp1075Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
return 0;
}
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::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>({0.0}));
return OK;
}
LocalPoolDataSetBase *Tmp1075Dummy::getDataSetHandle(sid_t sid) { return &set; }

32
dummies/Tmp1075Dummy.h Normal file
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@ -0,0 +1,32 @@
#ifndef EIVE_OBSW_TMP1075DUMMY_H
#define EIVE_OBSW_TMP1075DUMMY_H
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "mission/devices/devicedefinitions/Tmp1075Definitions.h"
class Tmp1075Dummy : public DeviceHandlerBase {
public:
Tmp1075Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
private:
TMP1075::Tmp1075Dataset set;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
protected:
LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
};
#endif // EIVE_OBSW_TMP1075DUMMY_H

79
dummies/helpers.cpp
View File

@ -19,14 +19,17 @@
#include <dummies/StarTrackerDummy.h>
#include <dummies/SusDummy.h>
#include <dummies/SyrlinksDummy.h>
#include <dummies/TemperatureSensorsDummy.h>
#include <mission/system/objects/CamSwitcher.h>
#include "TemperatureSensorInserter.h"
#include "dummies/Max31865Dummy.h"
#include "dummies/Tmp1075Dummy.h"
using namespace dummy;
void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
new ComIFDummy(objects::DUMMY_COM_IF);
ComCookieDummy* comCookieDummy = new ComCookieDummy();
auto* comCookieDummy = new ComCookieDummy();
new BpxDummy(objects::BPX_BATT_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
if (cfg.addCoreCtrlCfg) {
new CoreControllerDummy(objects::CORE_CONTROLLER);
@ -41,7 +44,7 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
new SaDeplDummy(objects::SOLAR_ARRAY_DEPL_HANDLER);
new StarTrackerDummy(objects::STAR_TRACKER, objects::DUMMY_COM_IF, comCookieDummy);
if (cfg.addSyrlinksDummies) {
new SyrlinksDummy(objects::SYRLINKS_HK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
new SyrlinksDummy(objects::SYRLINKS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
}
new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
if (cfg.addPowerDummies) {
@ -79,7 +82,75 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
}
if (cfg.addTempSensorDummies) {
new TemperatureSensorsDummy();
std::map<object_id_t, Max31865Dummy*> tempSensorDummies;
tempSensorDummies.emplace(objects::RTD_0_IC3_PLOC_HEATSPREADER,
new Max31865Dummy(objects::RTD_0_IC3_PLOC_HEATSPREADER,
objects::DUMMY_COM_IF, comCookieDummy));
tempSensorDummies.emplace(objects::RTD_1_IC4_PLOC_MISSIONBOARD,
new Max31865Dummy(objects::RTD_1_IC4_PLOC_MISSIONBOARD,
objects::DUMMY_COM_IF, comCookieDummy));
tempSensorDummies.emplace(
objects::RTD_2_IC5_4K_CAMERA,
new Max31865Dummy(objects::RTD_2_IC5_4K_CAMERA, objects::DUMMY_COM_IF, comCookieDummy));
tempSensorDummies.emplace(objects::RTD_3_IC6_DAC_HEATSPREADER,
new Max31865Dummy(objects::RTD_3_IC6_DAC_HEATSPREADER,
objects::DUMMY_COM_IF, comCookieDummy));
tempSensorDummies.emplace(
objects::RTD_4_IC7_STARTRACKER,
new Max31865Dummy(objects::RTD_4_IC7_STARTRACKER, objects::DUMMY_COM_IF, comCookieDummy));
tempSensorDummies.emplace(
objects::RTD_5_IC8_RW1_MX_MY,
new Max31865Dummy(objects::RTD_5_IC8_RW1_MX_MY, objects::DUMMY_COM_IF, comCookieDummy));
tempSensorDummies.emplace(
objects::RTD_6_IC9_DRO,
new Max31865Dummy(objects::RTD_6_IC9_DRO, objects::DUMMY_COM_IF, comCookieDummy));
tempSensorDummies.emplace(
objects::RTD_7_IC10_SCEX,
new Max31865Dummy(objects::RTD_7_IC10_SCEX, objects::DUMMY_COM_IF, comCookieDummy));
tempSensorDummies.emplace(
objects::RTD_8_IC11_X8,
new Max31865Dummy(objects::RTD_8_IC11_X8, objects::DUMMY_COM_IF, comCookieDummy));
tempSensorDummies.emplace(
objects::RTD_9_IC12_HPA,
new Max31865Dummy(objects::RTD_9_IC12_HPA, objects::DUMMY_COM_IF, comCookieDummy));
tempSensorDummies.emplace(
objects::RTD_10_IC13_PL_TX,
new Max31865Dummy(objects::RTD_10_IC13_PL_TX, objects::DUMMY_COM_IF, comCookieDummy));
tempSensorDummies.emplace(
objects::RTD_11_IC14_MPA,
new Max31865Dummy(objects::RTD_11_IC14_MPA, objects::DUMMY_COM_IF, comCookieDummy));
tempSensorDummies.emplace(
objects::RTD_12_IC15_ACU,
new Max31865Dummy(objects::RTD_12_IC15_ACU, objects::DUMMY_COM_IF, comCookieDummy));
tempSensorDummies.emplace(objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
new Max31865Dummy(objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
objects::DUMMY_COM_IF, comCookieDummy));
tempSensorDummies.emplace(
objects::RTD_14_IC17_TCS_BOARD,
new Max31865Dummy(objects::RTD_14_IC17_TCS_BOARD, objects::DUMMY_COM_IF, comCookieDummy));
tempSensorDummies.emplace(
objects::RTD_15_IC18_IMTQ,
new Max31865Dummy(objects::RTD_15_IC18_IMTQ, objects::DUMMY_COM_IF, comCookieDummy));
std::map<object_id_t, Tmp1075Dummy*> tempTmpSensorDummies;
tempTmpSensorDummies.emplace(
objects::TMP1075_HANDLER_TCS_0,
new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_0, objects::DUMMY_COM_IF, comCookieDummy));
tempTmpSensorDummies.emplace(
objects::TMP1075_HANDLER_TCS_1,
new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_1, objects::DUMMY_COM_IF, comCookieDummy));
tempTmpSensorDummies.emplace(
objects::TMP1075_HANDLER_PLPCDU_0,
new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_0, objects::DUMMY_COM_IF, comCookieDummy));
tempTmpSensorDummies.emplace(
objects::TMP1075_HANDLER_PLPCDU_1,
new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1, objects::DUMMY_COM_IF, comCookieDummy));
tempTmpSensorDummies.emplace(
objects::TMP1075_HANDLER_IF_BOARD,
new Tmp1075Dummy(objects::TMP1075_HANDLER_IF_BOARD, objects::DUMMY_COM_IF, comCookieDummy));
new TemperatureSensorInserter(objects::THERMAL_TEMP_INSERTER, tempSensorDummies,
tempTmpSensorDummies);
}
new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, power::NO_SWITCH);
new PlPcduDummy(objects::PLPCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);

2
fsfw

@ -1 +1 @@
Subproject commit 049e3b431da51ac2069c2d48c5715bb12f3234bc
Subproject commit 6ce80ea6c5b7621876422d2c7614096cbca6f302

22
generators/bsp_q7s_events.csv
View File

@ -76,14 +76,16 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
7903;0x1edf;BIT_LOCK_LOST;INFO;A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
7905;0x1ee1;FRAME_PROCESSING_FAILED;LOW;The CCSDS Board could not interpret a TC;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
8900;0x22c4;CLOCK_SET;INFO;;fsfw/src/fsfw/pus/Service9TimeManagement.h
8901;0x22c5;CLOCK_SET_FAILURE;LOW;;fsfw/src/fsfw/pus/Service9TimeManagement.h
8901;0x22c5;CLOCK_DUMP;INFO;;fsfw/src/fsfw/pus/Service9TimeManagement.h
8902;0x22c6;CLOCK_SET_FAILURE;LOW;;fsfw/src/fsfw/pus/Service9TimeManagement.h
9100;0x238c;TC_DELETION_FAILED;MEDIUM;Deletion of a TC from the map failed. P1: First 32 bit of request ID, P2. Last 32 bit of Request ID;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
9700;0x25e4;TEST;INFO;;fsfw/src/fsfw/pus/Service17Test.h
10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;;fsfw/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
10800;0x2a30;STORE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
10801;0x2a31;MSG_QUEUE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
10802;0x2a32;SERIALIZATION_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;;mission/controller/AcsController.h
11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;;mission/acsDefs.h
11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;;mission/acsDefs.h
11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
@ -196,6 +198,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/objects/SusAssembly.h
13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;;mission/system/objects/TcsBoardAssembly.h
13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;mission/devices/devicedefinitions/GPSDefinitions.h
13101;0x332d;CANT_GET_FIX;LOW;Could not get fix in maximum allowed time. P1: Maximum allowed time to get a fix after the GPS was switched on.;mission/devices/devicedefinitions/GPSDefinitions.h
13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission/devices/P60DockHandler.h
13201;0x3391;BATT_MODE;INFO;Battery mode is broadcasted at startup. P1: Mode;mission/devices/P60DockHandler.h
13202;0x3392;BATT_MODE_CHANGED;MEDIUM;Battery mode has changed. P1: Old mode. P2: New mode;mission/devices/P60DockHandler.h
@ -226,11 +229,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
13630;0x353e;SUPV_UPDATE_PROGRESS;INFO;Will be triggered every 5 percent of the update progress. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvUartMan.h
13631;0x353f;HDLC_FRAME_REMOVAL_ERROR;INFO;;linux/devices/ploc/PlocSupvUartMan.h
13632;0x3540;HDLC_CRC_ERROR;INFO;;linux/devices/ploc/PlocSupvUartMan.h
13700;0x3584;ALLOC_FAILURE;MEDIUM;;bsp_q7s/core/CoreController.h
13701;0x3585;REBOOT_SW;MEDIUM; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
13702;0x3586;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
13703;0x3587;REBOOT_HW;MEDIUM;;bsp_q7s/core/CoreController.h
13704;0x3588;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
13700;0x3584;FDIR_REACTION_IGNORED;MEDIUM;;mission/devices/devicedefinitions/SyrlinksDefinitions.h
13701;0x3585;TX_ON;INFO;Transmitter is on now. P1: Submode, P2: Current default datarate.;mission/devices/devicedefinitions/SyrlinksDefinitions.h
13702;0x3586;TX_OFF;INFO;Transmitter is off now.;mission/devices/devicedefinitions/SyrlinksDefinitions.h
13800;0x35e8;MISSING_PACKET;LOW;;mission/devices/devicedefinitions/ScexDefinitions.h
13801;0x35e9;EXPERIMENT_TIMEDOUT;LOW;;mission/devices/devicedefinitions/ScexDefinitions.h
13802;0x35ea;MULTI_PACKET_COMMAND_DONE;INFO;;mission/devices/devicedefinitions/ScexDefinitions.h
@ -239,3 +240,10 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
13903;0x364f;INSERT_CONFIGFILEVALUE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
13904;0x3650;WRITE_CONFIGFILE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
13905;0x3651;READ_CONFIGFILE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
14000;0x36b0;ALLOC_FAILURE;MEDIUM;;bsp_q7s/core/CoreController.h
14001;0x36b1;REBOOT_SW;MEDIUM; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
14003;0x36b3;REBOOT_HW;MEDIUM;;bsp_q7s/core/CoreController.h
14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;bsp_q7s/core/CoreController.h
14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
76 7903 0x1edf BIT_LOCK_LOST INFO A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0 fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
77 7905 0x1ee1 FRAME_PROCESSING_FAILED LOW The CCSDS Board could not interpret a TC fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
78 8900 0x22c4 CLOCK_SET INFO fsfw/src/fsfw/pus/Service9TimeManagement.h
79 8901 0x22c5 CLOCK_SET_FAILURE CLOCK_DUMP LOW INFO fsfw/src/fsfw/pus/Service9TimeManagement.h
80 8902 0x22c6 CLOCK_SET_FAILURE LOW fsfw/src/fsfw/pus/Service9TimeManagement.h
81 9100 0x238c TC_DELETION_FAILED MEDIUM Deletion of a TC from the map failed. P1: First 32 bit of request ID, P2. Last 32 bit of Request ID fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
82 9700 0x25e4 TEST INFO fsfw/src/fsfw/pus/Service17Test.h
83 10600 0x2968 CHANGE_OF_SETUP_PARAMETER LOW fsfw/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
84 10800 0x2a30 STORE_ERROR LOW fsfw/src/fsfw/cfdp/handler/defs.h
85 10801 0x2a31 MSG_QUEUE_ERROR LOW fsfw/src/fsfw/cfdp/handler/defs.h
86 10802 0x2a32 SERIALIZATION_ERROR LOW fsfw/src/fsfw/cfdp/handler/defs.h
87 11200 0x2bc0 SAFE_RATE_VIOLATION MEDIUM mission/controller/AcsController.h mission/acsDefs.h
88 11201 0x2bc1 SAFE_RATE_RECOVERY MEDIUM mission/acsDefs.h
89 11300 0x2c24 SWITCH_CMD_SENT INFO Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index mission/devices/devicedefinitions/powerDefinitions.h
90 11301 0x2c25 SWITCH_HAS_CHANGED INFO Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index mission/devices/devicedefinitions/powerDefinitions.h
91 11302 0x2c26 SWITCHING_Q7S_DENIED MEDIUM mission/devices/devicedefinitions/powerDefinitions.h
198 12903 0x3267 SIDE_SWITCH_TRANSITION_NOT_ALLOWED LOW Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination mission/system/objects/SusAssembly.h
199 13000 0x32c8 CHILDREN_LOST_MODE MEDIUM mission/system/objects/TcsBoardAssembly.h
200 13100 0x332c GPS_FIX_CHANGE INFO Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix mission/devices/devicedefinitions/GPSDefinitions.h
201 13101 0x332d CANT_GET_FIX LOW Could not get fix in maximum allowed time. P1: Maximum allowed time to get a fix after the GPS was switched on. mission/devices/devicedefinitions/GPSDefinitions.h
202 13200 0x3390 P60_BOOT_COUNT INFO P60 boot count is broadcasted once at SW startup. P1: Boot count mission/devices/P60DockHandler.h
203 13201 0x3391 BATT_MODE INFO Battery mode is broadcasted at startup. P1: Mode mission/devices/P60DockHandler.h
204 13202 0x3392 BATT_MODE_CHANGED MEDIUM Battery mode has changed. P1: Old mode. P2: New mode mission/devices/P60DockHandler.h
229 13630 0x353e SUPV_UPDATE_PROGRESS INFO Will be triggered every 5 percent of the update progress. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written linux/devices/ploc/PlocSupvUartMan.h
230 13631 0x353f HDLC_FRAME_REMOVAL_ERROR INFO linux/devices/ploc/PlocSupvUartMan.h
231 13632 0x3540 HDLC_CRC_ERROR INFO linux/devices/ploc/PlocSupvUartMan.h
232 13700 0x3584 ALLOC_FAILURE FDIR_REACTION_IGNORED MEDIUM bsp_q7s/core/CoreController.h mission/devices/devicedefinitions/SyrlinksDefinitions.h
233 13701 0x3585 REBOOT_SW TX_ON MEDIUM INFO Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy Transmitter is on now. P1: Submode, P2: Current default datarate. bsp_q7s/core/CoreController.h mission/devices/devicedefinitions/SyrlinksDefinitions.h
234 13702 0x3586 REBOOT_MECHANISM_TRIGGERED TX_OFF MEDIUM INFO The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots Transmitter is off now. bsp_q7s/core/CoreController.h mission/devices/devicedefinitions/SyrlinksDefinitions.h
13703 0x3587 REBOOT_HW MEDIUM bsp_q7s/core/CoreController.h
13704 0x3588 NO_SD_CARD_ACTIVE HIGH No SD card was active. Core controller will attempt to re-initialize a SD card. bsp_q7s/core/CoreController.h
235 13800 0x35e8 MISSING_PACKET LOW mission/devices/devicedefinitions/ScexDefinitions.h
236 13801 0x35e9 EXPERIMENT_TIMEDOUT LOW mission/devices/devicedefinitions/ScexDefinitions.h
237 13802 0x35ea MULTI_PACKET_COMMAND_DONE INFO mission/devices/devicedefinitions/ScexDefinitions.h
240 13903 0x364f INSERT_CONFIGFILEVALUE_FAILED MEDIUM mission/utility/GlobalConfigHandler.h
241 13904 0x3650 WRITE_CONFIGFILE_FAILED MEDIUM mission/utility/GlobalConfigHandler.h
242 13905 0x3651 READ_CONFIGFILE_FAILED MEDIUM mission/utility/GlobalConfigHandler.h
243 14000 0x36b0 ALLOC_FAILURE MEDIUM bsp_q7s/core/CoreController.h
244 14001 0x36b1 REBOOT_SW MEDIUM Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy bsp_q7s/core/CoreController.h
245 14002 0x36b2 REBOOT_MECHANISM_TRIGGERED MEDIUM The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots bsp_q7s/core/CoreController.h
246 14003 0x36b3 REBOOT_HW MEDIUM bsp_q7s/core/CoreController.h
247 14004 0x36b4 NO_SD_CARD_ACTIVE HIGH No SD card was active. Core controller will attempt to re-initialize a SD card. bsp_q7s/core/CoreController.h
248 14005 0x36b5 VERSION_INFO INFO P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set. bsp_q7s/core/CoreController.h
249 14006 0x36b6 CURRENT_IMAGE_INFO INFO P1: Current Chip, P2: Current Copy bsp_q7s/core/CoreController.h

3
generators/bsp_q7s_objects.csv
View File

@ -72,7 +72,7 @@
0x44420029;RTD_13_IC16_PLPCDU_HEATSPREADER
0x44420030;RTD_14_IC17_TCS_BOARD
0x44420031;RTD_15_IC18_IMTQ
0x445300A3;SYRLINKS_HK_HANDLER
0x445300A3;SYRLINKS_HANDLER
0x49000000;ARDUINO_COM_IF
0x49010005;GPIO_IF
0x49010006;SCEX_UART_READER
@ -147,5 +147,6 @@
0x73010001;ACS_SUBSYSTEM
0x73010002;PL_SUBSYSTEM
0x73010003;TCS_SUBSYSTEM
0x73010004;COM_SUBSYSTEM
0x73500000;CCSDS_IP_CORE_BRIDGE
0xFFFFFFFF;NO_OBJECT

1 0x00005060 P60DOCK_TEST_TASK
72 0x44420029 RTD_13_IC16_PLPCDU_HEATSPREADER
73 0x44420030 RTD_14_IC17_TCS_BOARD
74 0x44420031 RTD_15_IC18_IMTQ
75 0x445300A3 SYRLINKS_HK_HANDLER SYRLINKS_HANDLER
76 0x49000000 ARDUINO_COM_IF
77 0x49010005 GPIO_IF
78 0x49010006 SCEX_UART_READER
147 0x73010001 ACS_SUBSYSTEM
148 0x73010002 PL_SUBSYSTEM
149 0x73010003 TCS_SUBSYSTEM
150 0x73010004 COM_SUBSYSTEM
151 0x73500000 CCSDS_IP_CORE_BRIDGE
152 0xFFFFFFFF NO_OBJECT

699
generators/bsp_q7s_returnvalues.csv
View File

@ -1,13 +1,23 @@
Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x0000;OK;System-wide code for ok.;0;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
0x0001;Failed;Unspecified system-wide code for failed.;1;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
0x5d00;GOMS_PacketTooLong;;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x5d01;GOMS_InvalidTableId;;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x5d02;GOMS_InvalidAddress;;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x5d03;GOMS_InvalidParamSize;;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x5d04;GOMS_InvalidPayloadSize;;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x5d05;GOMS_UnknownReplyId;;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NVMParameterBase.h
0x6300;NVMB_Busy;;0;NVM_PARAM_BASE;mission/system/objects/Stack5VHandler.h
0x58a0;SUSS_ErrorUnlockMutex;;160;SUS_HANDLER;mission/devices/SusHandler.h
0x58a1;SUSS_ErrorLockMutex;;161;SUS_HANDLER;mission/devices/SusHandler.h
0x66a0;SADPL_CommandNotSupported;;160;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
0x66a1;SADPL_DeploymentAlreadyExecuting;;161;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
0x66a2;SADPL_MainSwitchTimeoutFailure;;162;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
0x66a3;SADPL_SwitchingDeplSa1Failed;;163;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
0x66a4;SADPL_SwitchingDeplSa2Failed;;164;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
0x51a0;IMTQ_InvalidCommandCode;;160;IMTQ_HANDLER;mission/devices/ImtqHandler.h
0x51a1;IMTQ_ParameterMissing;;161;IMTQ_HANDLER;mission/devices/ImtqHandler.h
0x51a2;IMTQ_ParameterInvalid;;162;IMTQ_HANDLER;mission/devices/ImtqHandler.h
0x51a3;IMTQ_CcUnavailable;;163;IMTQ_HANDLER;mission/devices/ImtqHandler.h
0x51a4;IMTQ_InternalProcessingError;;164;IMTQ_HANDLER;mission/devices/ImtqHandler.h
0x51a5;IMTQ_RejectedWithoutReason;;165;IMTQ_HANDLER;mission/devices/ImtqHandler.h
0x51a6;IMTQ_CmdErrUnknown;;166;IMTQ_HANDLER;mission/devices/ImtqHandler.h
0x51a7;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;167;IMTQ_HANDLER;mission/devices/ImtqHandler.h
0x52b0;RWHA_SpiWriteFailure;;176;RW_HANDLER;mission/devices/RwHandler.h
0x52b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/devices/RwHandler.h
0x52b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/devices/RwHandler.h
@ -20,158 +30,132 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x52a2;RWHA_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;RW_HANDLER;mission/devices/RwHandler.h
0x52a3;RWHA_ExecutionFailed;Command execution failed;163;RW_HANDLER;mission/devices/RwHandler.h
0x52a4;RWHA_CrcError;Reaction wheel reply has invalid crc;164;RW_HANDLER;mission/devices/RwHandler.h
0x50a0;SYRLINKS_CrcFailure;;160;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
0x50a1;SYRLINKS_UartFraminOrParityErrorAck;;161;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
0x50a2;SYRLINKS_BadCharacterAck;;162;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
0x50a3;SYRLINKS_BadParameterValueAck;;163;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
0x50a4;SYRLINKS_BadEndOfFrameAck;;164;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
0x50a5;SYRLINKS_UnknownCommandIdAck;;165;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
0x50a6;SYRLINKS_BadCrcAck;;166;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
0x50a7;SYRLINKS_ReplyWrongSize;;167;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
0x50a8;SYRLINKS_MissingStartFrameCharacter;;168;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
0x5d00;GOMS_PacketTooLong;;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x5d01;GOMS_InvalidTableId;;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x5d02;GOMS_InvalidAddress;;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x5d03;GOMS_InvalidParamSize;;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x5d04;GOMS_InvalidPayloadSize;;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x5d05;GOMS_UnknownReplyId;;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x4fa1;HEATER_CommandNotSupported;;161;HEATER_HANDLER;mission/devices/HeaterHandler.h
0x4fa2;HEATER_InitFailed;;162;HEATER_HANDLER;mission/devices/HeaterHandler.h
0x4fa3;HEATER_InvalidSwitchNr;;163;HEATER_HANDLER;mission/devices/HeaterHandler.h
0x4fa4;HEATER_MainSwitchSetTimeout;;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
0x4fa5;HEATER_CommandAlreadyWaiting;;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
0x58a0;SUSS_ErrorUnlockMutex;;160;SUS_HANDLER;mission/devices/SusHandler.h
0x58a1;SUSS_ErrorLockMutex;;161;SUS_HANDLER;mission/devices/SusHandler.h
0x51a0;IMTQ_InvalidCommandCode;;160;IMTQ_HANDLER;mission/devices/ImtqHandler.h
0x51a1;IMTQ_ParameterMissing;;161;IMTQ_HANDLER;mission/devices/ImtqHandler.h
0x51a2;IMTQ_ParameterInvalid;;162;IMTQ_HANDLER;mission/devices/ImtqHandler.h
0x51a3;IMTQ_CcUnavailable;;163;IMTQ_HANDLER;mission/devices/ImtqHandler.h
0x51a4;IMTQ_InternalProcessingError;;164;IMTQ_HANDLER;mission/devices/ImtqHandler.h
0x51a5;IMTQ_RejectedWithoutReason;;165;IMTQ_HANDLER;mission/devices/ImtqHandler.h
0x51a6;IMTQ_CmdErrUnknown;;166;IMTQ_HANDLER;mission/devices/ImtqHandler.h
0x51a7;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;167;IMTQ_HANDLER;mission/devices/ImtqHandler.h
0x50a0;SYRLINKS_CrcFailure;;160;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
0x50a1;SYRLINKS_UartFraminOrParityErrorAck;;161;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
0x50a2;SYRLINKS_BadCharacterAck;;162;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
0x50a3;SYRLINKS_BadParameterValueAck;;163;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
0x50a4;SYRLINKS_BadEndOfFrameAck;;164;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
0x50a5;SYRLINKS_UnknownCommandIdAck;;165;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
0x50a6;SYRLINKS_BadCrcAck;;166;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
0x50a7;SYRLINKS_ReplyWrongSize;;167;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
0x50a8;SYRLINKS_MissingStartFrameCharacter;;168;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
0x66a0;SADPL_CommandNotSupported;;160;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
0x66a1;SADPL_DeploymentAlreadyExecuting;;161;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
0x66a2;SADPL_MainSwitchTimeoutFailure;;162;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
0x66a3;SADPL_SwitchingDeplSa1Failed;;163;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
0x66a4;SADPL_SwitchingDeplSa2Failed;;164;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
0x6600;SADPL_Busy;;0;SA_DEPL_HANDLER;mission/system/objects/Stack5VHandler.h
0x6601;SADPL_KalmanNoGyrMeas;;1;SA_DEPL_HANDLER;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6602;SADPL_KalmanNoModel;;2;SA_DEPL_HANDLER;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6603;SADPL_KalmanInversionFailed;;3;SA_DEPL_HANDLER;mission/controller/acs/MultiplicativeKalmanFilter.h
0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NVMParameterBase.h
0x2c01;CCS_BcIsSetVrCommand;;1;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2c02;CCS_BcIsUnlockCommand;;2;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cb0;CCS_BcIllegalCommand;;176;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cb1;CCS_BoardReadingNotFinished;;177;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cf0;CCS_NsPositiveW;;240;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cf1;CCS_NsNegativeW;;241;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cf2;CCS_NsLockout;;242;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cf3;CCS_FarmInLockout;;243;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cf4;CCS_FarmInWait;;244;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce0;CCS_WrongSymbol;;224;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce1;CCS_DoubleStart;;225;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce2;CCS_StartSymbolMissed;;226;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce3;CCS_EndWithoutStart;;227;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce4;CCS_TooLarge;;228;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce5;CCS_TooShort;;229;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce6;CCS_WrongTfVersion;;230;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce7;CCS_WrongSpacecraftId;;231;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce8;CCS_NoValidFrameType;;232;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce9;CCS_CrcFailed;;233;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cea;CCS_VcNotFound;;234;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ceb;CCS_ForwardingFailed;;235;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cec;CCS_ContentTooLarge;;236;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ced;CCS_ResidualData;;237;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cee;CCS_DataCorrupted;;238;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cef;CCS_IllegalSegmentationFlag;;239;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cd0;CCS_IllegalFlagCombination;;208;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cd1;CCS_ShorterThanHeader;;209;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cd2;CCS_TooShortBlockedPacket;;210;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cd3;CCS_TooShortMapExtraction;;211;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x3b00;SPH_ConnBroken;;0;SEMAPHORE_IF;fsfw/src/fsfw/osal/common/TcpTmTcServer.h
0x2a01;IEC_NoConfigurationTable;;1;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a02;IEC_NoCpuTable;;2;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a03;IEC_InvalidWorkspaceAddress;;3;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a04;IEC_TooLittleWorkspace;;4;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a05;IEC_WorkspaceAllocation;;5;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a06;IEC_InterruptStackTooSmall;;6;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a07;IEC_ThreadExitted;;7;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a08;IEC_InconsistentMpInformation;;8;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a09;IEC_InvalidNode;;9;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a0a;IEC_NoMpci;;10;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a0b;IEC_BadPacket;;11;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a0c;IEC_OutOfPackets;;12;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a0d;IEC_OutOfGlobalObjects;;13;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a0e;IEC_OutOfProxies;;14;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a0f;IEC_InvalidGlobalId;;15;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a10;IEC_BadStackHook;;16;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a11;IEC_BadAttributes;;17;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a12;IEC_ImplementationKeyCreateInconsistency;;18;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a13;IEC_ImplementationBlockingOperationCancel;;19;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a14;IEC_MutexObtainFromBadState;;20;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a15;IEC_UnlimitedAndMaximumIs0;;21;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
0x6a01;ACSSAF_SafectrlMekfInputInvalid;;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
0x6b01;ACSPTG_PtgctrlMekfInputInvalid;;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
0x6c01;ACSDTB_DetumbleNoSensordata;;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h
0x6901;ACSKAL_KalmanNoGyrMeas;;1;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6902;ACSKAL_KalmanNoModel;;2;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6903;ACSKAL_KalmanInversionFailed;;3;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
0x4500;HSPI_OpeningFileFailed;;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
0x4501;HSPI_FullDuplexTransferFailed;;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
0x4502;HSPI_HalfDuplexTransferFailed;;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
0x4801;HGIO_UnknownGpioId;;1;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
0x4802;HGIO_DriveGpioFailure;;2;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
0x4803;HGIO_GpioTypeFailure;;3;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
0x4804;HGIO_GpioInvalidInstance;;4;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
0x4805;HGIO_GpioDuplicateDetected;;5;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
0x4806;HGIO_GpioInitFailed;;6;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
0x4807;HGIO_GpioGetValueFailed;;7;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
0x4601;HURT_UartReadFailure;;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
0x4602;HURT_UartReadSizeMissmatch;;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
0x4603;HURT_UartRxBufferTooSmall;;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
0x4400;UXOS_ExecutionFinished;Execution of the current command has finished;0;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
0x4401;UXOS_CommandPending;Command is pending. This will also be returned if the user tries to load another command but a command is still pending;1;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
0x4402;UXOS_BytesRead;Some bytes have been read from the executing process;2;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
0x4406;UXOS_PcloseCallError;;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
0x2801;SM_DataTooLarge;;1;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2802;SM_DataStorageFull;;2;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2803;SM_IllegalStorageId;;3;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2804;SM_DataDoesNotExist;;4;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2805;SM_IllegalAddress;;5;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2806;SM_PoolTooLarge;;6;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x0601;PP_DoItMyself;;1;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x0602;PP_PointsToVariable;;2;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x0603;PP_PointsToMemory;;3;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x0604;PP_ActivityCompleted;;4;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x0605;PP_PointsToVectorUint8;;5;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x0606;PP_PointsToVectorUint16;;6;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x0607;PP_PointsToVectorUint32;;7;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x0608;PP_PointsToVectorFloat;;8;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x06a0;PP_DumpNotSupported;;160;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x06e0;PP_InvalidSize;;224;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x06e1;PP_InvalidAddress;;225;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x06e2;PP_InvalidContent;;226;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x06e3;PP_UnalignedAccess;;227;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x06e4;PP_WriteProtected;;228;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x13e0;MH_UnknownCmd;;224;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
0x13e1;MH_InvalidAddress;;225;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
0x13e2;MH_InvalidSize;;226;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
0x13e3;MH_StateMismatch;;227;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
0x38a1;SGP4_InvalidEccentricity;;161;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38a2;SGP4_InvalidMeanMotion;;162;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38a3;SGP4_InvalidPerturbationElements;;163;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38a4;SGP4_InvalidSemiLatusRectum;;164;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38a5;SGP4_InvalidEpochElements;;165;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38a6;SGP4_SatelliteHasDecayed;;166;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38b1;SGP4_TleTooOld;;177;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38b2;SGP4_TleNotInitialized;;178;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x1801;FF_Full;;1;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
0x1802;FF_Empty;;2;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
0x1601;FMM_MapFull;;1;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
0x1602;FMM_KeyDoesNotExist;;2;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
0x3901;MUX_NotEnoughResources;;1;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3902;MUX_InsufficientMemory;;2;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3903;MUX_NoPrivilege;;3;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3904;MUX_WrongAttributeSetting;;4;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3905;MUX_MutexAlreadyLocked;;5;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3906;MUX_MutexNotFound;;6;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3907;MUX_MutexMaxLocks;;7;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3908;MUX_CurrThreadAlreadyOwnsMutex;;8;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3909;MUX_CurrThreadDoesNotOwnMutex;;9;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x390a;MUX_MutexTimeout;;10;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x390b;MUX_MutexInvalidId;;11;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x390c;MUX_MutexDestroyedWhileWaiting;;12;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3a01;MQI_Empty;;1;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
0x3a02;MQI_Full;No space left for more messages;2;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
0x3a03;MQI_NoReplyPartner;Returned if a reply method was called without partner;3;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
0x3a04;MQI_DestinationInvalid;Returned if the target destination is invalid.;4;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
0x0f01;CM_UnknownCommand;;1;COMMAND_MESSAGE;fsfw/src/fsfw/ipc/CommandMessageIF.h
0x0e01;HM_InvalidMode;;1;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
0x0e02;HM_TransNotAllowed;;2;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
0x0e03;HM_InTransition;;3;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
0x0e04;HM_InvalidSubmode;;4;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
0x2e01;HPA_InvalidIdentifierId;;1;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
0x2e02;HPA_InvalidDomainId;;2;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
0x2e03;HPA_InvalidValue;;3;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
0x2e05;HPA_ReadOnly;;5;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
0x2d01;PAW_UnknownDatatype;;1;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d02;PAW_DatatypeMissmatch;;2;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d03;PAW_Readonly;;3;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d04;PAW_TooBig;;4;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d05;PAW_SourceNotSet;;5;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d06;PAW_OutOfBounds;;6;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d07;PAW_NotSet;;7;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d08;PAW_ColumnOrRowsZero;;8;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x3201;CF_ObjectHasNoFunctions;;1;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
0x3202;CF_AlreadyCommanding;;2;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
0x3301;HF_IsBusy;;1;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
0x3302;HF_InvalidParameters;;2;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
0x3303;HF_ExecutionFinished;;3;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
0x3304;HF_InvalidActionId;;4;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
0x0201;OM_InsertionFailed;;1;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
0x0202;OM_NotFound;;2;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
0x0203;OM_ChildInitFailed;;3;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
0x0204;OM_InternalErrReporterUninit;;4;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
0x2600;FDI_YourFault;;0;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
0x2601;FDI_MyFault;;1;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
0x2602;FDI_ConfirmLater;;2;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
0x2201;TMF_Busy;;1;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2202;TMF_LastPacketFound;;2;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2203;TMF_StopFetch;;3;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2204;TMF_Timeout;;4;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2205;TMF_TmChannelFull;;5;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2206;TMF_NotStored;;6;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2207;TMF_AllDeleted;;7;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2208;TMF_InvalidData;;8;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2209;TMF_NotReady;;9;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2101;TMB_Busy;;1;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2102;TMB_Full;;2;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2103;TMB_Empty;;3;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2104;TMB_NullRequested;;4;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2105;TMB_TooLarge;;5;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2106;TMB_NotReady;;6;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2107;TMB_DumpError;;7;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2108;TMB_CrcError;;8;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2109;TMB_Timeout;;9;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210a;TMB_IdlePacketFound;;10;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210b;TMB_TelecommandFound;;11;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210c;TMB_NoPusATm;;12;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210d;TMB_TooSmall;;13;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210e;TMB_BlockNotFound;;14;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210f;TMB_InvalidRequest;;15;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x1c01;TCD_PacketLost;;1;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
0x1c02;TCD_DestinationNotFound;;2;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
0x1c03;TCD_ServiceIdAlreadyExists;;3;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
0x1b00;TCC_NoDestinationFound;;0;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b01;TCC_InvalidCcsdsVersion;;1;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b02;TCC_InvalidApid;;2;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b03;TCC_InvalidPacketType;;3;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b04;TCC_InvalidSecHeaderField;;4;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b05;TCC_IncorrectPrimaryHeader;;5;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b07;TCC_IncompletePacket;;7;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b08;TCC_InvalidPusVersion;;8;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b09;TCC_IncorrectChecksum;;9;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b0a;TCC_IllegalPacketSubtype;;10;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b0b;TCC_IncorrectSecondaryHeader;;11;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x0c02;MS_InvalidEntry;;2;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
0x0c03;MS_TooManyElements;;3;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
0x0c04;MS_CantStoreEmpty;;4;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
0x0b01;SB_ChildNotFound;;1;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b02;SB_ChildInfoUpdated;;2;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b03;SB_ChildDoesntHaveModes;;3;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b04;SB_CouldNotInsertChild;;4;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b05;SB_TableContainsInvalidObjectId;;5;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0d01;SS_SequenceAlreadyExists;;1;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d02;SS_TableAlreadyExists;;2;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d03;SS_TableDoesNotExist;;3;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d04;SS_TableOrSequenceLengthInvalid;;4;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d05;SS_SequenceDoesNotExist;;5;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d06;SS_TableContainsInvalidObjectId;;6;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d07;SS_FallbackSequenceDoesNotExist;;7;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d08;SS_NoTargetTable;;8;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d09;SS_SequenceOrTableTooLong;;9;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d0b;SS_IsFallbackSequence;;11;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d0c;SS_AccessDenied;;12;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d0e;SS_TableInUse;;14;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0da1;SS_TargetTableNotReached;;161;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0da2;SS_TableCheckFailed;;162;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x2501;EV_ListenerNotFound;;1;EVENT_MANAGER_IF;fsfw/src/fsfw/events/EventManagerIF.h
0x04e1;RMP_CommandNoDescriptorsAvailable;;225;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
0x04e2;RMP_CommandBufferFull;;226;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
0x04e3;RMP_CommandChannelOutOfRange;;227;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
@ -212,95 +196,9 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x040a;RMP_ReplyCommandNotImplementedOrNotAuthorised;;10;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
0x040b;RMP_ReplyRmwDataLengthError;;11;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
0x040c;RMP_ReplyInvalidTargetLogicalAddress;;12;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
0x2801;SM_DataTooLarge;;1;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2802;SM_DataStorageFull;;2;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2803;SM_IllegalStorageId;;3;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2804;SM_DataDoesNotExist;;4;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2805;SM_IllegalAddress;;5;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2806;SM_PoolTooLarge;;6;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x38a1;SGP4_InvalidEccentricity;;161;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38a2;SGP4_InvalidMeanMotion;;162;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38a3;SGP4_InvalidPerturbationElements;;163;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38a4;SGP4_InvalidSemiLatusRectum;;164;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38a5;SGP4_InvalidEpochElements;;165;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38a6;SGP4_SatelliteHasDecayed;;166;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38b1;SGP4_TleTooOld;;177;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38b2;SGP4_TleNotInitialized;;178;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x2401;MT_NoPacketFound;;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h
0x2402;MT_PossiblePacketLoss;;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h
0x2403;MT_NoMatch;;3;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x2404;MT_Full;;4;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x2405;MT_NewNodeCreated;;5;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x3f01;DLEE_StreamTooShort;;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
0x3f02;DLEE_DecodingError;;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
0x2f01;ASC_TooLongForTargetType;;1;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
0x2f02;ASC_InvalidCharacters;;2;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
0x2f03;ASC_BufferTooSmall;;3;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
0x0f01;CM_UnknownCommand;;1;COMMAND_MESSAGE;fsfw/src/fsfw/ipc/CommandMessageIF.h
0x3a01;MQI_Empty;;1;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
0x3a02;MQI_Full;No space left for more messages;2;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
0x3a03;MQI_NoReplyPartner;Returned if a reply method was called without partner;3;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
0x3a04;MQI_DestinationInvalid;Returned if the target destination is invalid.;4;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
0x3901;MUX_NotEnoughResources;;1;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3902;MUX_InsufficientMemory;;2;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3903;MUX_NoPrivilege;;3;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3904;MUX_WrongAttributeSetting;;4;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3905;MUX_MutexAlreadyLocked;;5;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3906;MUX_MutexNotFound;;6;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3907;MUX_MutexMaxLocks;;7;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3908;MUX_CurrThreadAlreadyOwnsMutex;;8;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3909;MUX_CurrThreadDoesNotOwnMutex;;9;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x390a;MUX_MutexTimeout;;10;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x390b;MUX_MutexInvalidId;;11;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x390c;MUX_MutexDestroyedWhileWaiting;;12;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3b01;SPH_SemaphoreTimeout;;1;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
0x3b02;SPH_SemaphoreNotOwned;;2;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
0x3b03;SPH_SemaphoreInvalid;;3;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
0x1e00;PUS_InvalidPusVersion;;0;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
0x1e01;PUS_InvalidCrc16;;1;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
0x3601;CFDP_InvalidTlvType;;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3602;CFDP_InvalidDirectiveField;;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3603;CFDP_InvalidPduDatafieldLen;;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3604;CFDP_InvalidAckDirectiveFields;;4;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3605;CFDP_MetadataCantParseOptions;;5;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3606;CFDP_NakCantParseOptions;;6;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3607;CFDP_FinishedCantParseFsResponses;;7;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3608;CFDP_FilestoreRequiresSecondFile;;8;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3609;CFDP_FilestoreResponseCantParseFsMessage;;9;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x360a;CFDP_InvalidPduFormat;;10;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x2901;TC_InvalidTargetState;;1;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
0x29f1;TC_AboveOperationalLimit;;241;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
0x29f2;TC_BelowOperationalLimit;;242;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
0x0c02;MS_InvalidEntry;;2;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
0x0c03;MS_TooManyElements;;3;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
0x0c04;MS_CantStoreEmpty;;4;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
0x0d01;SS_SequenceAlreadyExists;;1;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d02;SS_TableAlreadyExists;;2;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d03;SS_TableDoesNotExist;;3;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d04;SS_TableOrSequenceLengthInvalid;;4;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d05;SS_SequenceDoesNotExist;;5;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d06;SS_TableContainsInvalidObjectId;;6;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d07;SS_FallbackSequenceDoesNotExist;;7;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d08;SS_NoTargetTable;;8;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d09;SS_SequenceOrTableTooLong;;9;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d0b;SS_IsFallbackSequence;;11;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d0c;SS_AccessDenied;;12;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d0e;SS_TableInUse;;14;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0da1;SS_TargetTableNotReached;;161;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0da2;SS_TableCheckFailed;;162;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0b01;SB_ChildNotFound;;1;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b02;SB_ChildInfoUpdated;;2;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b03;SB_ChildDoesntHaveModes;;3;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b04;SB_CouldNotInsertChild;;4;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b05;SB_TableContainsInvalidObjectId;;5;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
0x3e00;HKM_QueueOrDestinationInvalid;;0;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e01;HKM_WrongHkPacketType;;1;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e02;HKM_ReportingStatusUnchanged;;2;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e03;HKM_PeriodicHelperInvalid;;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e04;HKM_PoolobjectNotFound;;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e05;HKM_DatasetNotFound;;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3c00;LPIF_PoolEntryNotFound;;0;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
0x3c01;LPIF_PoolEntryTypeConflict;;1;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
0x1401;SE_BufferTooShort;;1;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
0x1402;SE_StreamTooShort;;2;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
0x1403;SE_TooManyElements;;3;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
0x3da0;PVA_InvalidReadWriteMode;;160;POOL_VARIABLE_IF;fsfw/src/fsfw/datapool/PoolVariableIF.h
0x3da1;PVA_InvalidPoolEntry;;161;POOL_VARIABLE_IF;fsfw/src/fsfw/datapool/PoolVariableIF.h
0x0801;DPS_InvalidParameterDefinition;;1;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
@ -309,35 +207,20 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x0804;DPS_DataSetUninitialised;;4;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
0x0805;DPS_DataSetFull;;5;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
0x0806;DPS_PoolVarNull;;6;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
0x1000;TIM_UnsupportedTimeFormat;;0;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1001;TIM_NotEnoughInformationForTargetFormat;;1;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1002;TIM_LengthMismatch;;2;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1003;TIM_InvalidTimeFormat;;3;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1004;TIM_InvalidDayOfYear;;4;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1005;TIM_TimeDoesNotFitFormat;;5;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x3701;TSI_BadTimestamp;;1;TIME_STAMPER_IF;fsfw/src/fsfw/timemanager/TimeStampIF.h
0x1d01;ATC_ActivityStarted;;1;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
0x1d02;ATC_InvalidSubservice;;2;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
0x1d03;ATC_IllegalApplicationData;;3;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
0x1d04;ATC_SendTmFailed;;4;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
0x1d05;ATC_Timeout;;5;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
0x4c00;SPPA_NoPacketFound;;0;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
0x4c01;SPPA_SplitPacket;;1;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
0x2001;CSB_ExecutionComplete;;1;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2002;CSB_NoStepMessage;;2;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2003;CSB_ObjectBusy;;3;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2004;CSB_Busy;;4;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2005;CSB_InvalidTc;;5;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2006;CSB_InvalidObject;;6;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2007;CSB_InvalidReply;;7;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x1801;FF_Full;;1;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
0x1802;FF_Empty;;2;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
0x1601;FMM_MapFull;;1;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
0x1602;FMM_KeyDoesNotExist;;2;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
0x2501;EV_ListenerNotFound;;1;EVENT_MANAGER_IF;fsfw/src/fsfw/events/EventManagerIF.h
0x1701;HHI_ObjectNotHealthy;;1;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
0x1702;HHI_InvalidHealthState;;2;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
0x1703;HHI_IsExternallyControlled;;3;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
0x1c01;TCD_PacketLost;;1;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
0x1c02;TCD_DestinationNotFound;;2;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
0x1c03;TCD_ServiceIdAlreadyExists;;3;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
0x1b00;TCC_NoDestinationFound;;0;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b01;TCC_InvalidCcsdsVersion;;1;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b02;TCC_InvalidApid;;2;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b03;TCC_InvalidPacketType;;3;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b04;TCC_InvalidSecHeaderField;;4;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b05;TCC_IncorrectPrimaryHeader;;5;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b07;TCC_IncompletePacket;;7;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b08;TCC_InvalidPusVersion;;8;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b09;TCC_IncorrectChecksum;;9;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b0a;TCC_IllegalPacketSubtype;;10;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b0b;TCC_IncorrectSecondaryHeader;;11;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x3001;POS_InPowerTransition;;1;POWER_SWITCHER;fsfw/src/fsfw/power/PowerSwitcher.h
0x3002;POS_SwitchStateMismatch;;2;POWER_SWITCHER;fsfw/src/fsfw/power/PowerSwitcher.h
0x0501;PS_SwitchOn;;1;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
@ -345,23 +228,76 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x0502;PS_SwitchTimeout;;2;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
0x0503;PS_FuseOn;;3;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
0x0504;PS_FuseOff;;4;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
0x4300;FILS_GenericFileError;;0;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4301;FILS_GenericDirError;;1;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4302;FILS_FilesystemInactive;;2;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4303;FILS_GenericRenameError;;3;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4304;FILS_IsBusy;;4;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4305;FILS_InvalidParameters;;5;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x430a;FILS_FileDoesNotExist;;10;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x430b;FILS_FileAlreadyExists;;11;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x430c;FILS_NotAFile;;12;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x430d;FILS_FileLocked;;13;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x430e;FILS_PermissionDenied;;14;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4315;FILS_DirectoryDoesNotExist;;21;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4316;FILS_DirectoryAlreadyExists;;22;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4317;FILS_NotADirectory;;23;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4318;FILS_DirectoryNotEmpty;;24;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x431e;FILS_SequencePacketMissingWrite;;30;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x431f;FILS_SequencePacketMissingRead;;31;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x3b00;SPH_ConnBroken;;0;SEMAPHORE_IF;fsfw/src/fsfw/osal/common/TcpTmTcServer.h
0x2a01;IEC_NoConfigurationTable;;1;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a02;IEC_NoCpuTable;;2;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a03;IEC_InvalidWorkspaceAddress;;3;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a04;IEC_TooLittleWorkspace;;4;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a05;IEC_WorkspaceAllocation;;5;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a06;IEC_InterruptStackTooSmall;;6;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a07;IEC_ThreadExitted;;7;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a08;IEC_InconsistentMpInformation;;8;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a09;IEC_InvalidNode;;9;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a0a;IEC_NoMpci;;10;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a0b;IEC_BadPacket;;11;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a0c;IEC_OutOfPackets;;12;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a0d;IEC_OutOfGlobalObjects;;13;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a0e;IEC_OutOfProxies;;14;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a0f;IEC_InvalidGlobalId;;15;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a10;IEC_BadStackHook;;16;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a11;IEC_BadAttributes;;17;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a12;IEC_ImplementationKeyCreateInconsistency;;18;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a13;IEC_ImplementationBlockingOperationCancel;;19;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a14;IEC_MutexObtainFromBadState;;20;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a15;IEC_UnlimitedAndMaximumIs0;;21;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2600;FDI_YourFault;;0;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
0x2601;FDI_MyFault;;1;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
0x2602;FDI_ConfirmLater;;2;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
0x1e00;PUS_InvalidPusVersion;;0;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
0x1e01;PUS_InvalidCrc16;;1;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
0x0201;OM_InsertionFailed;;1;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
0x0202;OM_NotFound;;2;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
0x0203;OM_ChildInitFailed;;3;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
0x0204;OM_InternalErrReporterUninit;;4;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
0x2201;TMF_Busy;;1;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2202;TMF_LastPacketFound;;2;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2203;TMF_StopFetch;;3;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2204;TMF_Timeout;;4;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2205;TMF_TmChannelFull;;5;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2206;TMF_NotStored;;6;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2207;TMF_AllDeleted;;7;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2208;TMF_InvalidData;;8;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2209;TMF_NotReady;;9;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2101;TMB_Busy;;1;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2102;TMB_Full;;2;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2103;TMB_Empty;;3;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2104;TMB_NullRequested;;4;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2105;TMB_TooLarge;;5;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2106;TMB_NotReady;;6;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2107;TMB_DumpError;;7;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2108;TMB_CrcError;;8;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2109;TMB_Timeout;;9;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210a;TMB_IdlePacketFound;;10;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210b;TMB_TelecommandFound;;11;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210c;TMB_NoPusATm;;12;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210d;TMB_TooSmall;;13;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210e;TMB_BlockNotFound;;14;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210f;TMB_InvalidRequest;;15;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2d01;PAW_UnknownDatatype;;1;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d02;PAW_DatatypeMissmatch;;2;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d03;PAW_Readonly;;3;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d04;PAW_TooBig;;4;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d05;PAW_SourceNotSet;;5;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d06;PAW_OutOfBounds;;6;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d07;PAW_NotSet;;7;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d08;PAW_ColumnOrRowsZero;;8;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2e01;HPA_InvalidIdentifierId;;1;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
0x2e02;HPA_InvalidDomainId;;2;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
0x2e03;HPA_InvalidValue;;3;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
0x2e05;HPA_ReadOnly;;5;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
0x3b01;SPH_SemaphoreTimeout;;1;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
0x3b02;SPH_SemaphoreNotOwned;;2;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
0x3b03;SPH_SemaphoreInvalid;;3;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
0x1a01;TRC_NotEnoughSensors;;1;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
0x1a02;TRC_LowestValueOol;;2;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
0x1a03;TRC_HighestValueOol;;3;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
@ -380,36 +316,74 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x31e2;LIM_WrongPid;;226;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x31e3;LIM_WrongLimitId;;227;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x31ee;LIM_MonitorNotFound;;238;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x3601;CFDP_InvalidTlvType;;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3602;CFDP_InvalidDirectiveField;;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3603;CFDP_InvalidPduDatafieldLen;;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3604;CFDP_InvalidAckDirectiveFields;;4;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3605;CFDP_MetadataCantParseOptions;;5;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3606;CFDP_NakCantParseOptions;;6;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3607;CFDP_FinishedCantParseFsResponses;;7;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3608;CFDP_FilestoreRequiresSecondFile;;8;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3609;CFDP_FilestoreResponseCantParseFsMessage;;9;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x360a;CFDP_InvalidPduFormat;;10;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x4300;FILS_GenericFileError;;0;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4301;FILS_GenericDirError;;1;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4302;FILS_FilesystemInactive;;2;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4303;FILS_GenericRenameError;;3;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4304;FILS_IsBusy;;4;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4305;FILS_InvalidParameters;;5;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x430a;FILS_FileDoesNotExist;;10;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x430b;FILS_FileAlreadyExists;;11;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x430c;FILS_NotAFile;;12;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x430d;FILS_FileLocked;;13;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x430e;FILS_PermissionDenied;;14;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4315;FILS_DirectoryDoesNotExist;;21;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4316;FILS_DirectoryAlreadyExists;;22;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4317;FILS_NotADirectory;;23;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4318;FILS_DirectoryNotEmpty;;24;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x431e;FILS_SequencePacketMissingWrite;;30;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x431f;FILS_SequencePacketMissingRead;;31;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x2c01;CCS_BcIsSetVrCommand;;1;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2c02;CCS_BcIsUnlockCommand;;2;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cb0;CCS_BcIllegalCommand;;176;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cb1;CCS_BoardReadingNotFinished;;177;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cf0;CCS_NsPositiveW;;240;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cf1;CCS_NsNegativeW;;241;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cf2;CCS_NsLockout;;242;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cf3;CCS_FarmInLockout;;243;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cf4;CCS_FarmInWait;;244;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce0;CCS_WrongSymbol;;224;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce1;CCS_DoubleStart;;225;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce2;CCS_StartSymbolMissed;;226;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce3;CCS_EndWithoutStart;;227;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce4;CCS_TooLarge;;228;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce5;CCS_TooShort;;229;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce6;CCS_WrongTfVersion;;230;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce7;CCS_WrongSpacecraftId;;231;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce8;CCS_NoValidFrameType;;232;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce9;CCS_CrcFailed;;233;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cea;CCS_VcNotFound;;234;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ceb;CCS_ForwardingFailed;;235;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cec;CCS_ContentTooLarge;;236;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ced;CCS_ResidualData;;237;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cee;CCS_DataCorrupted;;238;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cef;CCS_IllegalSegmentationFlag;;239;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cd0;CCS_IllegalFlagCombination;;208;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cd1;CCS_ShorterThanHeader;;209;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cd2;CCS_TooShortBlockedPacket;;210;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cd3;CCS_TooShortMapExtraction;;211;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x4201;PUS11_InvalidTypeTimeWindow;;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
0x4202;PUS11_InvalidTimeWindow;;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
0x4203;PUS11_TimeshiftingNotPossible;;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
0x4204;PUS11_InvalidRelativeTime;;4;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
0x4205;PUS11_ContainedTcTooSmall;;5;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
0x4206;PUS11_ContainedTcCrcMissmatch;;6;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
0x0601;PP_DoItMyself;;1;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x0602;PP_PointsToVariable;;2;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x0603;PP_PointsToMemory;;3;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x0604;PP_ActivityCompleted;;4;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x0605;PP_PointsToVectorUint8;;5;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x0606;PP_PointsToVectorUint16;;6;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x0607;PP_PointsToVectorUint32;;7;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x0608;PP_PointsToVectorFloat;;8;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x06a0;PP_DumpNotSupported;;160;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x06e0;PP_InvalidSize;;224;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x06e1;PP_InvalidAddress;;225;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x06e2;PP_InvalidContent;;226;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x06e3;PP_UnalignedAccess;;227;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x06e4;PP_WriteProtected;;228;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x13e0;MH_UnknownCmd;;224;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
0x13e1;MH_InvalidAddress;;225;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
0x13e2;MH_InvalidSize;;226;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
0x13e3;MH_StateMismatch;;227;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
0x1201;AB_NeedSecondStep;;1;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x1202;AB_NeedToReconfigure;;2;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x1203;AB_ModeFallback;;3;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x1204;AB_ChildNotCommandable;;4;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x1205;AB_NeedToChangeHealth;;5;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x12a1;AB_NotEnoughChildrenInCorrectState;;161;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x3401;DC_NoReplyReceived;;1;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x3402;DC_ProtocolError;;2;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x3403;DC_Nullpointer;;3;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x3404;DC_InvalidCookieType;;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x3405;DC_NotActive;;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x3406;DC_TooMuchData;;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x03a0;DHB_InvalidChannel;;160;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
0x03b0;DHB_AperiodicReply;;176;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
0x03b1;DHB_IgnoreReplyData;;177;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
@ -419,12 +393,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x03d0;DHB_NoSwitch;;208;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
0x03e0;DHB_ChildTimeout;;224;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
0x03e1;DHB_SwitchFailed;;225;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
0x3401;DC_NoReplyReceived;;1;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x3402;DC_ProtocolError;;2;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x3403;DC_Nullpointer;;3;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x3404;DC_InvalidCookieType;;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x3405;DC_NotActive;;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x3406;DC_TooMuchData;;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x1201;AB_NeedSecondStep;;1;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x1202;AB_NeedToReconfigure;;2;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x1203;AB_ModeFallback;;3;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x1204;AB_ChildNotCommandable;;4;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x1205;AB_NeedToChangeHealth;;5;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x12a1;AB_NotEnoughChildrenInCorrectState;;161;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x27a0;DHI_NoCommandData;;160;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
0x27a1;DHI_CommandNotSupported;;161;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
0x27a2;DHI_CommandAlreadySent;;162;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
@ -446,38 +420,67 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x27c3;DHI_DeviceReplyInvalid;;195;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
0x27d0;DHI_InvalidCommandParameter;;208;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
0x27d1;DHI_InvalidNumberOrLengthOfParameters;;209;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
0x1401;SE_BufferTooShort;;1;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
0x1402;SE_StreamTooShort;;2;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
0x1403;SE_TooManyElements;;3;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
0x4500;HSPI_HalTimeoutRetval;;0;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
0x4501;HSPI_HalBusyRetval;;1;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
0x4502;HSPI_HalErrorRetval;;2;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
0x4601;HURT_UartReadFailure;;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
0x4602;HURT_UartReadSizeMissmatch;;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
0x4603;HURT_UartRxBufferTooSmall;;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
0x4801;HGIO_UnknownGpioId;;1;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
0x4802;HGIO_DriveGpioFailure;;2;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
0x4803;HGIO_GpioTypeFailure;;3;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
0x4804;HGIO_GpioInvalidInstance;;4;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
0x4805;HGIO_GpioDuplicateDetected;;5;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
0x4806;HGIO_GpioInitFailed;;6;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
0x4807;HGIO_GpioGetValueFailed;;7;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
0x4400;UXOS_ExecutionFinished;Execution of the current command has finished;0;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
0x4401;UXOS_CommandPending;Command is pending. This will also be returned if the user tries to load another command but a command is still pending;1;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
0x4402;UXOS_BytesRead;Some bytes have been read from the executing process;2;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
0x4406;UXOS_PcloseCallError;;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
0x2401;MT_TooDetailedRequest;;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x2402;MT_TooGeneralRequest;;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x2403;MT_NoMatch;;3;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x2404;MT_Full;;4;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x2405;MT_NewNodeCreated;;5;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x3f01;DLEE_NoPacketFound;;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
0x3f02;DLEE_PossiblePacketLoss;;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
0x2f01;ASC_TooLongForTargetType;;1;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
0x2f02;ASC_InvalidCharacters;;2;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
0x2f03;ASC_BufferTooSmall;;3;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
0x1701;HHI_ObjectNotHealthy;;1;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
0x1702;HHI_InvalidHealthState;;2;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
0x1703;HHI_IsExternallyControlled;;3;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
0x3201;CF_ObjectHasNoFunctions;;1;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
0x3202;CF_AlreadyCommanding;;2;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
0x3301;HF_IsBusy;;1;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
0x3302;HF_InvalidParameters;;2;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
0x3303;HF_ExecutionFinished;;3;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
0x3304;HF_InvalidActionId;;4;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
0x1000;TIM_UnsupportedTimeFormat;;0;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1001;TIM_NotEnoughInformationForTargetFormat;;1;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1002;TIM_LengthMismatch;;2;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1003;TIM_InvalidTimeFormat;;3;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1004;TIM_InvalidDayOfYear;;4;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1005;TIM_TimeDoesNotFitFormat;;5;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x3701;TSI_BadTimestamp;;1;TIME_STAMPER_IF;fsfw/src/fsfw/timemanager/TimeStampIF.h
0x3c00;LPIF_PoolEntryNotFound;;0;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
0x3c01;LPIF_PoolEntryTypeConflict;;1;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
0x3e00;HKM_QueueOrDestinationInvalid;;0;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e01;HKM_WrongHkPacketType;;1;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e02;HKM_ReportingStatusUnchanged;;2;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e03;HKM_PeriodicHelperInvalid;;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e04;HKM_PoolobjectNotFound;;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e05;HKM_DatasetNotFound;;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x2901;TC_InvalidTargetState;;1;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
0x29f1;TC_AboveOperationalLimit;;241;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
0x29f2;TC_BelowOperationalLimit;;242;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
0x2001;CSB_ExecutionComplete;;1;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2002;CSB_NoStepMessage;;2;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2003;CSB_ObjectBusy;;3;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2004;CSB_Busy;;4;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2005;CSB_InvalidTc;;5;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2006;CSB_InvalidObject;;6;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2007;CSB_InvalidReply;;7;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x4c00;SPPA_NoPacketFound;;0;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
0x4c01;SPPA_SplitPacket;;1;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
0x1d01;ATC_ActivityStarted;;1;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
0x1d02;ATC_InvalidSubservice;;2;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
0x1d03;ATC_IllegalApplicationData;;3;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
0x1d04;ATC_SendTmFailed;;4;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
0x1d05;ATC_Timeout;;5;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
0x7000;SCBU_KeyNotFound;;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h
0x64a0;FSHLP_SdNotMounted;SD card specified with path string not mounted;160;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
0x64a1;FSHLP_FileNotExists;Specified file does not exist on filesystem;161;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
0x6a00;SDMA_OpOngoing;;0;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6a01;SDMA_AlreadyOn;;1;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6a02;SDMA_AlreadyMounted;;2;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6a03;SDMA_AlreadyOff;;3;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6a0a;SDMA_StatusFileNexists;;10;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6a0b;SDMA_StatusFileFormatInvalid;;11;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6a0c;SDMA_MountError;;12;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6a0d;SDMA_UnmountError;;13;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6a0e;SDMA_SystemCallError;;14;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6a0f;SDMA_PopenCallError;;15;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6b00;SCBU_KeyNotFound;;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h
0x6f00;SDMA_OpOngoing;;0;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6f01;SDMA_AlreadyOn;;1;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6f02;SDMA_AlreadyMounted;;2;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6f03;SDMA_AlreadyOff;;3;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6f0a;SDMA_StatusFileNexists;;10;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6f0b;SDMA_StatusFileFormatInvalid;;11;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6f0c;SDMA_MountError;;12;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6f0d;SDMA_UnmountError;;13;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6f0e;SDMA_SystemCallError;;14;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6f0f;SDMA_PopenCallError;;15;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h

1 Full ID (hex) Name Description Unique ID Subsytem Name File Path
2 0x0000 OK System-wide code for ok. 0 HasReturnvaluesIF fsfw/returnvalues/returnvalue.h
3 0x0001 Failed Unspecified system-wide code for failed. 1 HasReturnvaluesIF fsfw/returnvalues/returnvalue.h
4 0x60a0 0x63a0 CCSDS_CommandNotImplemented NVMB_KeyNotExists Received action message with unknown action id Specified key does not exist in json file 160 CCSDS_HANDLER NVM_PARAM_BASE mission/tmtc/CcsdsIpCoreHandler.h mission/memory/NVMParameterBase.h
5 0x5d00 0x6300 GOMS_PacketTooLong NVMB_Busy 0 GOM_SPACE_HANDLER NVM_PARAM_BASE mission/devices/GomspaceDeviceHandler.h mission/system/objects/Stack5VHandler.h
6 0x5d01 0x58a0 GOMS_InvalidTableId SUSS_ErrorUnlockMutex 1 160 GOM_SPACE_HANDLER SUS_HANDLER mission/devices/GomspaceDeviceHandler.h mission/devices/SusHandler.h
7 0x5d02 0x58a1 GOMS_InvalidAddress SUSS_ErrorLockMutex 2 161 GOM_SPACE_HANDLER SUS_HANDLER mission/devices/GomspaceDeviceHandler.h mission/devices/SusHandler.h
8 0x5d03 0x66a0 GOMS_InvalidParamSize SADPL_CommandNotSupported 3 160 GOM_SPACE_HANDLER SA_DEPL_HANDLER mission/devices/GomspaceDeviceHandler.h mission/devices/SolarArrayDeploymentHandler.h
9 0x5d04 0x66a1 GOMS_InvalidPayloadSize SADPL_DeploymentAlreadyExecuting 4 161 GOM_SPACE_HANDLER SA_DEPL_HANDLER mission/devices/GomspaceDeviceHandler.h mission/devices/SolarArrayDeploymentHandler.h
10 0x5d05 0x66a2 GOMS_UnknownReplyId SADPL_MainSwitchTimeoutFailure 5 162 GOM_SPACE_HANDLER SA_DEPL_HANDLER mission/devices/GomspaceDeviceHandler.h mission/devices/SolarArrayDeploymentHandler.h
11 0x66a3 SADPL_SwitchingDeplSa1Failed 163 SA_DEPL_HANDLER mission/devices/SolarArrayDeploymentHandler.h
12 0x66a4 SADPL_SwitchingDeplSa2Failed 164 SA_DEPL_HANDLER mission/devices/SolarArrayDeploymentHandler.h
13 0x51a0 IMTQ_InvalidCommandCode 160 IMTQ_HANDLER mission/devices/ImtqHandler.h
14 0x51a1 IMTQ_ParameterMissing 161 IMTQ_HANDLER mission/devices/ImtqHandler.h
15 0x51a2 IMTQ_ParameterInvalid 162 IMTQ_HANDLER mission/devices/ImtqHandler.h
16 0x51a3 IMTQ_CcUnavailable 163 IMTQ_HANDLER mission/devices/ImtqHandler.h
17 0x51a4 IMTQ_InternalProcessingError 164 IMTQ_HANDLER mission/devices/ImtqHandler.h
18 0x51a5 IMTQ_RejectedWithoutReason 165 IMTQ_HANDLER mission/devices/ImtqHandler.h
19 0x51a6 IMTQ_CmdErrUnknown 166 IMTQ_HANDLER mission/devices/ImtqHandler.h
20 0x51a7 IMTQ_UnexpectedSelfTestReply The status reply to a self test command was received but no self test command has been sent. This should normally never happen. 167 IMTQ_HANDLER mission/devices/ImtqHandler.h
21 0x52b0 RWHA_SpiWriteFailure 176 RW_HANDLER mission/devices/RwHandler.h
22 0x52b1 RWHA_SpiReadFailure Used by the spi send function to tell a failing read call 177 RW_HANDLER mission/devices/RwHandler.h
23 0x52b2 RWHA_MissingStartSign Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E 178 RW_HANDLER mission/devices/RwHandler.h
30 0x52a2 RWHA_SetSpeedCommandInvalidLength Received set speed command has invalid length. Should be 6. 162 RW_HANDLER mission/devices/RwHandler.h
31 0x52a3 RWHA_ExecutionFailed Command execution failed 163 RW_HANDLER mission/devices/RwHandler.h
32 0x52a4 RWHA_CrcError Reaction wheel reply has invalid crc 164 RW_HANDLER mission/devices/RwHandler.h
33 0x50a0 SYRLINKS_CrcFailure 160 SYRLINKS_HANDLER mission/devices/SyrlinksHandler.h
34 0x50a1 SYRLINKS_UartFraminOrParityErrorAck 161 SYRLINKS_HANDLER mission/devices/SyrlinksHandler.h
35 0x50a2 SYRLINKS_BadCharacterAck 162 SYRLINKS_HANDLER mission/devices/SyrlinksHandler.h
36 0x50a3 SYRLINKS_BadParameterValueAck 163 SYRLINKS_HANDLER mission/devices/SyrlinksHandler.h
37 0x50a4 SYRLINKS_BadEndOfFrameAck 164 SYRLINKS_HANDLER mission/devices/SyrlinksHandler.h
38 0x50a5 SYRLINKS_UnknownCommandIdAck 165 SYRLINKS_HANDLER mission/devices/SyrlinksHandler.h
39 0x50a6 SYRLINKS_BadCrcAck 166 SYRLINKS_HANDLER mission/devices/SyrlinksHandler.h
40 0x50a7 SYRLINKS_ReplyWrongSize 167 SYRLINKS_HANDLER mission/devices/SyrlinksHandler.h
41 0x50a8 SYRLINKS_MissingStartFrameCharacter 168 SYRLINKS_HANDLER mission/devices/SyrlinksHandler.h
42 0x5d00 GOMS_PacketTooLong 0 GOM_SPACE_HANDLER mission/devices/GomspaceDeviceHandler.h
43 0x5d01 GOMS_InvalidTableId 1 GOM_SPACE_HANDLER mission/devices/GomspaceDeviceHandler.h
44 0x5d02 GOMS_InvalidAddress 2 GOM_SPACE_HANDLER mission/devices/GomspaceDeviceHandler.h
45 0x5d03 GOMS_InvalidParamSize 3 GOM_SPACE_HANDLER mission/devices/GomspaceDeviceHandler.h
46 0x5d04 GOMS_InvalidPayloadSize 4 GOM_SPACE_HANDLER mission/devices/GomspaceDeviceHandler.h
47 0x5d05 GOMS_UnknownReplyId 5 GOM_SPACE_HANDLER mission/devices/GomspaceDeviceHandler.h
48 0x4fa1 HEATER_CommandNotSupported 161 HEATER_HANDLER mission/devices/HeaterHandler.h
49 0x4fa2 HEATER_InitFailed 162 HEATER_HANDLER mission/devices/HeaterHandler.h
50 0x4fa3 HEATER_InvalidSwitchNr 163 HEATER_HANDLER mission/devices/HeaterHandler.h
51 0x4fa4 HEATER_MainSwitchSetTimeout 164 HEATER_HANDLER mission/devices/HeaterHandler.h
52 0x4fa5 HEATER_CommandAlreadyWaiting 165 HEATER_HANDLER mission/devices/HeaterHandler.h
53 0x58a0 0x60a0 SUSS_ErrorUnlockMutex CCSDS_CommandNotImplemented Received action message with unknown action id 160 SUS_HANDLER CCSDS_HANDLER mission/devices/SusHandler.h mission/tmtc/CcsdsIpCoreHandler.h
54 0x58a1 0x6a01 SUSS_ErrorLockMutex ACSSAF_SafectrlMekfInputInvalid 161 1 SUS_HANDLER ACS_SAFE mission/devices/SusHandler.h mission/controller/acs/control/SafeCtrl.h
55 0x51a0 0x6b01 IMTQ_InvalidCommandCode ACSPTG_PtgctrlMekfInputInvalid 160 1 IMTQ_HANDLER ACS_PTG mission/devices/ImtqHandler.h mission/controller/acs/control/PtgCtrl.h
56 0x51a1 0x6c01 IMTQ_ParameterMissing ACSDTB_DetumbleNoSensordata 161 1 IMTQ_HANDLER ACS_DETUMBLE mission/devices/ImtqHandler.h mission/controller/acs/control/Detumble.h
57 0x51a2 0x6901 IMTQ_ParameterInvalid ACSKAL_KalmanNoGyrMeas 162 1 IMTQ_HANDLER ACS_KALMAN mission/devices/ImtqHandler.h mission/controller/acs/MultiplicativeKalmanFilter.h
58 0x51a3 0x6902 IMTQ_CcUnavailable ACSKAL_KalmanNoModel 163 2 IMTQ_HANDLER ACS_KALMAN mission/devices/ImtqHandler.h mission/controller/acs/MultiplicativeKalmanFilter.h
59 0x51a4 0x6903 IMTQ_InternalProcessingError ACSKAL_KalmanInversionFailed 164 3 IMTQ_HANDLER ACS_KALMAN mission/devices/ImtqHandler.h mission/controller/acs/MultiplicativeKalmanFilter.h
60 0x51a5 0x4500 IMTQ_RejectedWithoutReason HSPI_OpeningFileFailed 165 0 IMTQ_HANDLER HAL_SPI mission/devices/ImtqHandler.h fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
61 0x51a6 0x4501 IMTQ_CmdErrUnknown HSPI_FullDuplexTransferFailed 166 1 IMTQ_HANDLER HAL_SPI mission/devices/ImtqHandler.h fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
62 0x51a7 0x4502 IMTQ_UnexpectedSelfTestReply HSPI_HalfDuplexTransferFailed The status reply to a self test command was received but no self test command has been sent. This should normally never happen. 167 2 IMTQ_HANDLER HAL_SPI mission/devices/ImtqHandler.h fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
63 0x50a0 0x4801 SYRLINKS_CrcFailure HGIO_UnknownGpioId 160 1 SYRLINKS_HANDLER HAL_GPIO mission/devices/SyrlinksHkHandler.h fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
64 0x50a1 0x4802 SYRLINKS_UartFraminOrParityErrorAck HGIO_DriveGpioFailure 161 2 SYRLINKS_HANDLER HAL_GPIO mission/devices/SyrlinksHkHandler.h fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
65 0x50a2 0x4803 SYRLINKS_BadCharacterAck HGIO_GpioTypeFailure 162 3 SYRLINKS_HANDLER HAL_GPIO mission/devices/SyrlinksHkHandler.h fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
66 0x50a3 0x4804 SYRLINKS_BadParameterValueAck HGIO_GpioInvalidInstance 163 4 SYRLINKS_HANDLER HAL_GPIO mission/devices/SyrlinksHkHandler.h fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
67 0x50a4 0x4805 SYRLINKS_BadEndOfFrameAck HGIO_GpioDuplicateDetected 164 5 SYRLINKS_HANDLER HAL_GPIO mission/devices/SyrlinksHkHandler.h fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
68 0x50a5 0x4806 SYRLINKS_UnknownCommandIdAck HGIO_GpioInitFailed 165 6 SYRLINKS_HANDLER HAL_GPIO mission/devices/SyrlinksHkHandler.h fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
69 0x50a6 0x4807 SYRLINKS_BadCrcAck HGIO_GpioGetValueFailed 166 7 SYRLINKS_HANDLER HAL_GPIO mission/devices/SyrlinksHkHandler.h fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
70 0x50a7 0x4601 SYRLINKS_ReplyWrongSize HURT_UartReadFailure 167 1 SYRLINKS_HANDLER HAL_UART mission/devices/SyrlinksHkHandler.h fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
71 0x50a8 0x4602 SYRLINKS_MissingStartFrameCharacter HURT_UartReadSizeMissmatch 168 2 SYRLINKS_HANDLER HAL_UART mission/devices/SyrlinksHkHandler.h fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
72 0x66a0 0x4603 SADPL_CommandNotSupported HURT_UartRxBufferTooSmall 160 3 SA_DEPL_HANDLER HAL_UART mission/devices/SolarArrayDeploymentHandler.h fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
73 0x66a1 0x4400 SADPL_DeploymentAlreadyExecuting UXOS_ExecutionFinished Execution of the current command has finished 161 0 SA_DEPL_HANDLER LINUX_OSAL mission/devices/SolarArrayDeploymentHandler.h fsfw/src/fsfw_hal/linux/CommandExecutor.h
74 0x66a2 0x4401 SADPL_MainSwitchTimeoutFailure UXOS_CommandPending Command is pending. This will also be returned if the user tries to load another command but a command is still pending 162 1 SA_DEPL_HANDLER LINUX_OSAL mission/devices/SolarArrayDeploymentHandler.h fsfw/src/fsfw_hal/linux/CommandExecutor.h
75 0x66a3 0x4402 SADPL_SwitchingDeplSa1Failed UXOS_BytesRead Some bytes have been read from the executing process 163 2 SA_DEPL_HANDLER LINUX_OSAL mission/devices/SolarArrayDeploymentHandler.h fsfw/src/fsfw_hal/linux/CommandExecutor.h
76 0x66a4 0x4403 SADPL_SwitchingDeplSa2Failed UXOS_CommandError Command execution failed 164 3 SA_DEPL_HANDLER LINUX_OSAL mission/devices/SolarArrayDeploymentHandler.h fsfw/src/fsfw_hal/linux/CommandExecutor.h
77 0x6600 0x4404 SADPL_Busy UXOS_NoCommandLoadedOrPending 0 4 SA_DEPL_HANDLER LINUX_OSAL mission/system/objects/Stack5VHandler.h fsfw/src/fsfw_hal/linux/CommandExecutor.h
78 0x6601 0x4406 SADPL_KalmanNoGyrMeas UXOS_PcloseCallError 1 6 SA_DEPL_HANDLER LINUX_OSAL mission/controller/acs/MultiplicativeKalmanFilter.h fsfw/src/fsfw_hal/linux/CommandExecutor.h
79 0x6602 0x2801 SADPL_KalmanNoModel SM_DataTooLarge 2 1 SA_DEPL_HANDLER STORAGE_MANAGER_IF mission/controller/acs/MultiplicativeKalmanFilter.h fsfw/src/fsfw/storagemanager/StorageManagerIF.h
80 0x6603 0x2802 SADPL_KalmanInversionFailed SM_DataStorageFull 3 2 SA_DEPL_HANDLER STORAGE_MANAGER_IF mission/controller/acs/MultiplicativeKalmanFilter.h fsfw/src/fsfw/storagemanager/StorageManagerIF.h
81 0x63a0 0x2803 NVMB_KeyNotExists SM_IllegalStorageId Specified key does not exist in json file 160 3 NVM_PARAM_BASE STORAGE_MANAGER_IF mission/memory/NVMParameterBase.h fsfw/src/fsfw/storagemanager/StorageManagerIF.h
82 0x2c01 0x2804 CCS_BcIsSetVrCommand SM_DataDoesNotExist 1 4 CCSDS_HANDLER_IF STORAGE_MANAGER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/storagemanager/StorageManagerIF.h
83 0x2c02 0x2805 CCS_BcIsUnlockCommand SM_IllegalAddress 2 5 CCSDS_HANDLER_IF STORAGE_MANAGER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/storagemanager/StorageManagerIF.h
84 0x2cb0 0x2806 CCS_BcIllegalCommand SM_PoolTooLarge 176 6 CCSDS_HANDLER_IF STORAGE_MANAGER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/storagemanager/StorageManagerIF.h
85 0x2cb1 0x0601 CCS_BoardReadingNotFinished PP_DoItMyself 177 1 CCSDS_HANDLER_IF HAS_MEMORY_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/memory/HasMemoryIF.h
86 0x2cf0 0x0602 CCS_NsPositiveW PP_PointsToVariable 240 2 CCSDS_HANDLER_IF HAS_MEMORY_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/memory/HasMemoryIF.h
87 0x2cf1 0x0603 CCS_NsNegativeW PP_PointsToMemory 241 3 CCSDS_HANDLER_IF HAS_MEMORY_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/memory/HasMemoryIF.h
88 0x2cf2 0x0604 CCS_NsLockout PP_ActivityCompleted 242 4 CCSDS_HANDLER_IF HAS_MEMORY_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/memory/HasMemoryIF.h
89 0x2cf3 0x0605 CCS_FarmInLockout PP_PointsToVectorUint8 243 5 CCSDS_HANDLER_IF HAS_MEMORY_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/memory/HasMemoryIF.h
90 0x2cf4 0x0606 CCS_FarmInWait PP_PointsToVectorUint16 244 6 CCSDS_HANDLER_IF HAS_MEMORY_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/memory/HasMemoryIF.h
91 0x2ce0 0x0607 CCS_WrongSymbol PP_PointsToVectorUint32 224 7 CCSDS_HANDLER_IF HAS_MEMORY_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/memory/HasMemoryIF.h
92 0x2ce1 0x0608 CCS_DoubleStart PP_PointsToVectorFloat 225 8 CCSDS_HANDLER_IF HAS_MEMORY_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/memory/HasMemoryIF.h
93 0x2ce2 0x06a0 CCS_StartSymbolMissed PP_DumpNotSupported 226 160 CCSDS_HANDLER_IF HAS_MEMORY_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/memory/HasMemoryIF.h
94 0x2ce3 0x06e0 CCS_EndWithoutStart PP_InvalidSize 227 224 CCSDS_HANDLER_IF HAS_MEMORY_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/memory/HasMemoryIF.h
95 0x2ce4 0x06e1 CCS_TooLarge PP_InvalidAddress 228 225 CCSDS_HANDLER_IF HAS_MEMORY_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/memory/HasMemoryIF.h
96 0x2ce5 0x06e2 CCS_TooShort PP_InvalidContent 229 226 CCSDS_HANDLER_IF HAS_MEMORY_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/memory/HasMemoryIF.h
97 0x2ce6 0x06e3 CCS_WrongTfVersion PP_UnalignedAccess 230 227 CCSDS_HANDLER_IF HAS_MEMORY_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/memory/HasMemoryIF.h
98 0x2ce7 0x06e4 CCS_WrongSpacecraftId PP_WriteProtected 231 228 CCSDS_HANDLER_IF HAS_MEMORY_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/memory/HasMemoryIF.h
99 0x2ce8 0x13e0 CCS_NoValidFrameType MH_UnknownCmd 232 224 CCSDS_HANDLER_IF MEMORY_HELPER fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/memory/MemoryHelper.h
100 0x2ce9 0x13e1 CCS_CrcFailed MH_InvalidAddress 233 225 CCSDS_HANDLER_IF MEMORY_HELPER fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/memory/MemoryHelper.h
101 0x2cea 0x13e2 CCS_VcNotFound MH_InvalidSize 234 226 CCSDS_HANDLER_IF MEMORY_HELPER fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/memory/MemoryHelper.h
102 0x2ceb 0x13e3 CCS_ForwardingFailed MH_StateMismatch 235 227 CCSDS_HANDLER_IF MEMORY_HELPER fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/memory/MemoryHelper.h
103 0x2cec 0x38a1 CCS_ContentTooLarge SGP4_InvalidEccentricity 236 161 CCSDS_HANDLER_IF SGP4PROPAGATOR_CLASS fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/coordinates/Sgp4Propagator.h
104 0x2ced 0x38a2 CCS_ResidualData SGP4_InvalidMeanMotion 237 162 CCSDS_HANDLER_IF SGP4PROPAGATOR_CLASS fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/coordinates/Sgp4Propagator.h
105 0x2cee 0x38a3 CCS_DataCorrupted SGP4_InvalidPerturbationElements 238 163 CCSDS_HANDLER_IF SGP4PROPAGATOR_CLASS fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/coordinates/Sgp4Propagator.h
106 0x2cef 0x38a4 CCS_IllegalSegmentationFlag SGP4_InvalidSemiLatusRectum 239 164 CCSDS_HANDLER_IF SGP4PROPAGATOR_CLASS fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/coordinates/Sgp4Propagator.h
107 0x2cd0 0x38a5 CCS_IllegalFlagCombination SGP4_InvalidEpochElements 208 165 CCSDS_HANDLER_IF SGP4PROPAGATOR_CLASS fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/coordinates/Sgp4Propagator.h
108 0x2cd1 0x38a6 CCS_ShorterThanHeader SGP4_SatelliteHasDecayed 209 166 CCSDS_HANDLER_IF SGP4PROPAGATOR_CLASS fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/coordinates/Sgp4Propagator.h
109 0x2cd2 0x38b1 CCS_TooShortBlockedPacket SGP4_TleTooOld 210 177 CCSDS_HANDLER_IF SGP4PROPAGATOR_CLASS fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/coordinates/Sgp4Propagator.h
110 0x2cd3 0x38b2 CCS_TooShortMapExtraction SGP4_TleNotInitialized 211 178 CCSDS_HANDLER_IF SGP4PROPAGATOR_CLASS fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/coordinates/Sgp4Propagator.h
111 0x3b00 0x1801 SPH_ConnBroken FF_Full 0 1 SEMAPHORE_IF FIFO_CLASS fsfw/src/fsfw/osal/common/TcpTmTcServer.h fsfw/src/fsfw/container/FIFOBase.h
112 0x2a01 0x1802 IEC_NoConfigurationTable FF_Empty 1 2 INTERNAL_ERROR_CODES FIFO_CLASS fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/container/FIFOBase.h
113 0x2a02 0x1601 IEC_NoCpuTable FMM_MapFull 2 1 INTERNAL_ERROR_CODES FIXED_MULTIMAP fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/container/FixedOrderedMultimap.h
114 0x2a03 0x1602 IEC_InvalidWorkspaceAddress FMM_KeyDoesNotExist 3 2 INTERNAL_ERROR_CODES FIXED_MULTIMAP fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/container/FixedOrderedMultimap.h
115 0x2a04 0x3901 IEC_TooLittleWorkspace MUX_NotEnoughResources 4 1 INTERNAL_ERROR_CODES MUTEX_IF fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/ipc/MutexIF.h
116 0x2a05 0x3902 IEC_WorkspaceAllocation MUX_InsufficientMemory 5 2 INTERNAL_ERROR_CODES MUTEX_IF fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/ipc/MutexIF.h
117 0x2a06 0x3903 IEC_InterruptStackTooSmall MUX_NoPrivilege 6 3 INTERNAL_ERROR_CODES MUTEX_IF fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/ipc/MutexIF.h
118 0x2a07 0x3904 IEC_ThreadExitted MUX_WrongAttributeSetting 7 4 INTERNAL_ERROR_CODES MUTEX_IF fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/ipc/MutexIF.h
119 0x2a08 0x3905 IEC_InconsistentMpInformation MUX_MutexAlreadyLocked 8 5 INTERNAL_ERROR_CODES MUTEX_IF fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/ipc/MutexIF.h
120 0x2a09 0x3906 IEC_InvalidNode MUX_MutexNotFound 9 6 INTERNAL_ERROR_CODES MUTEX_IF fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/ipc/MutexIF.h
121 0x2a0a 0x3907 IEC_NoMpci MUX_MutexMaxLocks 10 7 INTERNAL_ERROR_CODES MUTEX_IF fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/ipc/MutexIF.h
122 0x2a0b 0x3908 IEC_BadPacket MUX_CurrThreadAlreadyOwnsMutex 11 8 INTERNAL_ERROR_CODES MUTEX_IF fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/ipc/MutexIF.h
123 0x2a0c 0x3909 IEC_OutOfPackets MUX_CurrThreadDoesNotOwnMutex 12 9 INTERNAL_ERROR_CODES MUTEX_IF fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/ipc/MutexIF.h
124 0x2a0d 0x390a IEC_OutOfGlobalObjects MUX_MutexTimeout 13 10 INTERNAL_ERROR_CODES MUTEX_IF fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/ipc/MutexIF.h
125 0x2a0e 0x390b IEC_OutOfProxies MUX_MutexInvalidId 14 11 INTERNAL_ERROR_CODES MUTEX_IF fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/ipc/MutexIF.h
126 0x2a0f 0x390c IEC_InvalidGlobalId MUX_MutexDestroyedWhileWaiting 15 12 INTERNAL_ERROR_CODES MUTEX_IF fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/ipc/MutexIF.h
127 0x2a10 0x3a01 IEC_BadStackHook MQI_Empty 16 1 INTERNAL_ERROR_CODES MESSAGE_QUEUE_IF fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/ipc/MessageQueueIF.h
128 0x2a11 0x3a02 IEC_BadAttributes MQI_Full No space left for more messages 17 2 INTERNAL_ERROR_CODES MESSAGE_QUEUE_IF fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/ipc/MessageQueueIF.h
129 0x2a12 0x3a03 IEC_ImplementationKeyCreateInconsistency MQI_NoReplyPartner Returned if a reply method was called without partner 18 3 INTERNAL_ERROR_CODES MESSAGE_QUEUE_IF fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/ipc/MessageQueueIF.h
130 0x2a13 0x3a04 IEC_ImplementationBlockingOperationCancel MQI_DestinationInvalid Returned if the target destination is invalid. 19 4 INTERNAL_ERROR_CODES MESSAGE_QUEUE_IF fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/ipc/MessageQueueIF.h
131 0x2a14 0x0f01 IEC_MutexObtainFromBadState CM_UnknownCommand 20 1 INTERNAL_ERROR_CODES COMMAND_MESSAGE fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/ipc/CommandMessageIF.h
0x2a15 IEC_UnlimitedAndMaximumIs0 21 INTERNAL_ERROR_CODES fsfw/src/fsfw/osal/InternalErrorCodes.h
132 0x0e01 HM_InvalidMode 1 HAS_MODES_IF fsfw/src/fsfw/modes/HasModesIF.h
133 0x0e02 HM_TransNotAllowed 2 HAS_MODES_IF fsfw/src/fsfw/modes/HasModesIF.h
134 0x0e03 HM_InTransition 3 HAS_MODES_IF fsfw/src/fsfw/modes/HasModesIF.h
135 0x0e04 HM_InvalidSubmode 4 HAS_MODES_IF fsfw/src/fsfw/modes/HasModesIF.h
136 0x2e01 0x0c02 HPA_InvalidIdentifierId MS_InvalidEntry 1 2 HAS_PARAMETERS_IF MODE_STORE_IF fsfw/src/fsfw/parameters/HasParametersIF.h fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
137 0x2e02 0x0c03 HPA_InvalidDomainId MS_TooManyElements 2 3 HAS_PARAMETERS_IF MODE_STORE_IF fsfw/src/fsfw/parameters/HasParametersIF.h fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
138 0x2e03 0x0c04 HPA_InvalidValue MS_CantStoreEmpty 3 4 HAS_PARAMETERS_IF MODE_STORE_IF fsfw/src/fsfw/parameters/HasParametersIF.h fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
139 0x2e05 0x0b01 HPA_ReadOnly SB_ChildNotFound 5 1 HAS_PARAMETERS_IF SUBSYSTEM_BASE fsfw/src/fsfw/parameters/HasParametersIF.h fsfw/src/fsfw/subsystem/SubsystemBase.h
140 0x2d01 0x0b02 PAW_UnknownDatatype SB_ChildInfoUpdated 1 2 PARAMETER_WRAPPER SUBSYSTEM_BASE fsfw/src/fsfw/parameters/ParameterWrapper.h fsfw/src/fsfw/subsystem/SubsystemBase.h
141 0x2d02 0x0b03 PAW_DatatypeMissmatch SB_ChildDoesntHaveModes 2 3 PARAMETER_WRAPPER SUBSYSTEM_BASE fsfw/src/fsfw/parameters/ParameterWrapper.h fsfw/src/fsfw/subsystem/SubsystemBase.h
142 0x2d03 0x0b04 PAW_Readonly SB_CouldNotInsertChild 3 4 PARAMETER_WRAPPER SUBSYSTEM_BASE fsfw/src/fsfw/parameters/ParameterWrapper.h fsfw/src/fsfw/subsystem/SubsystemBase.h
143 0x2d04 0x0b05 PAW_TooBig SB_TableContainsInvalidObjectId 4 5 PARAMETER_WRAPPER SUBSYSTEM_BASE fsfw/src/fsfw/parameters/ParameterWrapper.h fsfw/src/fsfw/subsystem/SubsystemBase.h
144 0x2d05 0x0d01 PAW_SourceNotSet SS_SequenceAlreadyExists 5 1 PARAMETER_WRAPPER SUBSYSTEM fsfw/src/fsfw/parameters/ParameterWrapper.h fsfw/src/fsfw/subsystem/Subsystem.h
145 0x2d06 0x0d02 PAW_OutOfBounds SS_TableAlreadyExists 6 2 PARAMETER_WRAPPER SUBSYSTEM fsfw/src/fsfw/parameters/ParameterWrapper.h fsfw/src/fsfw/subsystem/Subsystem.h
146 0x2d07 0x0d03 PAW_NotSet SS_TableDoesNotExist 7 3 PARAMETER_WRAPPER SUBSYSTEM fsfw/src/fsfw/parameters/ParameterWrapper.h fsfw/src/fsfw/subsystem/Subsystem.h
147 0x2d08 0x0d04 PAW_ColumnOrRowsZero SS_TableOrSequenceLengthInvalid 8 4 PARAMETER_WRAPPER SUBSYSTEM fsfw/src/fsfw/parameters/ParameterWrapper.h fsfw/src/fsfw/subsystem/Subsystem.h
148 0x3201 0x0d05 CF_ObjectHasNoFunctions SS_SequenceDoesNotExist 1 5 COMMANDS_ACTIONS_IF SUBSYSTEM fsfw/src/fsfw/action/CommandsActionsIF.h fsfw/src/fsfw/subsystem/Subsystem.h
149 0x3202 0x0d06 CF_AlreadyCommanding SS_TableContainsInvalidObjectId 2 6 COMMANDS_ACTIONS_IF SUBSYSTEM fsfw/src/fsfw/action/CommandsActionsIF.h fsfw/src/fsfw/subsystem/Subsystem.h
150 0x3301 0x0d07 HF_IsBusy SS_FallbackSequenceDoesNotExist 1 7 HAS_ACTIONS_IF SUBSYSTEM fsfw/src/fsfw/action/HasActionsIF.h fsfw/src/fsfw/subsystem/Subsystem.h
151 0x3302 0x0d08 HF_InvalidParameters SS_NoTargetTable 2 8 HAS_ACTIONS_IF SUBSYSTEM fsfw/src/fsfw/action/HasActionsIF.h fsfw/src/fsfw/subsystem/Subsystem.h
152 0x3303 0x0d09 HF_ExecutionFinished SS_SequenceOrTableTooLong 3 9 HAS_ACTIONS_IF SUBSYSTEM fsfw/src/fsfw/action/HasActionsIF.h fsfw/src/fsfw/subsystem/Subsystem.h
153 0x3304 0x0d0b HF_InvalidActionId SS_IsFallbackSequence 4 11 HAS_ACTIONS_IF SUBSYSTEM fsfw/src/fsfw/action/HasActionsIF.h fsfw/src/fsfw/subsystem/Subsystem.h
154 0x0201 0x0d0c OM_InsertionFailed SS_AccessDenied 1 12 OBJECT_MANAGER_IF SUBSYSTEM fsfw/src/fsfw/objectmanager/ObjectManagerIF.h fsfw/src/fsfw/subsystem/Subsystem.h
155 0x0202 0x0d0e OM_NotFound SS_TableInUse 2 14 OBJECT_MANAGER_IF SUBSYSTEM fsfw/src/fsfw/objectmanager/ObjectManagerIF.h fsfw/src/fsfw/subsystem/Subsystem.h
156 0x0203 0x0da1 OM_ChildInitFailed SS_TargetTableNotReached 3 161 OBJECT_MANAGER_IF SUBSYSTEM fsfw/src/fsfw/objectmanager/ObjectManagerIF.h fsfw/src/fsfw/subsystem/Subsystem.h
157 0x0204 0x0da2 OM_InternalErrReporterUninit SS_TableCheckFailed 4 162 OBJECT_MANAGER_IF SUBSYSTEM fsfw/src/fsfw/objectmanager/ObjectManagerIF.h fsfw/src/fsfw/subsystem/Subsystem.h
158 0x2600 0x2501 FDI_YourFault EV_ListenerNotFound 0 1 HANDLES_FAILURES_IF EVENT_MANAGER_IF fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h fsfw/src/fsfw/events/EventManagerIF.h
0x2601 FDI_MyFault 1 HANDLES_FAILURES_IF fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
0x2602 FDI_ConfirmLater 2 HANDLES_FAILURES_IF fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
0x2201 TMF_Busy 1 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2202 TMF_LastPacketFound 2 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2203 TMF_StopFetch 3 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2204 TMF_Timeout 4 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2205 TMF_TmChannelFull 5 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2206 TMF_NotStored 6 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2207 TMF_AllDeleted 7 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2208 TMF_InvalidData 8 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2209 TMF_NotReady 9 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2101 TMB_Busy 1 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2102 TMB_Full 2 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2103 TMB_Empty 3 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2104 TMB_NullRequested 4 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2105 TMB_TooLarge 5 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2106 TMB_NotReady 6 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2107 TMB_DumpError 7 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2108 TMB_CrcError 8 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2109 TMB_Timeout 9 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210a TMB_IdlePacketFound 10 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210b TMB_TelecommandFound 11 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210c TMB_NoPusATm 12 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210d TMB_TooSmall 13 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210e TMB_BlockNotFound 14 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210f TMB_InvalidRequest 15 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x1c01 TCD_PacketLost 1 PACKET_DISTRIBUTION fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
0x1c02 TCD_DestinationNotFound 2 PACKET_DISTRIBUTION fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
0x1c03 TCD_ServiceIdAlreadyExists 3 PACKET_DISTRIBUTION fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
0x1b00 TCC_NoDestinationFound 0 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
0x1b01 TCC_InvalidCcsdsVersion 1 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
0x1b02 TCC_InvalidApid 2 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
0x1b03 TCC_InvalidPacketType 3 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
0x1b04 TCC_InvalidSecHeaderField 4 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
0x1b05 TCC_IncorrectPrimaryHeader 5 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
0x1b07 TCC_IncompletePacket 7 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
0x1b08 TCC_InvalidPusVersion 8 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
0x1b09 TCC_IncorrectChecksum 9 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
0x1b0a TCC_IllegalPacketSubtype 10 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
0x1b0b TCC_IncorrectSecondaryHeader 11 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
159 0x04e1 RMP_CommandNoDescriptorsAvailable 225 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
160 0x04e2 RMP_CommandBufferFull 226 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
161 0x04e3 RMP_CommandChannelOutOfRange 227 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
196 0x040a RMP_ReplyCommandNotImplementedOrNotAuthorised 10 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
197 0x040b RMP_ReplyRmwDataLengthError 11 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
198 0x040c RMP_ReplyInvalidTargetLogicalAddress 12 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
199 0x2801 0x1401 SM_DataTooLarge SE_BufferTooShort 1 STORAGE_MANAGER_IF SERIALIZE_IF fsfw/src/fsfw/storagemanager/StorageManagerIF.h fsfw/src/fsfw/serialize/SerializeIF.h
200 0x2802 0x1402 SM_DataStorageFull SE_StreamTooShort 2 STORAGE_MANAGER_IF SERIALIZE_IF fsfw/src/fsfw/storagemanager/StorageManagerIF.h fsfw/src/fsfw/serialize/SerializeIF.h
201 0x2803 0x1403 SM_IllegalStorageId SE_TooManyElements 3 STORAGE_MANAGER_IF SERIALIZE_IF fsfw/src/fsfw/storagemanager/StorageManagerIF.h fsfw/src/fsfw/serialize/SerializeIF.h
0x2804 SM_DataDoesNotExist 4 STORAGE_MANAGER_IF fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2805 SM_IllegalAddress 5 STORAGE_MANAGER_IF fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2806 SM_PoolTooLarge 6 STORAGE_MANAGER_IF fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x38a1 SGP4_InvalidEccentricity 161 SGP4PROPAGATOR_CLASS fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38a2 SGP4_InvalidMeanMotion 162 SGP4PROPAGATOR_CLASS fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38a3 SGP4_InvalidPerturbationElements 163 SGP4PROPAGATOR_CLASS fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38a4 SGP4_InvalidSemiLatusRectum 164 SGP4PROPAGATOR_CLASS fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38a5 SGP4_InvalidEpochElements 165 SGP4PROPAGATOR_CLASS fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38a6 SGP4_SatelliteHasDecayed 166 SGP4PROPAGATOR_CLASS fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38b1 SGP4_TleTooOld 177 SGP4PROPAGATOR_CLASS fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38b2 SGP4_TleNotInitialized 178 SGP4PROPAGATOR_CLASS fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x2401 MT_NoPacketFound 1 MATCH_TREE_CLASS fsfw/src/fsfw/globalfunctions/DleParser.h
0x2402 MT_PossiblePacketLoss 2 MATCH_TREE_CLASS fsfw/src/fsfw/globalfunctions/DleParser.h
0x2403 MT_NoMatch 3 MATCH_TREE_CLASS fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x2404 MT_Full 4 MATCH_TREE_CLASS fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x2405 MT_NewNodeCreated 5 MATCH_TREE_CLASS fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x3f01 DLEE_StreamTooShort 1 DLE_ENCODER fsfw/src/fsfw/globalfunctions/DleEncoder.h
0x3f02 DLEE_DecodingError 2 DLE_ENCODER fsfw/src/fsfw/globalfunctions/DleEncoder.h
0x2f01 ASC_TooLongForTargetType 1 ASCII_CONVERTER fsfw/src/fsfw/globalfunctions/AsciiConverter.h
0x2f02 ASC_InvalidCharacters 2 ASCII_CONVERTER fsfw/src/fsfw/globalfunctions/AsciiConverter.h
0x2f03 ASC_BufferTooSmall 3 ASCII_CONVERTER fsfw/src/fsfw/globalfunctions/AsciiConverter.h
0x0f01 CM_UnknownCommand 1 COMMAND_MESSAGE fsfw/src/fsfw/ipc/CommandMessageIF.h
0x3a01 MQI_Empty 1 MESSAGE_QUEUE_IF fsfw/src/fsfw/ipc/MessageQueueIF.h
0x3a02 MQI_Full No space left for more messages 2 MESSAGE_QUEUE_IF fsfw/src/fsfw/ipc/MessageQueueIF.h
0x3a03 MQI_NoReplyPartner Returned if a reply method was called without partner 3 MESSAGE_QUEUE_IF fsfw/src/fsfw/ipc/MessageQueueIF.h
0x3a04 MQI_DestinationInvalid Returned if the target destination is invalid. 4 MESSAGE_QUEUE_IF fsfw/src/fsfw/ipc/MessageQueueIF.h
0x3901 MUX_NotEnoughResources 1 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x3902 MUX_InsufficientMemory 2 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x3903 MUX_NoPrivilege 3 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x3904 MUX_WrongAttributeSetting 4 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x3905 MUX_MutexAlreadyLocked 5 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x3906 MUX_MutexNotFound 6 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x3907 MUX_MutexMaxLocks 7 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x3908 MUX_CurrThreadAlreadyOwnsMutex 8 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x3909 MUX_CurrThreadDoesNotOwnMutex 9 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x390a MUX_MutexTimeout 10 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x390b MUX_MutexInvalidId 11 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x390c MUX_MutexDestroyedWhileWaiting 12 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x3b01 SPH_SemaphoreTimeout 1 SEMAPHORE_IF fsfw/src/fsfw/tasks/SemaphoreIF.h
0x3b02 SPH_SemaphoreNotOwned 2 SEMAPHORE_IF fsfw/src/fsfw/tasks/SemaphoreIF.h
0x3b03 SPH_SemaphoreInvalid 3 SEMAPHORE_IF fsfw/src/fsfw/tasks/SemaphoreIF.h
0x1e00 PUS_InvalidPusVersion 0 PUS_IF fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
0x1e01 PUS_InvalidCrc16 1 PUS_IF fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
0x3601 CFDP_InvalidTlvType 1 CFDP fsfw/src/fsfw/cfdp/definitions.h
0x3602 CFDP_InvalidDirectiveField 2 CFDP fsfw/src/fsfw/cfdp/definitions.h
0x3603 CFDP_InvalidPduDatafieldLen 3 CFDP fsfw/src/fsfw/cfdp/definitions.h
0x3604 CFDP_InvalidAckDirectiveFields 4 CFDP fsfw/src/fsfw/cfdp/definitions.h
0x3605 CFDP_MetadataCantParseOptions 5 CFDP fsfw/src/fsfw/cfdp/definitions.h
0x3606 CFDP_NakCantParseOptions 6 CFDP fsfw/src/fsfw/cfdp/definitions.h
0x3607 CFDP_FinishedCantParseFsResponses 7 CFDP fsfw/src/fsfw/cfdp/definitions.h
0x3608 CFDP_FilestoreRequiresSecondFile 8 CFDP fsfw/src/fsfw/cfdp/definitions.h
0x3609 CFDP_FilestoreResponseCantParseFsMessage 9 CFDP fsfw/src/fsfw/cfdp/definitions.h
0x360a CFDP_InvalidPduFormat 10 CFDP fsfw/src/fsfw/cfdp/definitions.h
0x2901 TC_InvalidTargetState 1 THERMAL_COMPONENT_IF fsfw/src/fsfw/thermal/ThermalComponentIF.h
0x29f1 TC_AboveOperationalLimit 241 THERMAL_COMPONENT_IF fsfw/src/fsfw/thermal/ThermalComponentIF.h
0x29f2 TC_BelowOperationalLimit 242 THERMAL_COMPONENT_IF fsfw/src/fsfw/thermal/ThermalComponentIF.h
0x0c02 MS_InvalidEntry 2 MODE_STORE_IF fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
0x0c03 MS_TooManyElements 3 MODE_STORE_IF fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
0x0c04 MS_CantStoreEmpty 4 MODE_STORE_IF fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
0x0d01 SS_SequenceAlreadyExists 1 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
0x0d02 SS_TableAlreadyExists 2 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
0x0d03 SS_TableDoesNotExist 3 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
0x0d04 SS_TableOrSequenceLengthInvalid 4 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
0x0d05 SS_SequenceDoesNotExist 5 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
0x0d06 SS_TableContainsInvalidObjectId 6 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
0x0d07 SS_FallbackSequenceDoesNotExist 7 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
0x0d08 SS_NoTargetTable 8 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
0x0d09 SS_SequenceOrTableTooLong 9 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
0x0d0b SS_IsFallbackSequence 11 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
0x0d0c SS_AccessDenied 12 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
0x0d0e SS_TableInUse 14 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
0x0da1 SS_TargetTableNotReached 161 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
0x0da2 SS_TableCheckFailed 162 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
0x0b01 SB_ChildNotFound 1 SUBSYSTEM_BASE fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b02 SB_ChildInfoUpdated 2 SUBSYSTEM_BASE fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b03 SB_ChildDoesntHaveModes 3 SUBSYSTEM_BASE fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b04 SB_CouldNotInsertChild 4 SUBSYSTEM_BASE fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b05 SB_TableContainsInvalidObjectId 5 SUBSYSTEM_BASE fsfw/src/fsfw/subsystem/SubsystemBase.h
0x3e00 HKM_QueueOrDestinationInvalid 0 HOUSEKEEPING_MANAGER fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e01 HKM_WrongHkPacketType 1 HOUSEKEEPING_MANAGER fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e02 HKM_ReportingStatusUnchanged 2 HOUSEKEEPING_MANAGER fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e03 HKM_PeriodicHelperInvalid 3 HOUSEKEEPING_MANAGER fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e04 HKM_PoolobjectNotFound 4 HOUSEKEEPING_MANAGER fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e05 HKM_DatasetNotFound 5 HOUSEKEEPING_MANAGER fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3c00 LPIF_PoolEntryNotFound 0 LOCAL_POOL_OWNER_IF fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
0x3c01 LPIF_PoolEntryTypeConflict 1 LOCAL_POOL_OWNER_IF fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
202 0x3da0 PVA_InvalidReadWriteMode 160 POOL_VARIABLE_IF fsfw/src/fsfw/datapool/PoolVariableIF.h
203 0x3da1 PVA_InvalidPoolEntry 161 POOL_VARIABLE_IF fsfw/src/fsfw/datapool/PoolVariableIF.h
204 0x0801 DPS_InvalidParameterDefinition 1 DATA_SET_CLASS fsfw/src/fsfw/datapool/DataSetIF.h
207 0x0804 DPS_DataSetUninitialised 4 DATA_SET_CLASS fsfw/src/fsfw/datapool/DataSetIF.h
208 0x0805 DPS_DataSetFull 5 DATA_SET_CLASS fsfw/src/fsfw/datapool/DataSetIF.h
209 0x0806 DPS_PoolVarNull 6 DATA_SET_CLASS fsfw/src/fsfw/datapool/DataSetIF.h
210 0x1000 0x1c01 TIM_UnsupportedTimeFormat TCD_PacketLost 0 1 CCSDS_TIME_HELPER_CLASS PACKET_DISTRIBUTION fsfw/src/fsfw/timemanager/CCSDSTime.h fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
211 0x1001 0x1c02 TIM_NotEnoughInformationForTargetFormat TCD_DestinationNotFound 1 2 CCSDS_TIME_HELPER_CLASS PACKET_DISTRIBUTION fsfw/src/fsfw/timemanager/CCSDSTime.h fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
212 0x1002 0x1c03 TIM_LengthMismatch TCD_ServiceIdAlreadyExists 2 3 CCSDS_TIME_HELPER_CLASS PACKET_DISTRIBUTION fsfw/src/fsfw/timemanager/CCSDSTime.h fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
213 0x1003 0x1b00 TIM_InvalidTimeFormat TCC_NoDestinationFound 3 0 CCSDS_TIME_HELPER_CLASS TMTC_DISTRIBUTION fsfw/src/fsfw/timemanager/CCSDSTime.h fsfw/src/fsfw/tcdistribution/definitions.h
214 0x1004 0x1b01 TIM_InvalidDayOfYear TCC_InvalidCcsdsVersion 4 1 CCSDS_TIME_HELPER_CLASS TMTC_DISTRIBUTION fsfw/src/fsfw/timemanager/CCSDSTime.h fsfw/src/fsfw/tcdistribution/definitions.h
215 0x1005 0x1b02 TIM_TimeDoesNotFitFormat TCC_InvalidApid 5 2 CCSDS_TIME_HELPER_CLASS TMTC_DISTRIBUTION fsfw/src/fsfw/timemanager/CCSDSTime.h fsfw/src/fsfw/tcdistribution/definitions.h
216 0x3701 0x1b03 TSI_BadTimestamp TCC_InvalidPacketType 1 3 TIME_STAMPER_IF TMTC_DISTRIBUTION fsfw/src/fsfw/timemanager/TimeStampIF.h fsfw/src/fsfw/tcdistribution/definitions.h
217 0x1d01 0x1b04 ATC_ActivityStarted TCC_InvalidSecHeaderField 1 4 ACCEPTS_TELECOMMANDS_IF TMTC_DISTRIBUTION fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h fsfw/src/fsfw/tcdistribution/definitions.h
218 0x1d02 0x1b05 ATC_InvalidSubservice TCC_IncorrectPrimaryHeader 2 5 ACCEPTS_TELECOMMANDS_IF TMTC_DISTRIBUTION fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h fsfw/src/fsfw/tcdistribution/definitions.h
219 0x1d03 0x1b07 ATC_IllegalApplicationData TCC_IncompletePacket 3 7 ACCEPTS_TELECOMMANDS_IF TMTC_DISTRIBUTION fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h fsfw/src/fsfw/tcdistribution/definitions.h
220 0x1d04 0x1b08 ATC_SendTmFailed TCC_InvalidPusVersion 4 8 ACCEPTS_TELECOMMANDS_IF TMTC_DISTRIBUTION fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h fsfw/src/fsfw/tcdistribution/definitions.h
221 0x1d05 0x1b09 ATC_Timeout TCC_IncorrectChecksum 5 9 ACCEPTS_TELECOMMANDS_IF TMTC_DISTRIBUTION fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h fsfw/src/fsfw/tcdistribution/definitions.h
222 0x4c00 0x1b0a SPPA_NoPacketFound TCC_IllegalPacketSubtype 0 10 SPACE_PACKET_PARSER TMTC_DISTRIBUTION fsfw/src/fsfw/tmtcservices/SpacePacketParser.h fsfw/src/fsfw/tcdistribution/definitions.h
223 0x4c01 0x1b0b SPPA_SplitPacket TCC_IncorrectSecondaryHeader 1 11 SPACE_PACKET_PARSER TMTC_DISTRIBUTION fsfw/src/fsfw/tmtcservices/SpacePacketParser.h fsfw/src/fsfw/tcdistribution/definitions.h
0x2001 CSB_ExecutionComplete 1 COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2002 CSB_NoStepMessage 2 COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2003 CSB_ObjectBusy 3 COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2004 CSB_Busy 4 COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2005 CSB_InvalidTc 5 COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2006 CSB_InvalidObject 6 COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2007 CSB_InvalidReply 7 COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x1801 FF_Full 1 FIFO_CLASS fsfw/src/fsfw/container/FIFOBase.h
0x1802 FF_Empty 2 FIFO_CLASS fsfw/src/fsfw/container/FIFOBase.h
0x1601 FMM_MapFull 1 FIXED_MULTIMAP fsfw/src/fsfw/container/FixedOrderedMultimap.h
0x1602 FMM_KeyDoesNotExist 2 FIXED_MULTIMAP fsfw/src/fsfw/container/FixedOrderedMultimap.h
0x2501 EV_ListenerNotFound 1 EVENT_MANAGER_IF fsfw/src/fsfw/events/EventManagerIF.h
0x1701 HHI_ObjectNotHealthy 1 HAS_HEALTH_IF fsfw/src/fsfw/health/HasHealthIF.h
0x1702 HHI_InvalidHealthState 2 HAS_HEALTH_IF fsfw/src/fsfw/health/HasHealthIF.h
0x1703 HHI_IsExternallyControlled 3 HAS_HEALTH_IF fsfw/src/fsfw/health/HasHealthIF.h
224 0x3001 POS_InPowerTransition 1 POWER_SWITCHER fsfw/src/fsfw/power/PowerSwitcher.h
225 0x3002 POS_SwitchStateMismatch 2 POWER_SWITCHER fsfw/src/fsfw/power/PowerSwitcher.h
226 0x0501 PS_SwitchOn 1 POWER_SWITCH_IF fsfw/src/fsfw/power/PowerSwitchIF.h
228 0x0502 PS_SwitchTimeout 2 POWER_SWITCH_IF fsfw/src/fsfw/power/PowerSwitchIF.h
229 0x0503 PS_FuseOn 3 POWER_SWITCH_IF fsfw/src/fsfw/power/PowerSwitchIF.h
230 0x0504 PS_FuseOff 4 POWER_SWITCH_IF fsfw/src/fsfw/power/PowerSwitchIF.h
231 0x4300 0x3b00 FILS_GenericFileError SPH_ConnBroken 0 FILE_SYSTEM SEMAPHORE_IF fsfw/src/fsfw/filesystem/HasFileSystemIF.h fsfw/src/fsfw/osal/common/TcpTmTcServer.h
232 0x4301 0x2a01 FILS_GenericDirError IEC_NoConfigurationTable 1 FILE_SYSTEM INTERNAL_ERROR_CODES fsfw/src/fsfw/filesystem/HasFileSystemIF.h fsfw/src/fsfw/osal/InternalErrorCodes.h
233 0x4302 0x2a02 FILS_FilesystemInactive IEC_NoCpuTable 2 FILE_SYSTEM INTERNAL_ERROR_CODES fsfw/src/fsfw/filesystem/HasFileSystemIF.h fsfw/src/fsfw/osal/InternalErrorCodes.h
234 0x4303 0x2a03 FILS_GenericRenameError IEC_InvalidWorkspaceAddress 3 FILE_SYSTEM INTERNAL_ERROR_CODES fsfw/src/fsfw/filesystem/HasFileSystemIF.h fsfw/src/fsfw/osal/InternalErrorCodes.h
235 0x4304 0x2a04 FILS_IsBusy IEC_TooLittleWorkspace 4 FILE_SYSTEM INTERNAL_ERROR_CODES fsfw/src/fsfw/filesystem/HasFileSystemIF.h fsfw/src/fsfw/osal/InternalErrorCodes.h
236 0x4305 0x2a05 FILS_InvalidParameters IEC_WorkspaceAllocation 5 FILE_SYSTEM INTERNAL_ERROR_CODES fsfw/src/fsfw/filesystem/HasFileSystemIF.h fsfw/src/fsfw/osal/InternalErrorCodes.h
237 0x430a 0x2a06 FILS_FileDoesNotExist IEC_InterruptStackTooSmall 10 6 FILE_SYSTEM INTERNAL_ERROR_CODES fsfw/src/fsfw/filesystem/HasFileSystemIF.h fsfw/src/fsfw/osal/InternalErrorCodes.h
238 0x430b 0x2a07 FILS_FileAlreadyExists IEC_ThreadExitted 11 7 FILE_SYSTEM INTERNAL_ERROR_CODES fsfw/src/fsfw/filesystem/HasFileSystemIF.h fsfw/src/fsfw/osal/InternalErrorCodes.h
239 0x430c 0x2a08 FILS_NotAFile IEC_InconsistentMpInformation 12 8 FILE_SYSTEM INTERNAL_ERROR_CODES fsfw/src/fsfw/filesystem/HasFileSystemIF.h fsfw/src/fsfw/osal/InternalErrorCodes.h
240 0x430d 0x2a09 FILS_FileLocked IEC_InvalidNode 13 9 FILE_SYSTEM INTERNAL_ERROR_CODES fsfw/src/fsfw/filesystem/HasFileSystemIF.h fsfw/src/fsfw/osal/InternalErrorCodes.h
241 0x430e 0x2a0a FILS_PermissionDenied IEC_NoMpci 14 10 FILE_SYSTEM INTERNAL_ERROR_CODES fsfw/src/fsfw/filesystem/HasFileSystemIF.h fsfw/src/fsfw/osal/InternalErrorCodes.h
242 0x4315 0x2a0b FILS_DirectoryDoesNotExist IEC_BadPacket 21 11 FILE_SYSTEM INTERNAL_ERROR_CODES fsfw/src/fsfw/filesystem/HasFileSystemIF.h fsfw/src/fsfw/osal/InternalErrorCodes.h
243 0x4316 0x2a0c FILS_DirectoryAlreadyExists IEC_OutOfPackets 22 12 FILE_SYSTEM INTERNAL_ERROR_CODES fsfw/src/fsfw/filesystem/HasFileSystemIF.h fsfw/src/fsfw/osal/InternalErrorCodes.h
244 0x4317 0x2a0d FILS_NotADirectory IEC_OutOfGlobalObjects 23 13 FILE_SYSTEM INTERNAL_ERROR_CODES fsfw/src/fsfw/filesystem/HasFileSystemIF.h fsfw/src/fsfw/osal/InternalErrorCodes.h
245 0x4318 0x2a0e FILS_DirectoryNotEmpty IEC_OutOfProxies 24 14 FILE_SYSTEM INTERNAL_ERROR_CODES fsfw/src/fsfw/filesystem/HasFileSystemIF.h fsfw/src/fsfw/osal/InternalErrorCodes.h
246 0x431e 0x2a0f FILS_SequencePacketMissingWrite IEC_InvalidGlobalId 30 15 FILE_SYSTEM INTERNAL_ERROR_CODES fsfw/src/fsfw/filesystem/HasFileSystemIF.h fsfw/src/fsfw/osal/InternalErrorCodes.h
247 0x431f 0x2a10 FILS_SequencePacketMissingRead IEC_BadStackHook 31 16 FILE_SYSTEM INTERNAL_ERROR_CODES fsfw/src/fsfw/filesystem/HasFileSystemIF.h fsfw/src/fsfw/osal/InternalErrorCodes.h
248 0x2a11 IEC_BadAttributes 17 INTERNAL_ERROR_CODES fsfw/src/fsfw/osal/InternalErrorCodes.h
249 0x2a12 IEC_ImplementationKeyCreateInconsistency 18 INTERNAL_ERROR_CODES fsfw/src/fsfw/osal/InternalErrorCodes.h
250 0x2a13 IEC_ImplementationBlockingOperationCancel 19 INTERNAL_ERROR_CODES fsfw/src/fsfw/osal/InternalErrorCodes.h
251 0x2a14 IEC_MutexObtainFromBadState 20 INTERNAL_ERROR_CODES fsfw/src/fsfw/osal/InternalErrorCodes.h
252 0x2a15 IEC_UnlimitedAndMaximumIs0 21 INTERNAL_ERROR_CODES fsfw/src/fsfw/osal/InternalErrorCodes.h
253 0x2600 FDI_YourFault 0 HANDLES_FAILURES_IF fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
254 0x2601 FDI_MyFault 1 HANDLES_FAILURES_IF fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
255 0x2602 FDI_ConfirmLater 2 HANDLES_FAILURES_IF fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
256 0x1e00 PUS_InvalidPusVersion 0 PUS_IF fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
257 0x1e01 PUS_InvalidCrc16 1 PUS_IF fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
258 0x0201 OM_InsertionFailed 1 OBJECT_MANAGER_IF fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
259 0x0202 OM_NotFound 2 OBJECT_MANAGER_IF fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
260 0x0203 OM_ChildInitFailed 3 OBJECT_MANAGER_IF fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
261 0x0204 OM_InternalErrReporterUninit 4 OBJECT_MANAGER_IF fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
262 0x2201 TMF_Busy 1 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
263 0x2202 TMF_LastPacketFound 2 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
264 0x2203 TMF_StopFetch 3 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
265 0x2204 TMF_Timeout 4 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
266 0x2205 TMF_TmChannelFull 5 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
267 0x2206 TMF_NotStored 6 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
268 0x2207 TMF_AllDeleted 7 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
269 0x2208 TMF_InvalidData 8 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
270 0x2209 TMF_NotReady 9 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
271 0x2101 TMB_Busy 1 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
272 0x2102 TMB_Full 2 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
273 0x2103 TMB_Empty 3 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
274 0x2104 TMB_NullRequested 4 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
275 0x2105 TMB_TooLarge 5 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
276 0x2106 TMB_NotReady 6 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
277 0x2107 TMB_DumpError 7 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
278 0x2108 TMB_CrcError 8 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
279 0x2109 TMB_Timeout 9 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
280 0x210a TMB_IdlePacketFound 10 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
281 0x210b TMB_TelecommandFound 11 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
282 0x210c TMB_NoPusATm 12 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
283 0x210d TMB_TooSmall 13 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
284 0x210e TMB_BlockNotFound 14 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
285 0x210f TMB_InvalidRequest 15 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
286 0x2d01 PAW_UnknownDatatype 1 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
287 0x2d02 PAW_DatatypeMissmatch 2 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
288 0x2d03 PAW_Readonly 3 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
289 0x2d04 PAW_TooBig 4 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
290 0x2d05 PAW_SourceNotSet 5 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
291 0x2d06 PAW_OutOfBounds 6 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
292 0x2d07 PAW_NotSet 7 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
293 0x2d08 PAW_ColumnOrRowsZero 8 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
294 0x2e01 HPA_InvalidIdentifierId 1 HAS_PARAMETERS_IF fsfw/src/fsfw/parameters/HasParametersIF.h
295 0x2e02 HPA_InvalidDomainId 2 HAS_PARAMETERS_IF fsfw/src/fsfw/parameters/HasParametersIF.h
296 0x2e03 HPA_InvalidValue 3 HAS_PARAMETERS_IF fsfw/src/fsfw/parameters/HasParametersIF.h
297 0x2e05 HPA_ReadOnly 5 HAS_PARAMETERS_IF fsfw/src/fsfw/parameters/HasParametersIF.h
298 0x3b01 SPH_SemaphoreTimeout 1 SEMAPHORE_IF fsfw/src/fsfw/tasks/SemaphoreIF.h
299 0x3b02 SPH_SemaphoreNotOwned 2 SEMAPHORE_IF fsfw/src/fsfw/tasks/SemaphoreIF.h
300 0x3b03 SPH_SemaphoreInvalid 3 SEMAPHORE_IF fsfw/src/fsfw/tasks/SemaphoreIF.h
301 0x1a01 TRC_NotEnoughSensors 1 TRIPLE_REDUNDACY_CHECK fsfw/src/fsfw/monitoring/TriplexMonitor.h
302 0x1a02 TRC_LowestValueOol 2 TRIPLE_REDUNDACY_CHECK fsfw/src/fsfw/monitoring/TriplexMonitor.h
303 0x1a03 TRC_HighestValueOol 3 TRIPLE_REDUNDACY_CHECK fsfw/src/fsfw/monitoring/TriplexMonitor.h
316 0x31e2 LIM_WrongPid 226 LIMITS_IF fsfw/src/fsfw/monitoring/MonitoringIF.h
317 0x31e3 LIM_WrongLimitId 227 LIMITS_IF fsfw/src/fsfw/monitoring/MonitoringIF.h
318 0x31ee LIM_MonitorNotFound 238 LIMITS_IF fsfw/src/fsfw/monitoring/MonitoringIF.h
319 0x3601 CFDP_InvalidTlvType 1 CFDP fsfw/src/fsfw/cfdp/definitions.h
320 0x3602 CFDP_InvalidDirectiveField 2 CFDP fsfw/src/fsfw/cfdp/definitions.h
321 0x3603 CFDP_InvalidPduDatafieldLen 3 CFDP fsfw/src/fsfw/cfdp/definitions.h
322 0x3604 CFDP_InvalidAckDirectiveFields 4 CFDP fsfw/src/fsfw/cfdp/definitions.h
323 0x3605 CFDP_MetadataCantParseOptions 5 CFDP fsfw/src/fsfw/cfdp/definitions.h
324 0x3606 CFDP_NakCantParseOptions 6 CFDP fsfw/src/fsfw/cfdp/definitions.h
325 0x3607 CFDP_FinishedCantParseFsResponses 7 CFDP fsfw/src/fsfw/cfdp/definitions.h
326 0x3608 CFDP_FilestoreRequiresSecondFile 8 CFDP fsfw/src/fsfw/cfdp/definitions.h
327 0x3609 CFDP_FilestoreResponseCantParseFsMessage 9 CFDP fsfw/src/fsfw/cfdp/definitions.h
328 0x360a CFDP_InvalidPduFormat 10 CFDP fsfw/src/fsfw/cfdp/definitions.h
329 0x4300 FILS_GenericFileError 0 FILE_SYSTEM fsfw/src/fsfw/filesystem/HasFileSystemIF.h
330 0x4301 FILS_GenericDirError 1 FILE_SYSTEM fsfw/src/fsfw/filesystem/HasFileSystemIF.h
331 0x4302 FILS_FilesystemInactive 2 FILE_SYSTEM fsfw/src/fsfw/filesystem/HasFileSystemIF.h
332 0x4303 FILS_GenericRenameError 3 FILE_SYSTEM fsfw/src/fsfw/filesystem/HasFileSystemIF.h
333 0x4304 FILS_IsBusy 4 FILE_SYSTEM fsfw/src/fsfw/filesystem/HasFileSystemIF.h
334 0x4305 FILS_InvalidParameters 5 FILE_SYSTEM fsfw/src/fsfw/filesystem/HasFileSystemIF.h
335 0x430a FILS_FileDoesNotExist 10 FILE_SYSTEM fsfw/src/fsfw/filesystem/HasFileSystemIF.h
336 0x430b FILS_FileAlreadyExists 11 FILE_SYSTEM fsfw/src/fsfw/filesystem/HasFileSystemIF.h
337 0x430c FILS_NotAFile 12 FILE_SYSTEM fsfw/src/fsfw/filesystem/HasFileSystemIF.h
338 0x430d FILS_FileLocked 13 FILE_SYSTEM fsfw/src/fsfw/filesystem/HasFileSystemIF.h
339 0x430e FILS_PermissionDenied 14 FILE_SYSTEM fsfw/src/fsfw/filesystem/HasFileSystemIF.h
340 0x4315 FILS_DirectoryDoesNotExist 21 FILE_SYSTEM fsfw/src/fsfw/filesystem/HasFileSystemIF.h
341 0x4316 FILS_DirectoryAlreadyExists 22 FILE_SYSTEM fsfw/src/fsfw/filesystem/HasFileSystemIF.h
342 0x4317 FILS_NotADirectory 23 FILE_SYSTEM fsfw/src/fsfw/filesystem/HasFileSystemIF.h
343 0x4318 FILS_DirectoryNotEmpty 24 FILE_SYSTEM fsfw/src/fsfw/filesystem/HasFileSystemIF.h
344 0x431e FILS_SequencePacketMissingWrite 30 FILE_SYSTEM fsfw/src/fsfw/filesystem/HasFileSystemIF.h
345 0x431f FILS_SequencePacketMissingRead 31 FILE_SYSTEM fsfw/src/fsfw/filesystem/HasFileSystemIF.h
346 0x2c01 CCS_BcIsSetVrCommand 1 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
347 0x2c02 CCS_BcIsUnlockCommand 2 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
348 0x2cb0 CCS_BcIllegalCommand 176 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
349 0x2cb1 CCS_BoardReadingNotFinished 177 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
350 0x2cf0 CCS_NsPositiveW 240 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
351 0x2cf1 CCS_NsNegativeW 241 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
352 0x2cf2 CCS_NsLockout 242 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
353 0x2cf3 CCS_FarmInLockout 243 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
354 0x2cf4 CCS_FarmInWait 244 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
355 0x2ce0 CCS_WrongSymbol 224 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
356 0x2ce1 CCS_DoubleStart 225 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
357 0x2ce2 CCS_StartSymbolMissed 226 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
358 0x2ce3 CCS_EndWithoutStart 227 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
359 0x2ce4 CCS_TooLarge 228 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
360 0x2ce5 CCS_TooShort 229 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
361 0x2ce6 CCS_WrongTfVersion 230 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
362 0x2ce7 CCS_WrongSpacecraftId 231 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
363 0x2ce8 CCS_NoValidFrameType 232 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
364 0x2ce9 CCS_CrcFailed 233 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
365 0x2cea CCS_VcNotFound 234 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
366 0x2ceb CCS_ForwardingFailed 235 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
367 0x2cec CCS_ContentTooLarge 236 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
368 0x2ced CCS_ResidualData 237 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
369 0x2cee CCS_DataCorrupted 238 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
370 0x2cef CCS_IllegalSegmentationFlag 239 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
371 0x2cd0 CCS_IllegalFlagCombination 208 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
372 0x2cd1 CCS_ShorterThanHeader 209 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
373 0x2cd2 CCS_TooShortBlockedPacket 210 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
374 0x2cd3 CCS_TooShortMapExtraction 211 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
375 0x4201 PUS11_InvalidTypeTimeWindow 1 PUS_SERVICE_11 fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
376 0x4202 PUS11_InvalidTimeWindow 2 PUS_SERVICE_11 fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
377 0x4203 PUS11_TimeshiftingNotPossible 3 PUS_SERVICE_11 fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
378 0x4204 PUS11_InvalidRelativeTime 4 PUS_SERVICE_11 fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
379 0x4205 PUS11_ContainedTcTooSmall 5 PUS_SERVICE_11 fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
380 0x4206 PUS11_ContainedTcCrcMissmatch 6 PUS_SERVICE_11 fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
381 0x0601 0x3401 PP_DoItMyself DC_NoReplyReceived 1 HAS_MEMORY_IF DEVICE_COMMUNICATION_IF fsfw/src/fsfw/memory/HasMemoryIF.h fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
382 0x0602 0x3402 PP_PointsToVariable DC_ProtocolError 2 HAS_MEMORY_IF DEVICE_COMMUNICATION_IF fsfw/src/fsfw/memory/HasMemoryIF.h fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
383 0x0603 0x3403 PP_PointsToMemory DC_Nullpointer 3 HAS_MEMORY_IF DEVICE_COMMUNICATION_IF fsfw/src/fsfw/memory/HasMemoryIF.h fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
384 0x0604 0x3404 PP_ActivityCompleted DC_InvalidCookieType 4 HAS_MEMORY_IF DEVICE_COMMUNICATION_IF fsfw/src/fsfw/memory/HasMemoryIF.h fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
385 0x0605 0x3405 PP_PointsToVectorUint8 DC_NotActive 5 HAS_MEMORY_IF DEVICE_COMMUNICATION_IF fsfw/src/fsfw/memory/HasMemoryIF.h fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
386 0x0606 0x3406 PP_PointsToVectorUint16 DC_TooMuchData 6 HAS_MEMORY_IF DEVICE_COMMUNICATION_IF fsfw/src/fsfw/memory/HasMemoryIF.h fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x0607 PP_PointsToVectorUint32 7 HAS_MEMORY_IF fsfw/src/fsfw/memory/HasMemoryIF.h
0x0608 PP_PointsToVectorFloat 8 HAS_MEMORY_IF fsfw/src/fsfw/memory/HasMemoryIF.h
0x06a0 PP_DumpNotSupported 160 HAS_MEMORY_IF fsfw/src/fsfw/memory/HasMemoryIF.h
0x06e0 PP_InvalidSize 224 HAS_MEMORY_IF fsfw/src/fsfw/memory/HasMemoryIF.h
0x06e1 PP_InvalidAddress 225 HAS_MEMORY_IF fsfw/src/fsfw/memory/HasMemoryIF.h
0x06e2 PP_InvalidContent 226 HAS_MEMORY_IF fsfw/src/fsfw/memory/HasMemoryIF.h
0x06e3 PP_UnalignedAccess 227 HAS_MEMORY_IF fsfw/src/fsfw/memory/HasMemoryIF.h
0x06e4 PP_WriteProtected 228 HAS_MEMORY_IF fsfw/src/fsfw/memory/HasMemoryIF.h
0x13e0 MH_UnknownCmd 224 MEMORY_HELPER fsfw/src/fsfw/memory/MemoryHelper.h
0x13e1 MH_InvalidAddress 225 MEMORY_HELPER fsfw/src/fsfw/memory/MemoryHelper.h
0x13e2 MH_InvalidSize 226 MEMORY_HELPER fsfw/src/fsfw/memory/MemoryHelper.h
0x13e3 MH_StateMismatch 227 MEMORY_HELPER fsfw/src/fsfw/memory/MemoryHelper.h
0x1201 AB_NeedSecondStep 1 ASSEMBLY_BASE fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x1202 AB_NeedToReconfigure 2 ASSEMBLY_BASE fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x1203 AB_ModeFallback 3 ASSEMBLY_BASE fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x1204 AB_ChildNotCommandable 4 ASSEMBLY_BASE fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x1205 AB_NeedToChangeHealth 5 ASSEMBLY_BASE fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x12a1 AB_NotEnoughChildrenInCorrectState 161 ASSEMBLY_BASE fsfw/src/fsfw/devicehandlers/AssemblyBase.h
387 0x03a0 DHB_InvalidChannel 160 DEVICE_HANDLER_BASE fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
388 0x03b0 DHB_AperiodicReply 176 DEVICE_HANDLER_BASE fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
389 0x03b1 DHB_IgnoreReplyData 177 DEVICE_HANDLER_BASE fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
393 0x03d0 DHB_NoSwitch 208 DEVICE_HANDLER_BASE fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
394 0x03e0 DHB_ChildTimeout 224 DEVICE_HANDLER_BASE fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
395 0x03e1 DHB_SwitchFailed 225 DEVICE_HANDLER_BASE fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
396 0x3401 0x1201 DC_NoReplyReceived AB_NeedSecondStep 1 DEVICE_COMMUNICATION_IF ASSEMBLY_BASE fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h fsfw/src/fsfw/devicehandlers/AssemblyBase.h
397 0x3402 0x1202 DC_ProtocolError AB_NeedToReconfigure 2 DEVICE_COMMUNICATION_IF ASSEMBLY_BASE fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h fsfw/src/fsfw/devicehandlers/AssemblyBase.h
398 0x3403 0x1203 DC_Nullpointer AB_ModeFallback 3 DEVICE_COMMUNICATION_IF ASSEMBLY_BASE fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h fsfw/src/fsfw/devicehandlers/AssemblyBase.h
399 0x3404 0x1204 DC_InvalidCookieType AB_ChildNotCommandable 4 DEVICE_COMMUNICATION_IF ASSEMBLY_BASE fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h fsfw/src/fsfw/devicehandlers/AssemblyBase.h
400 0x3405 0x1205 DC_NotActive AB_NeedToChangeHealth 5 DEVICE_COMMUNICATION_IF ASSEMBLY_BASE fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h fsfw/src/fsfw/devicehandlers/AssemblyBase.h
401 0x3406 0x12a1 DC_TooMuchData AB_NotEnoughChildrenInCorrectState 6 161 DEVICE_COMMUNICATION_IF ASSEMBLY_BASE fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h fsfw/src/fsfw/devicehandlers/AssemblyBase.h
402 0x27a0 DHI_NoCommandData 160 DEVICE_HANDLER_IF fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
403 0x27a1 DHI_CommandNotSupported 161 DEVICE_HANDLER_IF fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
404 0x27a2 DHI_CommandAlreadySent 162 DEVICE_HANDLER_IF fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
420 0x27c3 DHI_DeviceReplyInvalid 195 DEVICE_HANDLER_IF fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
421 0x27d0 DHI_InvalidCommandParameter 208 DEVICE_HANDLER_IF fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
422 0x27d1 DHI_InvalidNumberOrLengthOfParameters 209 DEVICE_HANDLER_IF fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
423 0x1401 0x2401 SE_BufferTooShort MT_TooDetailedRequest 1 SERIALIZE_IF MATCH_TREE_CLASS fsfw/src/fsfw/serialize/SerializeIF.h fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
424 0x1402 0x2402 SE_StreamTooShort MT_TooGeneralRequest 2 SERIALIZE_IF MATCH_TREE_CLASS fsfw/src/fsfw/serialize/SerializeIF.h fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
425 0x1403 0x2403 SE_TooManyElements MT_NoMatch 3 SERIALIZE_IF MATCH_TREE_CLASS fsfw/src/fsfw/serialize/SerializeIF.h fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
426 0x4500 0x2404 HSPI_HalTimeoutRetval MT_Full 0 4 HAL_SPI MATCH_TREE_CLASS fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
427 0x4501 0x2405 HSPI_HalBusyRetval MT_NewNodeCreated 1 5 HAL_SPI MATCH_TREE_CLASS fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
428 0x4502 0x3f01 HSPI_HalErrorRetval DLEE_NoPacketFound 2 1 HAL_SPI DLE_ENCODER fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h fsfw/src/fsfw/globalfunctions/DleParser.h
429 0x4601 0x3f02 HURT_UartReadFailure DLEE_PossiblePacketLoss 1 2 HAL_UART DLE_ENCODER fsfw/src/fsfw_hal/linux/serial/SerialComIF.h fsfw/src/fsfw/globalfunctions/DleParser.h
430 0x4602 0x2f01 HURT_UartReadSizeMissmatch ASC_TooLongForTargetType 2 1 HAL_UART ASCII_CONVERTER fsfw/src/fsfw_hal/linux/serial/SerialComIF.h fsfw/src/fsfw/globalfunctions/AsciiConverter.h
431 0x4603 0x2f02 HURT_UartRxBufferTooSmall ASC_InvalidCharacters 3 2 HAL_UART ASCII_CONVERTER fsfw/src/fsfw_hal/linux/serial/SerialComIF.h fsfw/src/fsfw/globalfunctions/AsciiConverter.h
432 0x4801 0x2f03 HGIO_UnknownGpioId ASC_BufferTooSmall 1 3 HAL_GPIO ASCII_CONVERTER fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h fsfw/src/fsfw/globalfunctions/AsciiConverter.h
433 0x4802 0x1701 HGIO_DriveGpioFailure HHI_ObjectNotHealthy 2 1 HAL_GPIO HAS_HEALTH_IF fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h fsfw/src/fsfw/health/HasHealthIF.h
434 0x4803 0x1702 HGIO_GpioTypeFailure HHI_InvalidHealthState 3 2 HAL_GPIO HAS_HEALTH_IF fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h fsfw/src/fsfw/health/HasHealthIF.h
435 0x4804 0x1703 HGIO_GpioInvalidInstance HHI_IsExternallyControlled 4 3 HAL_GPIO HAS_HEALTH_IF fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h fsfw/src/fsfw/health/HasHealthIF.h
436 0x4805 0x3201 HGIO_GpioDuplicateDetected CF_ObjectHasNoFunctions 5 1 HAL_GPIO COMMANDS_ACTIONS_IF fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h fsfw/src/fsfw/action/CommandsActionsIF.h
437 0x4806 0x3202 HGIO_GpioInitFailed CF_AlreadyCommanding 6 2 HAL_GPIO COMMANDS_ACTIONS_IF fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h fsfw/src/fsfw/action/CommandsActionsIF.h
438 0x4807 0x3301 HGIO_GpioGetValueFailed HF_IsBusy 7 1 HAL_GPIO HAS_ACTIONS_IF fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h fsfw/src/fsfw/action/HasActionsIF.h
439 0x4400 0x3302 UXOS_ExecutionFinished HF_InvalidParameters Execution of the current command has finished 0 2 LINUX_OSAL HAS_ACTIONS_IF fsfw/src/fsfw_hal/linux/CommandExecutor.h fsfw/src/fsfw/action/HasActionsIF.h
440 0x4401 0x3303 UXOS_CommandPending HF_ExecutionFinished Command is pending. This will also be returned if the user tries to load another command but a command is still pending 1 3 LINUX_OSAL HAS_ACTIONS_IF fsfw/src/fsfw_hal/linux/CommandExecutor.h fsfw/src/fsfw/action/HasActionsIF.h
441 0x4402 0x3304 UXOS_BytesRead HF_InvalidActionId Some bytes have been read from the executing process 2 4 LINUX_OSAL HAS_ACTIONS_IF fsfw/src/fsfw_hal/linux/CommandExecutor.h fsfw/src/fsfw/action/HasActionsIF.h
442 0x4403 0x1000 UXOS_CommandError TIM_UnsupportedTimeFormat Command execution failed 3 0 LINUX_OSAL CCSDS_TIME_HELPER_CLASS fsfw/src/fsfw_hal/linux/CommandExecutor.h fsfw/src/fsfw/timemanager/CCSDSTime.h
443 0x4404 0x1001 UXOS_NoCommandLoadedOrPending TIM_NotEnoughInformationForTargetFormat 4 1 LINUX_OSAL CCSDS_TIME_HELPER_CLASS fsfw/src/fsfw_hal/linux/CommandExecutor.h fsfw/src/fsfw/timemanager/CCSDSTime.h
444 0x4406 0x1002 UXOS_PcloseCallError TIM_LengthMismatch 6 2 LINUX_OSAL CCSDS_TIME_HELPER_CLASS fsfw/src/fsfw_hal/linux/CommandExecutor.h fsfw/src/fsfw/timemanager/CCSDSTime.h
445 0x1003 TIM_InvalidTimeFormat 3 CCSDS_TIME_HELPER_CLASS fsfw/src/fsfw/timemanager/CCSDSTime.h
446 0x1004 TIM_InvalidDayOfYear 4 CCSDS_TIME_HELPER_CLASS fsfw/src/fsfw/timemanager/CCSDSTime.h
447 0x1005 TIM_TimeDoesNotFitFormat 5 CCSDS_TIME_HELPER_CLASS fsfw/src/fsfw/timemanager/CCSDSTime.h
448 0x3701 TSI_BadTimestamp 1 TIME_STAMPER_IF fsfw/src/fsfw/timemanager/TimeStampIF.h
449 0x3c00 LPIF_PoolEntryNotFound 0 LOCAL_POOL_OWNER_IF fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
450 0x3c01 LPIF_PoolEntryTypeConflict 1 LOCAL_POOL_OWNER_IF fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
451 0x3e00 HKM_QueueOrDestinationInvalid 0 HOUSEKEEPING_MANAGER fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
452 0x3e01 HKM_WrongHkPacketType 1 HOUSEKEEPING_MANAGER fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
453 0x3e02 HKM_ReportingStatusUnchanged 2 HOUSEKEEPING_MANAGER fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
454 0x3e03 HKM_PeriodicHelperInvalid 3 HOUSEKEEPING_MANAGER fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
455 0x3e04 HKM_PoolobjectNotFound 4 HOUSEKEEPING_MANAGER fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
456 0x3e05 HKM_DatasetNotFound 5 HOUSEKEEPING_MANAGER fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
457 0x2901 TC_InvalidTargetState 1 THERMAL_COMPONENT_IF fsfw/src/fsfw/thermal/ThermalComponentIF.h
458 0x29f1 TC_AboveOperationalLimit 241 THERMAL_COMPONENT_IF fsfw/src/fsfw/thermal/ThermalComponentIF.h
459 0x29f2 TC_BelowOperationalLimit 242 THERMAL_COMPONENT_IF fsfw/src/fsfw/thermal/ThermalComponentIF.h
460 0x2001 CSB_ExecutionComplete 1 COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
461 0x2002 CSB_NoStepMessage 2 COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
462 0x2003 CSB_ObjectBusy 3 COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
463 0x2004 CSB_Busy 4 COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
464 0x2005 CSB_InvalidTc 5 COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
465 0x2006 CSB_InvalidObject 6 COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
466 0x2007 CSB_InvalidReply 7 COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
467 0x4c00 SPPA_NoPacketFound 0 SPACE_PACKET_PARSER fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
468 0x4c01 SPPA_SplitPacket 1 SPACE_PACKET_PARSER fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
469 0x1d01 ATC_ActivityStarted 1 ACCEPTS_TELECOMMANDS_IF fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
470 0x1d02 ATC_InvalidSubservice 2 ACCEPTS_TELECOMMANDS_IF fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
471 0x1d03 ATC_IllegalApplicationData 3 ACCEPTS_TELECOMMANDS_IF fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
472 0x1d04 ATC_SendTmFailed 4 ACCEPTS_TELECOMMANDS_IF fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
473 0x1d05 ATC_Timeout 5 ACCEPTS_TELECOMMANDS_IF fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
474 0x7000 SCBU_KeyNotFound 0 SCRATCH_BUFFER bsp_q7s/memory/scratchApi.h
475 0x64a0 FSHLP_SdNotMounted SD card specified with path string not mounted 160 FILE_SYSTEM_HELPER bsp_q7s/fs/FilesystemHelper.h
476 0x64a1 FSHLP_FileNotExists Specified file does not exist on filesystem 161 FILE_SYSTEM_HELPER bsp_q7s/fs/FilesystemHelper.h
477 0x6a00 0x6f00 SDMA_OpOngoing 0 SD_CARD_MANAGER bsp_q7s/fs/SdCardManager.h
478 0x6a01 0x6f01 SDMA_AlreadyOn 1 SD_CARD_MANAGER bsp_q7s/fs/SdCardManager.h
479 0x6a02 0x6f02 SDMA_AlreadyMounted 2 SD_CARD_MANAGER bsp_q7s/fs/SdCardManager.h
480 0x6a03 0x6f03 SDMA_AlreadyOff 3 SD_CARD_MANAGER bsp_q7s/fs/SdCardManager.h
481 0x6a0a 0x6f0a SDMA_StatusFileNexists 10 SD_CARD_MANAGER bsp_q7s/fs/SdCardManager.h
482 0x6a0b 0x6f0b SDMA_StatusFileFormatInvalid 11 SD_CARD_MANAGER bsp_q7s/fs/SdCardManager.h
483 0x6a0c 0x6f0c SDMA_MountError 12 SD_CARD_MANAGER bsp_q7s/fs/SdCardManager.h
484 0x6a0d 0x6f0d SDMA_UnmountError 13 SD_CARD_MANAGER bsp_q7s/fs/SdCardManager.h
485 0x6a0e 0x6f0e SDMA_SystemCallError 14 SD_CARD_MANAGER bsp_q7s/fs/SdCardManager.h
486 0x6a0f 0x6f0f SDMA_PopenCallError 15 SD_CARD_MANAGER bsp_q7s/fs/SdCardManager.h
0x6b00 SCBU_KeyNotFound 0 SCRATCH_BUFFER bsp_q7s/memory/scratchApi.h

5
generators/events/event_parser.py
View File

@ -29,6 +29,7 @@ GENERATE_CSV = True
COPY_CPP_FILE = True
COPY_CPP_H_FILE = True
MOVE_CSV_FILE = True
PRINT_EVENTS = False
PARSE_HOST_BSP = True
@ -80,13 +81,13 @@ LOGGER = get_console_logger()
def parse_events(
generate_csv: bool = True, generate_cpp: bool = True, print_events: bool = True
generate_csv: bool = True, generate_cpp: bool = True
):
LOGGER.info("EventParser: Parsing events: ")
# Small delay for clean printout
time.sleep(0.01)
event_list = generate_event_list()
if print_events:
if PRINT_EVENTS:
PrettyPrinter.pprint(event_list)
# Delay for clean printout
time.sleep(0.1)

51
generators/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 240 translations.
* @brief Auto-generated event translation file. Contains 248 translations.
* @details
* Generated on: 2023-01-23 11:30:32
* Generated on: 2023-02-08 14:09:40
*/
#include "translateEvents.h"
@ -82,6 +82,7 @@ const char *BIT_LOCK_STRING = "BIT_LOCK";
const char *BIT_LOCK_LOST_STRING = "BIT_LOCK_LOST";
const char *FRAME_PROCESSING_FAILED_STRING = "FRAME_PROCESSING_FAILED";
const char *CLOCK_SET_STRING = "CLOCK_SET";
const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
const char *TEST_STRING = "TEST";
@ -90,6 +91,7 @@ const char *STORE_ERROR_STRING = "STORE_ERROR";
const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@ -198,6 +200,7 @@ const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
const char *CANT_GET_FIX_STRING = "CANT_GET_FIX";
const char *P60_BOOT_COUNT_STRING = "P60_BOOT_COUNT";
const char *BATT_MODE_STRING = "BATT_MODE";
const char *BATT_MODE_CHANGED_STRING = "BATT_MODE_CHANGED";
@ -228,11 +231,8 @@ const char *SUPV_REPLY_CRC_MISSMATCH_STRING = "SUPV_REPLY_CRC_MISSMATCH";
const char *SUPV_UPDATE_PROGRESS_STRING = "SUPV_UPDATE_PROGRESS";
const char *HDLC_FRAME_REMOVAL_ERROR_STRING = "HDLC_FRAME_REMOVAL_ERROR";
const char *HDLC_CRC_ERROR_STRING = "HDLC_CRC_ERROR";
const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
const char *REBOOT_SW_STRING = "REBOOT_SW";
const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
const char *REBOOT_HW_STRING = "REBOOT_HW";
const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
const char *TX_ON_STRING = "TX_ON";
const char *TX_OFF_STRING = "TX_OFF";
const char *MISSING_PACKET_STRING = "MISSING_PACKET";
const char *EXPERIMENT_TIMEDOUT_STRING = "EXPERIMENT_TIMEDOUT";
const char *MULTI_PACKET_COMMAND_DONE_STRING = "MULTI_PACKET_COMMAND_DONE";
@ -241,6 +241,13 @@ const char *GET_CONFIGFILEVALUE_FAILED_STRING = "GET_CONFIGFILEVALUE_FAILED";
const char *INSERT_CONFIGFILEVALUE_FAILED_STRING = "INSERT_CONFIGFILEVALUE_FAILED";
const char *WRITE_CONFIGFILE_FAILED_STRING = "WRITE_CONFIGFILE_FAILED";
const char *READ_CONFIGFILE_FAILED_STRING = "READ_CONFIGFILE_FAILED";
const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
const char *REBOOT_SW_STRING = "REBOOT_SW";
const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
const char *REBOOT_HW_STRING = "REBOOT_HW";
const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
const char *VERSION_INFO_STRING = "VERSION_INFO";
const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
const char *translateEvents(Event event) {
switch ((event & 0xFFFF)) {
@ -399,6 +406,8 @@ const char *translateEvents(Event event) {
case (8900):
return CLOCK_SET_STRING;
case (8901):
return CLOCK_DUMP_STRING;
case (8902):
return CLOCK_SET_FAILURE_STRING;
case (9100):
return TC_DELETION_FAILED_STRING;
@ -414,6 +423,8 @@ const char *translateEvents(Event event) {
return SERIALIZATION_ERROR_STRING;
case (11200):
return SAFE_RATE_VIOLATION_STRING;
case (11201):
return SAFE_RATE_RECOVERY_STRING;
case (11300):
return SWITCH_CMD_SENT_STRING;
case (11301):
@ -630,6 +641,8 @@ const char *translateEvents(Event event) {
return CHILDREN_LOST_MODE_STRING;
case (13100):
return GPS_FIX_CHANGE_STRING;
case (13101):
return CANT_GET_FIX_STRING;
case (13200):
return P60_BOOT_COUNT_STRING;
case (13201):
@ -690,16 +703,10 @@ const char *translateEvents(Event event) {
return HDLC_FRAME_REMOVAL_ERROR_STRING;
case (13632):
return HDLC_CRC_ERROR_STRING;
case (13700):
return ALLOC_FAILURE_STRING;
case (13701):
return REBOOT_SW_STRING;
return TX_ON_STRING;
case (13702):
return REBOOT_MECHANISM_TRIGGERED_STRING;
case (13703):
return REBOOT_HW_STRING;
case (13704):
return NO_SD_CARD_ACTIVE_STRING;
return TX_OFF_STRING;
case (13800):
return MISSING_PACKET_STRING;
case (13801):
@ -716,6 +723,20 @@ const char *translateEvents(Event event) {
return WRITE_CONFIGFILE_FAILED_STRING;
case (13905):
return READ_CONFIGFILE_FAILED_STRING;
case (14000):
return ALLOC_FAILURE_STRING;
case (14001):
return REBOOT_SW_STRING;
case (14002):
return REBOOT_MECHANISM_TRIGGERED_STRING;
case (14003):
return REBOOT_HW_STRING;
case (14004):
return NO_SD_CARD_ACTIVE_STRING;
case (14005):
return VERSION_INFO_STRING;
case (14006):
return CURRENT_IMAGE_INFO_STRING;
default:
return "UNKNOWN_EVENT";
}

11
generators/objects/translateObjects.cpp
View File

@ -1,8 +1,8 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 151 translations.
* Generated on: 2023-01-23 11:30:32
* Contains 152 translations.
* Generated on: 2023-02-08 14:09:40
*/
#include "translateObjects.h"
@ -80,7 +80,7 @@ const char *RTD_12_IC15_ACU_STRING = "RTD_12_IC15_ACU";
const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPREADER";
const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER";
const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER";
const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
const char *GPIO_IF_STRING = "GPIO_IF";
const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
@ -155,6 +155,7 @@ const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
const char *NO_OBJECT_STRING = "NO_OBJECT";
@ -309,7 +310,7 @@ const char *translateObject(object_id_t object) {
case 0x44420031:
return RTD_15_IC18_IMTQ_STRING;
case 0x445300A3:
return SYRLINKS_HK_HANDLER_STRING;
return SYRLINKS_HANDLER_STRING;
case 0x49000000:
return ARDUINO_COM_IF_STRING;
case 0x49010005:
@ -458,6 +459,8 @@ const char *translateObject(object_id_t object) {
return PL_SUBSYSTEM_STRING;
case 0x73010003:
return TCS_SUBSYSTEM_STRING;
case 0x73010004:
return COM_SUBSYSTEM_STRING;
case 0x73500000:
return CCSDS_IP_CORE_BRIDGE_STRING;
case 0xFFFFFFFF:

2
generators/returnvalues/returnvalues_parser.py
View File

@ -22,7 +22,7 @@ LOGGER = get_console_logger()
EXPORT_TO_FILE = True
COPY_CSV_FILE = True
EXPORT_TO_SQL = True
PRINT_TABLES = True
PRINT_TABLES = False
FILE_SEPARATOR = ";"

29
linux/ObjectFactory.cpp
View File

@ -11,21 +11,19 @@
#include <linux/callbacks/gpioCallbacks.h>
#include <linux/devices/Max31865RtdLowlevelHandler.h>
#include <mission/controller/AcsController.h>
#include <mission/controller/ThermalController.h>
#include <mission/devices/Max31865EiveHandler.h>
#include <mission/devices/Max31865PT1000Handler.h>
#include <mission/devices/ScexDeviceHandler.h>
#include <mission/devices/SusHandler.h>
#include <mission/system/fdir/RtdFdir.h>
#include <mission/system/fdir/SusFdir.h>
#include <mission/system/objects/SusAssembly.h>
#include <mission/system/objects/TcsBoardAssembly.h>
#include "OBSWConfig.h"
#include "devConf.h"
#include "devices/addresses.h"
#include "devices/gpioIds.h"
#include "eive/definitions.h"
#include "mission/system/objects/SusAssembly.h"
#include "mission/system/objects/TcsBoardAssembly.h"
#include "mission/system/tree/acsModeTree.h"
#include "mission/system/tree/payloadModeTree.h"
#include "mission/system/tree/tcsModeTree.h"
@ -79,11 +77,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
#if OBSW_ADD_SUN_SENSORS == 1
SusFdir* fdir = nullptr;
std::array<SusHandler*, 12> susHandlers = {};
gpioId_t gpioId = gpioIds::CS_SUS_0;
if (swap0And6) {
gpioId = gpioIds::CS_SUS_6;
}
SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioId, SUS::MAX_CMD_SIZE,
SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, SUS::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[0] =
new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
@ -125,12 +119,8 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
susHandlers[5]->setCustomFdir(fdir);
gpioId = gpioIds::CS_SUS_6;
if (swap0And6) {
gpioId = gpioIds::CS_SUS_0;
}
spiCookie = new SpiCookie(addresses::SUS_6, gpioId, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE,
spi::SUS_MAX1227_SPI_FREQ);
spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
susHandlers[6] =
new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
@ -350,11 +340,6 @@ void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwr
scexHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
}
void ObjectFactory::createThermalController() {
auto* tcsCtrl = new ThermalController(objects::THERMAL_CONTROLLER);
tcsCtrl->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
}
AcsController* ObjectFactory::createAcsController(bool connectSubsystem) {
auto acsCtrl = new AcsController(objects::ACS_CONTROLLER);
if (connectSubsystem) {
@ -371,6 +356,6 @@ void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) {
void ObjectFactory::addTmtcIpCoresToFunnels(CcsdsIpCoreHandler& ipCoreHandler,
PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel) {
cfdpFunnel.addDestination(ipCoreHandler, config::LIVE_TM);
pusFunnel.addDestination(ipCoreHandler, config::LIVE_TM);
cfdpFunnel.addDestination("PTME IP Core", ipCoreHandler, config::LIVE_TM);
pusFunnel.addDestination("PTME IP Core", ipCoreHandler, config::LIVE_TM);
}

4
linux/ObjectFactory.h
View File

@ -11,6 +11,8 @@
#include <optional>
#include <string>
#include "mission/devices/HeaterHandler.h"
class GpioIF;
class SpiComIF;
class PowerSwitchIF;
@ -29,10 +31,8 @@ void createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher,
void gpioChecker(ReturnValue_t result, std::string output);
void createThermalController();
AcsController* createAcsController(bool connectSubsystem);
void addTmtcIpCoresToFunnels(CcsdsIpCoreHandler& ipCoreHandler, PusTmFunnel& pusFunnel,
CfdpTmFunnel& cfdpFunnel);
} // namespace ObjectFactory

2
linux/boardtest/I2cTestClass.h
View File

@ -1,7 +1,7 @@
#ifndef LINUX_BOARDTEST_I2CTESTCLASS_H_
#define LINUX_BOARDTEST_I2CTESTCLASS_H_
#include <test/testtasks/TestTask.h>
#include <test/TestTask.h>
#include <array>
#include <string>

2
linux/boardtest/LibgpiodTest.h
View File

@ -5,7 +5,7 @@
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include "TestTask.h"
#include "test/TestTask.h"
/**
* @brief Test for the GPIO read implementation of the LinuxLibgpioIF.

2
linux/boardtest/SpiTestClass.h
View File

@ -13,7 +13,7 @@
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include <test/testtasks/TestTask.h>
#include <test/TestTask.h>
#include <vector>

2
linux/boardtest/UartTestClass.h
View File

@ -12,7 +12,7 @@
#include "lwgps/lwgps.h"
#include "mission/devices/devicedefinitions/ScexDefinitions.h"
#include "test/testtasks/TestTask.h"
#include "test/TestTask.h"
class ScexUartReader;
class ScexDleParser;

2
linux/devices/CMakeLists.txt
View File

@ -1,5 +1,5 @@
if(EIVE_BUILD_GPSD_GPS_HANDLER)
target_sources(${OBSW_NAME} PRIVATE GPSHyperionLinuxController.cpp)
target_sources(${OBSW_NAME} PRIVATE GpsHyperionLinuxController.cpp)
endif()
target_sources(

229
linux/devices/GPSHyperionLinuxController.cpp → linux/devices/GpsHyperionLinuxController.cpp
View File

@ -1,5 +1,6 @@
#include "GPSHyperionLinuxController.h"
#include "GpsHyperionLinuxController.h"
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include "OBSWConfig.h"
@ -16,30 +17,23 @@
#include <cmath>
#include <ctime>
GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
GpsHyperionLinuxController::GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
bool debugHyperionGps)
: ExtendedControllerBase(objectId), gpsSet(this), debugHyperionGps(debugHyperionGps) {
timeUpdateCd.resetTimer();
}
GPSHyperionLinuxController::~GPSHyperionLinuxController() {
GpsHyperionLinuxController::~GpsHyperionLinuxController() {
gps_stream(&gps, WATCH_DISABLE, nullptr);
gps_close(&gps);
}
void GPSHyperionLinuxController::performControlOperation() {
#ifdef FSFW_OSAL_LINUX
readGpsDataFromGpsd();
#endif
}
LocalPoolDataSetBase *GpsHyperionLinuxController::getDataSetHandle(sid_t sid) { return &gpsSet; }
LocalPoolDataSetBase *GPSHyperionLinuxController::getDataSetHandle(sid_t sid) { return &gpsSet; }
ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
if (not modeCommanded) {
if (mode == MODE_ON or mode == MODE_OFF) {
gpsNotOpenSwitch = true;
// 5h time to reach fix
*msToReachTheMode = MAX_SECONDS_TO_REACH_FIX;
maxTimeToReachFix.resetTimer();
@ -48,10 +42,18 @@ ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
return HasModesIF::INVALID_MODE;
}
}
if (mode == MODE_OFF) {
PoolReadGuard pg(&gpsSet);
gpsSet.setValidity(false, true);
// There can't be a fix with a device that is off.
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, 0);
oneShotSwitches.reset();
modeCommanded = false;
}
return returnvalue::OK;
}
ReturnValue_t GPSHyperionLinuxController::executeAction(ActionId_t actionId,
ReturnValue_t GpsHyperionLinuxController::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy,
const uint8_t *data, size_t size) {
switch (actionId) {
@ -69,7 +71,7 @@ ReturnValue_t GPSHyperionLinuxController::executeAction(ActionId_t actionId,
return returnvalue::OK;
}
ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool(
ReturnValue_t GpsHyperionLinuxController::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}));
@ -89,92 +91,109 @@ ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool(
return returnvalue::OK;
}
void GPSHyperionLinuxController::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
void GpsHyperionLinuxController::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
void *args) {
this->resetCallback = resetCallback;
resetCallbackArgs = args;
}
ReturnValue_t GPSHyperionLinuxController::initialize() {
ReturnValue_t GpsHyperionLinuxController::performOperation(uint8_t opCode) {
handleQueue();
poolManager.performHkOperation();
while (true) {
bool callAgainImmediately = readGpsDataFromGpsd();
if (not callAgainImmediately) {
handleQueue();
poolManager.performHkOperation();
TaskFactory::delayTask(250);
}
}
// Should never be reached.
return returnvalue::OK;
}
ReturnValue_t GpsHyperionLinuxController::initialize() {
ReturnValue_t result = ExtendedControllerBase::initialize();
if (result != returnvalue::OK) {
return result;
}
auto openError = [&](const char *type, int error) {
if (gpsNotOpenSwitch) {
// Opening failed
#if FSFW_VERBOSE_LEVEL >= 1
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM " << type
<< " failed | Error " << error << " | " << gps_errstr(error) << std::endl;
#endif
gpsNotOpenSwitch = false;
}
};
if (readMode == ReadModes::SOCKET) {
int retval = gps_open("localhost", DEFAULT_GPSD_PORT, &gps);
if (retval != 0) {
openError("Socket", retval);
return ObjectManager::CHILD_INIT_FAILED;
}
gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
} else if (readMode == ReadModes::SHM) {
int retval = gps_open(GPSD_SHARED_MEMORY, "", &gps);
if (retval != 0) {
openError("SHM", retval);
return ObjectManager::CHILD_INIT_FAILED;
}
}
return result;
}
ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *message) {
ReturnValue_t GpsHyperionLinuxController::handleCommandMessage(CommandMessage *message) {
return ExtendedControllerBase::handleCommandMessage(message);
}
#ifdef FSFW_OSAL_LINUX
void GpsHyperionLinuxController::performControlOperation() {}
void GPSHyperionLinuxController::readGpsDataFromGpsd() {
auto readError = [&](int error) {
if (gpsReadFailedSwitch) {
gpsReadFailedSwitch = false;
bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
auto readError = [&]() {
if (oneShotSwitches.gpsReadFailedSwitch) {
oneShotSwitches.gpsReadFailedSwitch = false;
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed | "
"Error "
<< error << " | " << gps_errstr(error) << std::endl;
<< errno << " | " << gps_errstr(errno) << std::endl;
}
};
currentClientBuf = gps_data(&gps);
// GPS is off, no point in reading data from GPSD.
if (mode == MODE_OFF) {
return false;
}
if (readMode == ReadModes::SOCKET) {
gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
// Exit if no data is seen in 2 seconds (should not happen)
if (not gps_waiting(&gps, 2000000)) {
return;
}
int result = gps_read(&gps);
if (result == -1) {
readError(result);
return;
// Poll the GPS.
if (gps_waiting(&gps, 0)) {
if (-1 == gps_read(&gps)) {
readError();
return false;
}
oneShotSwitches.gpsReadFailedSwitch = true;
if (MODE_SET != (MODE_SET & gps.set)) {
if (noModeSetCntr >= 0) {
noModeSetCntr++;
}
if (noModeSetCntr == 10) {
// TODO: Trigger event here
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be "
"read for 10 consecutive reads"
<< std::endl;
noModeSetCntr = -1;
if (mode != MODE_OFF and maxTimeToReachFix.hasTimedOut() and
oneShotSwitches.cantGetFixSwitch) {
sif::warning
<< "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be set in allowed "
<< maxTimeToReachFix.timeout / 1000 << " seconds" << std::endl;
triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.timeout);
oneShotSwitches.cantGetFixSwitch = false;
// did not event get mode, nothing to see.
return false;
}
}
noModeSetCntr = 0;
} else {
return false;
}
} else if (readMode == ReadModes::SHM) {
int result = gps_read(&gps);
if (result == -1) {
readError(result);
return;
sif::error << "GpsHyperionLinuxController::readGpsDataFromGpsdPermanentLoop: "
"SHM read not implemented"
<< std::endl;
}
}
handleGpsRead();
handleGpsReadData();
return true;
}
ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
PoolReadGuard pg(&gpsSet);
if (pg.getReadResult() != returnvalue::OK) {
#if FSFW_VERBOSE_LEVEL >= 1
@ -184,51 +203,58 @@ ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
}
bool validFix = false;
static_cast<void>(validFix);
// 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
int newFixMode = gps.fix.mode;
if (newFixMode == 2 or newFixMode == 3) {
if (gps.fix.mode == 2 or gps.fix.mode == 3) {
validFix = true;
}
if (gpsSet.fixMode.value != newFixMode) {
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFixMode);
if (gpsSet.fixMode.value != gps.fix.mode) {
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, gps.fix.mode);
}
gpsSet.fixMode.value = newFixMode;
gpsSet.fixMode.value = gps.fix.mode;
if (gps.fix.mode == 0 or gps.fix.mode == 1) {
if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
// We are supposed to be on and functioning, but not fix was found
// We are supposed to be on and functioning, but no fix was found
if (mode == MODE_ON or mode == MODE_NORMAL) {
mode = MODE_OFF;
}
modeCommanded = false;
}
gpsSet.setValidity(false, true);
} else if (gps.satellites_used > 0) {
} else if (gps.satellites_used > 0 && validFix && mode != MODE_OFF) {
gpsSet.setValidity(true, true);
}
gpsSet.satInUse.value = gps.satellites_used;
gpsSet.satInView.value = gps.satellites_visible;
bool latValid = false;
if (std::isfinite(gps.fix.latitude)) {
// Negative latitude -> South direction
gpsSet.latitude.value = gps.fix.latitude;
} else {
gpsSet.latitude.setValid(false);
if (gps.fix.mode >= 2) {
latValid = true;
}
}
gpsSet.latitude.setValid(latValid);
bool longValid = false;
if (std::isfinite(gps.fix.longitude)) {
// Negative longitude -> West direction
gpsSet.longitude.value = gps.fix.longitude;
} else {
gpsSet.longitude.setValid(false);
if (gps.fix.mode >= 2) {
longValid = true;
}
}
gpsSet.latitude.setValid(longValid);
bool altitudeValid = false;
if (std::isfinite(gps.fix.altitude)) {
gpsSet.altitude.value = gps.fix.altitude;
} else {
gpsSet.altitude.setValid(false);
if (gps.fix.mode == 3) {
altitudeValid = true;
}
}
gpsSet.altitude.setValid(altitudeValid);
if (std::isfinite(gps.fix.speed)) {
gpsSet.speed.value = gps.fix.speed;
@ -236,47 +262,22 @@ ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
gpsSet.speed.setValid(false);
}
#if LIBGPS_VERSION_MINOR <= 17
gpsSet.unixSeconds.value = gps.fix.time;
#else
gpsSet.unixSeconds.value = gps.fix.time.tv_sec;
#endif
if (TIME_SET == (TIME_SET & gps.set)) {
timeval time = {};
time.tv_sec = gpsSet.unixSeconds.value;
#if LIBGPS_VERSION_MINOR <= 17
double fractionalPart = gps.fix.time - std::floor(gps.fix.time);
gpsSet.unixSeconds.value = std::floor(gps.fix.time);
double fractionalPart = gps.fix.time - gpsSet.unixSeconds.value;
time.tv_usec = fractionalPart * 1000.0 * 1000.0;
#else
gpsSet.unixSeconds.value = gps.fix.time.tv_sec;
time.tv_usec = gps.fix.time.tv_nsec / 1000;
#endif
std::time_t t = std::time(nullptr);
if (time.tv_sec == t) {
timeIsConstantCounter++;
} else {
timeIsConstantCounter = 0;
}
if (timeInit and validFix) {
if (not utility::timeSanityCheck()) {
#if OBSW_VERBOSE_LEVEL >= 1
time_t timeRaw = time.tv_sec;
std::tm *timeTm = std::gmtime(&timeRaw);
sif::info << "Setting invalid system time from GPS data directly: "
<< std::put_time(timeTm, "%c %Z") << std::endl;
#endif
// For some reason, the clock needs to be somewhat correct for NTP to work. Really dumb..
Clock::setClock(&time);
}
timeInit = false;
}
// If the received time does not change anymore for whatever reason, do not set it here
// to avoid stale times. Also, don't do it too often often to avoid jumping times
if (timeIsConstantCounter < 20 and timeUpdateCd.hasTimedOut()) {
// Update the system time here for now. NTP seems to be unable to do so for whatever reason.
// Further tests have shown that the time seems to be set by NTPD after some time..
// Clock::setClock(&time);
timeUpdateCd.resetTimer();
}
time.tv_sec = gpsSet.unixSeconds.value;
// If the time is totally wrong (e.g. year 2000 after system reset because we do not have a RTC
// and no time file available) we set it with the roughly valid time from the GPS.
// NTP might only work if the time difference between sys time and current time is not too
// large.
overwriteTimeIfNotSane(time, validFix);
Clock::TimeOfDay_t timeOfDay = {};
Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
gpsSet.year = timeOfDay.year;
@ -285,10 +286,20 @@ ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
gpsSet.hours = timeOfDay.hour;
gpsSet.minutes = timeOfDay.minute;
gpsSet.seconds = timeOfDay.second;
} else {
gpsSet.unixSeconds.setValid(false);
gpsSet.year.setValid(false);
gpsSet.month.setValid(false);
gpsSet.day.setValid(false);
gpsSet.hours.setValid(false);
gpsSet.minutes.setValid(false);
gpsSet.seconds.setValid(false);
}
if (debugHyperionGps) {
sif::info << "-- Hyperion GPS Data --" << std::endl;
#if LIBGPS_VERSION_MINOR <= 17
time_t timeRaw = gps.fix.time;
time_t timeRaw = gpsSet.unixSeconds.value;
#else
time_t timeRaw = gps.fix.time.tv_sec;
#endif
@ -312,4 +323,18 @@ ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
return returnvalue::OK;
}
void GpsHyperionLinuxController::overwriteTimeIfNotSane(timeval time, bool validFix) {
if (not timeInit and validFix) {
if (not utility::timeSanityCheck()) {
#if OBSW_VERBOSE_LEVEL >= 1
time_t timeRaw = time.tv_sec;
std::tm *timeTm = std::gmtime(&timeRaw);
sif::info << "Overwriting invalid system time from GPS data directly: "
<< std::put_time(timeTm, "%c %Z") << std::endl;
#endif
// For some reason, the clock needs to be somewhat correct for NTP to work. Really dumb..
Clock::setClock(&time);
}
timeInit = true;
}
}

33
linux/devices/GPSHyperionLinuxController.h → linux/devices/GpsHyperionLinuxController.h
View File

@ -20,18 +20,19 @@
* This device handler can only be used on Linux system where the gpsd daemon with shared memory
* export is running.
*/
class GPSHyperionLinuxController : public ExtendedControllerBase {
class GpsHyperionLinuxController : public ExtendedControllerBase {
public:
static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 60 * 5;
enum ReadModes { SHM = 0, SOCKET = 1 };
GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
bool debugHyperionGps = false);
virtual ~GPSHyperionLinuxController();
virtual ~GpsHyperionLinuxController();
using gpioResetFunction_t = ReturnValue_t (*)(const uint8_t* actionData, size_t len, void* args);
ReturnValue_t performOperation(uint8_t opCode) override;
void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void* args);
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
@ -49,7 +50,7 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
ReturnValue_t handleGpsRead();
ReturnValue_t handleGpsReadData();
private:
GpsPrimaryDataset gpsSet;
@ -57,16 +58,30 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
const char* currentClientBuf = nullptr;
ReadModes readMode = ReadModes::SOCKET;
Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
bool modeCommanded = true;
bool timeInit = true;
bool gpsNotOpenSwitch = true;
bool modeCommanded = false;
bool timeInit = false;
struct OneShotSwitches {
void reset() {
gpsReadFailedSwitch = true;
cantGetFixSwitch = true;
}
bool gpsReadFailedSwitch = true;
bool cantGetFixSwitch = true;
} oneShotSwitches;
bool debugHyperionGps = false;
int32_t noModeSetCntr = 0;
uint32_t timeIsConstantCounter = 0;
Countdown timeUpdateCd = Countdown(60);
void readGpsDataFromGpsd();
// Returns true if the function should be called again or false if other
// controller handling can be done.
bool readGpsDataFromGpsd();
// If the time is totally wrong (e.g. year 2000 after system reset because we do not have a RTC)
// we set it with the roughly valid time from the GPS. For some reason, NTP might only work
// if the time difference between sys time and current time is not too large
void overwriteTimeIfNotSane(timeval time, bool validFix);
};
#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */

1
linux/fsfwconfig/events/subsystemIdRanges.h
View File

@ -13,7 +13,6 @@
namespace SUBSYSTEM_ID {
enum : uint8_t {
SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END,
CORE = 137,
};
}

51
linux/fsfwconfig/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 240 translations.
* @brief Auto-generated event translation file. Contains 248 translations.
* @details
* Generated on: 2023-01-23 11:30:32
* Generated on: 2023-02-08 14:09:40
*/
#include "translateEvents.h"
@ -82,6 +82,7 @@ const char *BIT_LOCK_STRING = "BIT_LOCK";
const char *BIT_LOCK_LOST_STRING = "BIT_LOCK_LOST";
const char *FRAME_PROCESSING_FAILED_STRING = "FRAME_PROCESSING_FAILED";
const char *CLOCK_SET_STRING = "CLOCK_SET";
const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
const char *TEST_STRING = "TEST";
@ -90,6 +91,7 @@ const char *STORE_ERROR_STRING = "STORE_ERROR";
const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@ -198,6 +200,7 @@ const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
const char *CANT_GET_FIX_STRING = "CANT_GET_FIX";
const char *P60_BOOT_COUNT_STRING = "P60_BOOT_COUNT";
const char *BATT_MODE_STRING = "BATT_MODE";
const char *BATT_MODE_CHANGED_STRING = "BATT_MODE_CHANGED";
@ -228,11 +231,8 @@ const char *SUPV_REPLY_CRC_MISSMATCH_STRING = "SUPV_REPLY_CRC_MISSMATCH";
const char *SUPV_UPDATE_PROGRESS_STRING = "SUPV_UPDATE_PROGRESS";
const char *HDLC_FRAME_REMOVAL_ERROR_STRING = "HDLC_FRAME_REMOVAL_ERROR";
const char *HDLC_CRC_ERROR_STRING = "HDLC_CRC_ERROR";
const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
const char *REBOOT_SW_STRING = "REBOOT_SW";
const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
const char *REBOOT_HW_STRING = "REBOOT_HW";
const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
const char *TX_ON_STRING = "TX_ON";
const char *TX_OFF_STRING = "TX_OFF";
const char *MISSING_PACKET_STRING = "MISSING_PACKET";
const char *EXPERIMENT_TIMEDOUT_STRING = "EXPERIMENT_TIMEDOUT";
const char *MULTI_PACKET_COMMAND_DONE_STRING = "MULTI_PACKET_COMMAND_DONE";
@ -241,6 +241,13 @@ const char *GET_CONFIGFILEVALUE_FAILED_STRING = "GET_CONFIGFILEVALUE_FAILED";
const char *INSERT_CONFIGFILEVALUE_FAILED_STRING = "INSERT_CONFIGFILEVALUE_FAILED";
const char *WRITE_CONFIGFILE_FAILED_STRING = "WRITE_CONFIGFILE_FAILED";
const char *READ_CONFIGFILE_FAILED_STRING = "READ_CONFIGFILE_FAILED";
const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
const char *REBOOT_SW_STRING = "REBOOT_SW";
const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
const char *REBOOT_HW_STRING = "REBOOT_HW";
const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
const char *VERSION_INFO_STRING = "VERSION_INFO";
const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
const char *translateEvents(Event event) {
switch ((event & 0xFFFF)) {
@ -399,6 +406,8 @@ const char *translateEvents(Event event) {
case (8900):
return CLOCK_SET_STRING;
case (8901):
return CLOCK_DUMP_STRING;
case (8902):
return CLOCK_SET_FAILURE_STRING;
case (9100):
return TC_DELETION_FAILED_STRING;
@ -414,6 +423,8 @@ const char *translateEvents(Event event) {
return SERIALIZATION_ERROR_STRING;
case (11200):
return SAFE_RATE_VIOLATION_STRING;
case (11201):
return SAFE_RATE_RECOVERY_STRING;
case (11300):
return SWITCH_CMD_SENT_STRING;
case (11301):
@ -630,6 +641,8 @@ const char *translateEvents(Event event) {
return CHILDREN_LOST_MODE_STRING;
case (13100):
return GPS_FIX_CHANGE_STRING;
case (13101):
return CANT_GET_FIX_STRING;
case (13200):
return P60_BOOT_COUNT_STRING;
case (13201):
@ -690,16 +703,10 @@ const char *translateEvents(Event event) {
return HDLC_FRAME_REMOVAL_ERROR_STRING;
case (13632):
return HDLC_CRC_ERROR_STRING;
case (13700):
return ALLOC_FAILURE_STRING;
case (13701):
return REBOOT_SW_STRING;
return TX_ON_STRING;
case (13702):
return REBOOT_MECHANISM_TRIGGERED_STRING;
case (13703):
return REBOOT_HW_STRING;
case (13704):
return NO_SD_CARD_ACTIVE_STRING;
return TX_OFF_STRING;
case (13800):
return MISSING_PACKET_STRING;
case (13801):
@ -716,6 +723,20 @@ const char *translateEvents(Event event) {
return WRITE_CONFIGFILE_FAILED_STRING;
case (13905):
return READ_CONFIGFILE_FAILED_STRING;
case (14000):
return ALLOC_FAILURE_STRING;
case (14001):
return REBOOT_SW_STRING;
case (14002):
return REBOOT_MECHANISM_TRIGGERED_STRING;
case (14003):
return REBOOT_HW_STRING;
case (14004):
return NO_SD_CARD_ACTIVE_STRING;
case (14005):
return VERSION_INFO_STRING;
case (14006):
return CURRENT_IMAGE_INFO_STRING;
default:
return "UNKNOWN_EVENT";
}

2
linux/fsfwconfig/objects/systemObjectList.h
View File

@ -39,8 +39,6 @@ enum sourceObjects : uint32_t {
FW_ADDRESS_END = TIME_STAMPER,
PUS_SERVICE_6 = 0x51000500,
CCSDS_IP_CORE_BRIDGE = 0x73500000,
/* 0x49 ('I') for Communication Interfaces **/
ARDUINO_COM_IF = 0x49000000,
CSP_COM_IF = 0x49050001,

11
linux/fsfwconfig/objects/translateObjects.cpp
View File

@ -1,8 +1,8 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 151 translations.
* Generated on: 2023-01-23 11:30:32
* Contains 152 translations.
* Generated on: 2023-02-08 14:09:40
*/
#include "translateObjects.h"
@ -80,7 +80,7 @@ const char *RTD_12_IC15_ACU_STRING = "RTD_12_IC15_ACU";
const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPREADER";
const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER";
const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER";
const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
const char *GPIO_IF_STRING = "GPIO_IF";
const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
@ -155,6 +155,7 @@ const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
const char *NO_OBJECT_STRING = "NO_OBJECT";
@ -309,7 +310,7 @@ const char *translateObject(object_id_t object) {
case 0x44420031:
return RTD_15_IC18_IMTQ_STRING;
case 0x445300A3:
return SYRLINKS_HK_HANDLER_STRING;
return SYRLINKS_HANDLER_STRING;
case 0x49000000:
return ARDUINO_COM_IF_STRING;
case 0x49010005:
@ -458,6 +459,8 @@ const char *translateObject(object_id_t object) {
return PL_SUBSYSTEM_STRING;
case 0x73010003:
return TCS_SUBSYSTEM_STRING;
case 0x73010004:
return COM_SUBSYSTEM_STRING;
case 0x73500000:
return CCSDS_IP_CORE_BRIDGE_STRING;
case 0xFFFFFFFF:

915
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -5,6 +5,7 @@
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include "eive/definitions.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#ifndef RPI_TEST_ADIS16507
@ -15,38 +16,17 @@
#define RPI_TEST_GPS_HANDLER 0
#endif
ReturnValue_t pst::pstSpiRw(FixedTimeslotTaskIF *thisSequence) {
ReturnValue_t pst::pstSpiAndSyrlinks(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
static_cast<void>(length);
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
#if OBSW_ADD_SYRLINKS == 1
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
return thisSequence->checkSequence();
}
ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
static_cast<void>(length);
#if OBSW_ADD_PL_PCDU == 1
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@ -56,271 +36,6 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_SUN_SENSORS == 1
bool addSus0 = true;
bool addSus1 = true;
bool addSus2 = true;
bool addSus3 = true;
bool addSus4 = true;
bool addSus5 = true;
bool addSus6 = true;
bool addSus7 = true;
bool addSus8 = true;
bool addSus9 = true;
bool addSus10 = true;
bool addSus11 = true;
if (addSus0) {
/* Write setup */
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus1) {
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus2) {
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus3) {
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus4) {
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus5) {
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus6) {
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus7) {
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus8) {
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus9) {
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus10) {
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus11) {
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::GET_READ);
}
#endif /* OBSW_ADD_SUN_SENSORS == 1 */
#if OBSW_ADD_RAD_SENSORS == 1
/* Radiation sensor */
thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@ -330,74 +45,6 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_ACS_BOARD == 1
bool enableAside = true;
bool enableBside = true;
if (enableAside) {
// A side
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.25,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
}
if (enableBside) {
// B side
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.25,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
}
#endif /* OBSW_ADD_ACS_BOARD == 1 */
return thisSequence->checkSequence();
}
@ -407,23 +54,6 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
// Length of a communication cycle
uint32_t length = thisSequence->getPeriodMs();
static_cast<void>(length);
#if OBSW_ADD_MGT == 1
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2,
DeviceHandlerIF::PERFORM_OPERATION);
@ -481,30 +111,6 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
return thisSequence->checkSequence();
}
ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
// Length of a communication cycle
uint32_t length = thisSequence->getPeriodMs();
static_cast<void>(length);
#if OBSW_ADD_SYRLINKS == 1
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_STAR_TRACKER == 1
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
return thisSequence->checkSequence();
}
ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
// PCDU handlers receives two messages and both must be handled
@ -577,3 +183,506 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF *thisSequence) {
}
return returnvalue::OK;
}
ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
/* Length of a communication cycle */
uint32_t length = thisSequence->getPeriodMs();
bool enableAside = true;
bool enableBside = true;
if (cfg.scheduleAcsBoard) {
if (enableAside) {
// A side
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
}
if (enableBside) {
// B side
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
}
}
// SUS: 16 ms
bool addSus0 = true;
bool addSus1 = true;
bool addSus2 = true;
bool addSus3 = true;
bool addSus4 = true;
bool addSus5 = true;
bool addSus6 = true;
bool addSus7 = true;
bool addSus8 = true;
bool addSus9 = true;
bool addSus10 = true;
bool addSus11 = true;
if (cfg.scheduleSus) {
if (addSus0) {
/* Write setup */
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus1) {
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus2) {
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus3) {
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus4) {
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus5) {
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus6) {
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus7) {
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus8) {
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus9) {
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus10) {
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus11) {
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
}
if (cfg.scheduleStr) {
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
}
if (cfg.scheduleImtq) {
// This is the MTM measurement cycle
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
}
thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::acs::SCHED_BLOCK_2_PERIOD, 0);
if (cfg.scheduleImtq) {
// This is the torquing cycle.
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
}
if (cfg.scheduleRws) {
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
}
return returnvalue::OK;
}

14
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
View File

@ -31,6 +31,14 @@ class FixedTimeslotTaskIF;
*/
namespace pst {
struct AcsPstCfg {
bool scheduleAcsBoard = true;
bool scheduleImtq = true;
bool scheduleRws = true;
bool scheduleSus = true;
bool scheduleStr = true;
};
/**
* @brief This function creates the PST for all gomspace devices.
* @details
@ -39,11 +47,9 @@ namespace pst {
*/
ReturnValue_t pstGompaceCan(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstUart(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstSpiAndSyrlinks(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstSpi(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstSpiRw(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstAcs(FixedTimeslotTaskIF* thisSequence, AcsPstCfg cfg);
ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence);

2
linux/ipcore/PdecConfig.h
View File

@ -34,7 +34,7 @@ class PdecConfig {
static const uint8_t VIRTUAL_CHANNEL = 0;
static const uint8_t RESERVED_FIELD_A = 0;
static const uint16_t SPACECRAFT_ID = 0x274;
static const uint16_t SPACECRAFT_ID = 0x3DC;
static const uint16_t DUMMY_BITS = 0;
// Parameters to control the FARM for AD frames
// Set here for future use

24
linux/ipcore/PdecHandler.cpp
View File

@ -132,6 +132,7 @@ ReturnValue_t PdecHandler::polledOperation() {
return returnvalue::OK;
}
// See https://yurovsky.github.io/2014/10/10/linux-uio-gpio-interrupt.html for more information.
ReturnValue_t PdecHandler::irqOperation() {
ReturnValue_t result = returnvalue::OK;
int fd = open(uioNames.irq, O_RDWR);
@ -141,15 +142,17 @@ ReturnValue_t PdecHandler::irqOperation() {
return returnvalue::FAILED;
}
struct pollfd fds = {.fd = fd, .events = POLLIN, .revents = 0};
// Used to unmask IRQ
uint32_t info = 1;
ssize_t nb = 0;
int ret = 0;
// Clear interrupts with dummy read before unmasking the interrupt
ret = *(registerBaseAddress + PDEC_PIR_OFFSET);
// Clear interrupts with dummy read before unmasking the interrupt. Use a volatile to prevent
// read being optimized away.
volatile uint32_t dummy = *(registerBaseAddress + PDEC_PIR_OFFSET);
while (true) {
// Default value to unmask IRQ on the write call.
info = 1;
readCommandQueue();
switch (state) {
case State::INIT:
@ -166,9 +169,12 @@ ReturnValue_t PdecHandler::irqOperation() {
nb = write(fd, &info, sizeof(info));
if (nb != static_cast<ssize_t>(sizeof(info))) {
sif::error << "PdecHandler::irqOperation: Unmasking IRQ failed" << std::endl;
triggerEvent(WRITE_SYSCALL_ERROR_PDEC, errno);
close(fd);
state = State::INIT;
return returnvalue::FAILED;
}
struct pollfd fds = {.fd = fd, .events = POLLIN, .revents = 0};
ret = poll(&fds, 1, IRQ_TIMEOUT_MS);
if (ret == 0) {
// No TCs for timeout period
@ -188,18 +194,22 @@ ReturnValue_t PdecHandler::irqOperation() {
if ((pisr & NEW_FAR_MASK) == NEW_FAR_MASK) {
// Read FAR here
CURRENT_FAR = readFar();
checkFrameAna(CURRENT_FAR);
}
if (lockCheckCd.hasTimedOut()) {
checkLocks();
lockCheckCd.resetTimer();
}
// Clear interrupts with dummy read
ret = *(registerBaseAddress + PDEC_PIR_OFFSET);
dummy = *(registerBaseAddress + PDEC_PIR_OFFSET);
}
} else {
sif::error << "PdecHandler::irqOperation: Poll error with errno " << errno << ": "
<< strerror(errno) << std::endl;
triggerEvent(POLL_ERROR_PDEC, errno);
triggerEvent(POLL_SYSCALL_ERROR_PDEC, errno);
close(fd);
state = State::INIT;
return returnvalue::FAILED;
}
break;
}
@ -210,6 +220,8 @@ ReturnValue_t PdecHandler::irqOperation() {
break;
}
}
// To avoid compiler warning
static_cast<void>(dummy);
return returnvalue::OK;
}

5
linux/ipcore/PdecHandler.h
View File

@ -87,7 +87,10 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
static const Event LOST_CARRIER_LOCK_PDEC = MAKE_EVENT(5, severity::INFO);
//! [EXPORT] : [COMMENT] Lost bit lock
static const Event LOST_BIT_LOCK_PDEC = MAKE_EVENT(6, severity::INFO);
static constexpr Event POLL_ERROR_PDEC = event::makeEvent(SUBSYSTEM_ID, 7, severity::MEDIUM);
static constexpr Event POLL_SYSCALL_ERROR_PDEC =
event::makeEvent(SUBSYSTEM_ID, 7, severity::MEDIUM);
static constexpr Event WRITE_SYSCALL_ERROR_PDEC =
event::makeEvent(SUBSYSTEM_ID, 8, severity::MEDIUM);
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PDEC_HANDLER;

1
mission/CMakeLists.txt
View File

@ -7,3 +7,4 @@ add_subdirectory(tmtc)
add_subdirectory(system)
add_subdirectory(csp)
add_subdirectory(cfdp)
add_subdirectory(config)

29
mission/acsDefs.h Normal file
View File

@ -0,0 +1,29 @@
#ifndef MISSION_ACSDEFS_H_
#define MISSION_ACSDEFS_H_
#include <eive/eventSubsystemIds.h>
#include <fsfw/modes/HasModesIF.h>
namespace acs {
// These modes are the submodes of the ACS controller and the modes of the ACS subsystem.
enum AcsMode {
OFF = HasModesIF::MODE_OFF,
SAFE = 10,
DETUMBLE = 11,
PTG_IDLE = 12,
PTG_NADIR = 13,
PTG_TARGET = 14,
PTG_TARGET_GS = 15,
PTG_INERTIAL = 16,
};
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
//!< The limits for the rotation in safe mode were violated.
static const Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
//!< The system has recovered from a safe rate rotation violation.
static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
} // namespace acs
#endif /* MISSION_ACSDEFS_H_ */

31
mission/comDefs.h Normal file
View File

@ -0,0 +1,31 @@
#ifndef MISSION_COMDEFS_H_
#define MISSION_COMDEFS_H_
namespace com {
enum class Datarate : uint8_t {
LOW_RATE_MODULATION_BPSK,
HIGH_RATE_MODULATION_0QPSK,
NUM_DATARATES
};
enum Submode : uint8_t {
RX_ONLY = 10,
RX_AND_TX_DEFAULT_DATARATE = 11,
RX_AND_TX_LOW_DATARATE = 12,
RX_AND_TX_HIGH_DATARATE = 13,
RX_AND_TX_CW = 14,
NUM_SUBMODES
};
enum class CcsdsSubmode : uint8_t {
UNSET = 0,
DATARATE_LOW = 1,
DATARATE_HIGH = 2,
DATARATE_DEFAULT = 3
};
enum class ParameterId : uint8_t { DATARATE = 0 };
} // namespace com
#endif /* MISSION_COMDEFS_H_ */

1
mission/config/CMakeLists.txt Normal file
View File

@ -0,0 +1 @@
target_sources(${LIB_EIVE_MISSION} PRIVATE comCfg.cpp torquer.cpp)

26
mission/config/comCfg.cpp Normal file
View File

@ -0,0 +1,26 @@
#include "comCfg.h"
#include <fsfw/ipc/MutexFactory.h>
#include <fsfw/ipc/MutexGuard.h>
com::Datarate DATARATE_CFG_RAW = com::Datarate::LOW_RATE_MODULATION_BPSK;
MutexIF* DATARATE_LOCK = nullptr;
MutexIF* lazyLock();
com::Datarate com::getCurrentDatarate() {
MutexGuard mg(lazyLock());
return DATARATE_CFG_RAW;
}
void com::setCurrentDatarate(com::Datarate newRate) {
MutexGuard mg(lazyLock());
DATARATE_CFG_RAW = newRate;
}
MutexIF* lazyLock() {
if (DATARATE_LOCK == nullptr) {
return MutexFactory::instance()->createMutex();
}
return DATARATE_LOCK;
}

15
mission/config/comCfg.h Normal file
View File

@ -0,0 +1,15 @@
#ifndef MISSION_COMCFG_H_
#define MISSION_COMCFG_H_
#include <fsfw/ipc/MutexIF.h>
#include "mission/comDefs.h"
namespace com {
com::Datarate getCurrentDatarate();
void setCurrentDatarate(com::Datarate newRate);
} // namespace com
#endif /* MISSION_COMCFG_H_ */

0
mission/devices/torquer.cpp → mission/config/torquer.cpp
View File

0
mission/devices/torquer.h → mission/config/torquer.h
View File

224
mission/controller/AcsController.cpp
View File

@ -2,7 +2,8 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include "mission/devices/torquer.h"
#include "mission/acsDefs.h"
#include "mission/config/torquer.h"
AcsController::AcsController(object_id_t objectId)
: ExtendedControllerBase(objectId),
@ -14,6 +15,7 @@ AcsController::AcsController(object_id_t objectId)
detumble(&acsParameters),
ptgCtrl(&acsParameters),
detumbleCounter{0},
parameterHelper(this),
mgmDataRaw(this),
mgmDataProcessed(this),
susDataRaw(this),
@ -26,7 +28,25 @@ AcsController::AcsController(object_id_t objectId)
actuatorCmdData(this) {}
ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) {
return returnvalue::OK;
ReturnValue_t result = actionHelper.handleActionMessage(message);
if (result == returnvalue::OK) {
return result;
}
result = parameterHelper.handleParameterMessage(message);
if (result == returnvalue::OK) {
return result;
}
return result;
}
MessageQueueId_t AcsController::getCommandQueue() const { return commandQueue->getId(); }
ReturnValue_t AcsController::getParameter(uint8_t domainId, uint8_t parameterId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues,
uint16_t startAtIndex) {
return acsParameters.getParameter(domainId, parameterId, parameterWrapper, newValues,
startAtIndex);
}
void AcsController::performControlOperation() {
@ -45,15 +65,17 @@ void AcsController::performControlOperation() {
case InternalState::READY: {
if (mode != MODE_OFF) {
switch (submode) {
case SUBMODE_SAFE:
case acs::SAFE:
performSafe();
break;
case SUBMODE_DETUMBLE:
case acs::DETUMBLE:
performDetumble();
break;
case SUBMODE_PTG_TARGET:
case SUBMODE_PTG_NADIR:
case SUBMODE_PTG_INERTIAL:
case acs::PTG_IDLE:
case acs::PTG_TARGET:
case acs::PTG_TARGET_GS:
case acs::PTG_NADIR:
case acs::PTG_INERTIAL:
performPointingCtrl();
break;
}
@ -85,12 +107,6 @@ void AcsController::performControlOperation() {
}
void AcsController::performSafe() {
// Concept: SAFE MODE WITH MEKF
// -do the sensor processing, maybe is does make more sense do call this class function in
// another place since we have to do it for every mode regardless of safe or not
ACS::SensorValues sensorValues;
timeval now;
Clock::getClock_timeval(&now);
@ -127,10 +143,10 @@ void AcsController::performSafe() {
{
PoolReadGuard pg(&ctrlValData);
if (pg.getReadResult() == returnvalue::OK) {
double zeroQuat[4] = {0, 0, 0, 0};
std::memcpy(ctrlValData.tgtQuat.value, zeroQuat, 4 * sizeof(double));
double unitQuat[4] = {0, 0, 0, 1};
std::memcpy(ctrlValData.tgtQuat.value, unitQuat, 4 * sizeof(double));
ctrlValData.tgtQuat.setValid(false);
std::memcpy(ctrlValData.errQuat.value, zeroQuat, 4 * sizeof(double));
std::memcpy(ctrlValData.errQuat.value, unitQuat, 4 * sizeof(double));
ctrlValData.errQuat.setValid(false);
ctrlValData.errAng.value = errAng;
ctrlValData.errAng.setValid(true);
@ -151,9 +167,9 @@ void AcsController::performSafe() {
detumbleCounter = 0;
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
submode = SUBMODE_DETUMBLE;
detumbleCounter = 0;
triggerEvent(SAFE_RATE_VIOLATION);
// Triggers detumble mode transition in subsystem
triggerEvent(acs::SAFE_RATE_VIOLATION);
}
{
@ -173,13 +189,12 @@ void AcsController::performSafe() {
// PoolReadGuard pg(&dipoleSet);
// MutexGuard mg(torquer::lazyLock());
// torquer::NEW_ACTUATION_FLAG = true;
// dipoleSet.setDipoles(cmdDipolUnits[0], cmdDipolUnits[1], cmdDipolUnits[2], torqueDuration);
// dipoleSet.setDipoles(cmdDipolUnits[0], cmdDipolUnits[1], cmdDipolUnits[2],
// torqueDuration);
// }
}
void AcsController::performDetumble() {
ACS::SensorValues sensorValues;
timeval now;
Clock::getClock_timeval(&now);
@ -208,8 +223,9 @@ void AcsController::performDetumble() {
detumbleCounter = 0;
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
submode = SUBMODE_SAFE;
detumbleCounter = 0;
// Triggers safe mode transition in subsystem
triggerEvent(acs::SAFE_RATE_RECOVERY);
}
int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
@ -238,8 +254,6 @@ void AcsController::performDetumble() {
}
void AcsController::performPointingCtrl() {
ACS::SensorValues sensorValues;
timeval now;
Clock::getClock_timeval(&now);
@ -250,29 +264,146 @@ void AcsController::performPointingCtrl() {
&mekfData, &validMekf);
double targetQuat[4] = {0, 0, 0, 0}, refSatRate[3] = {0, 0, 0};
guidance.targetQuatPtg(&sensorValues, &mekfData, &susDataProcessed, now, targetQuat, refSatRate);
double quatRef[4] = {0, 0, 0, 0};
uint8_t enableAntiStiction = true;
double quatErrorComplete[4] = {0, 0, 0, 0}, quatError[3] = {0, 0, 0},
deltaRate[3] = {0, 0, 0}; // ToDo: check if pointer needed
guidance.comparePtg(targetQuat, &mekfData, refSatRate, quatErrorComplete, quatError, deltaRate);
double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
double torquePtgRws[4] = {0, 0, 0, 0}, mode = 0;
ptgCtrl.ptgGroundstation(mode, quatError, deltaRate, *rwPseudoInv, torquePtgRws);
double rwTrqNs[4] = {0, 0, 0, 0};
ptgCtrl.ptgNullspace(
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
double cmdSpeedRws[4] = {0, 0, 0, 0}; // Should be given to the actuator reaction wheel as input
actuatorCmd.cmdSpeedToRws(
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), torquePtgRws,
rwTrqNs, cmdSpeedRws);
double torquePtgRws[4] = {0, 0, 0, 0}, rwTrqNs[4] = {0, 0, 0, 0};
double torqueRws[4] = {0, 0, 0, 0}, torqueRwsScaled[4] = {0, 0, 0, 0};
double mgtDpDes[3] = {0, 0, 0}, dipolUnits[3] = {0, 0, 0}; // Desaturation Dipol
ptgCtrl.ptgDesaturation(mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(),
mekfData.satRotRateMekf.value, &(sensorValues.rw1Set.currSpeed.value),
switch (submode) {
case acs::PTG_IDLE:
guidance.sunQuatPtg(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now,
targetQuat, refSatRate);
std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef,
4 * sizeof(double));
enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
deltaRate);
ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, quatError, deltaRate,
*rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(
&acsParameters.targetModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
&(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
&(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, torqueRwsScaled);
ptgCtrl.ptgDesaturation(
&acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
break;
case acs::PTG_TARGET:
guidance.targetQuatPtgThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now, targetQuat,
refSatRate);
std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef,
4 * sizeof(double));
enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
deltaRate);
ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, quatError, deltaRate,
*rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(
&acsParameters.targetModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
&(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
&(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, torqueRwsScaled);
ptgCtrl.ptgDesaturation(
&acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
break;
case acs::PTG_TARGET_GS:
guidance.targetQuatPtgGs(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now,
targetQuat, refSatRate);
std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef,
4 * sizeof(double));
enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
deltaRate);
ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, quatError, deltaRate,
*rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(
&acsParameters.targetModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
&(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
&(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, torqueRwsScaled);
ptgCtrl.ptgDesaturation(
&acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
break;
case acs::PTG_NADIR:
guidance.quatNadirPtgThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now, targetQuat,
refSatRate);
std::memcpy(quatRef, acsParameters.nadirModeControllerParameters.quatRef, 4 * sizeof(double));
enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction;
guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
deltaRate);
ptgCtrl.ptgLaw(&acsParameters.nadirModeControllerParameters, quatError, deltaRate,
*rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(
&acsParameters.nadirModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
&(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
&(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, torqueRwsScaled);
ptgCtrl.ptgDesaturation(
&acsParameters.nadirModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
break;
case acs::PTG_INERTIAL:
guidance.inertialQuatPtg(targetQuat, refSatRate);
std::memcpy(quatRef, acsParameters.inertialModeControllerParameters.quatRef,
4 * sizeof(double));
enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
deltaRate);
ptgCtrl.ptgLaw(&acsParameters.inertialModeControllerParameters, quatError, deltaRate,
*rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(
&acsParameters.inertialModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
&(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
&(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, torqueRwsScaled);
ptgCtrl.ptgDesaturation(
&acsParameters.inertialModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
break;
}
if (enableAntiStiction) {
bool rwAvailable[4] = {true, true, true, true}; // WHICH INPUT SENSOR SET?
int32_t rwSpeed[4] = {
(sensorValues.rw1Set.currSpeed.value), (sensorValues.rw2Set.currSpeed.value),
(sensorValues.rw3Set.currSpeed.value), (sensorValues.rw4Set.currSpeed.value)};
ptgCtrl.rwAntistiction(rwAvailable, rwSpeed, torqueRwsScaled);
}
double cmdSpeedRws[4] = {0, 0, 0, 0}; // Should be given to the actuator reaction wheel as input
actuatorCmd.cmdSpeedToRws(&(sensorValues.rw1Set.currSpeed.value),
&(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value),
&(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
&(sensorValues.rw4Set.currSpeed.value), torqueRwsScaled, cmdSpeedRws);
actuatorCmd.cmdDipolMtq(mgtDpDes, dipolUnits);
int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
@ -369,6 +500,8 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
// GPS Processed
localDataPoolMap.emplace(acsctrl::PoolIds::GC_LATITUDE, &gcLatitude);
localDataPoolMap.emplace(acsctrl::PoolIds::GD_LONGITUDE, &gdLongitude);
localDataPoolMap.emplace(acsctrl::PoolIds::GPS_POSITION, &gpsPosition);
localDataPoolMap.emplace(acsctrl::PoolIds::GPS_VELOCITY, &gpsVelocity);
poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), false, 5.0});
// MEKF
localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
@ -424,7 +557,7 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
return INVALID_SUBMODE;
}
} else if ((mode == MODE_ON) || (mode == MODE_NORMAL)) {
if ((submode > 6) || (submode < 2)) {
if ((submode < acs::AcsMode::SAFE) or (submode > acs::AcsMode::PTG_INERTIAL)) {
return INVALID_SUBMODE;
} else {
return returnvalue::OK;
@ -484,7 +617,6 @@ void AcsController::copyMgmData() {
}
void AcsController::copySusData() {
ACS::SensorValues sensorValues;
{
PoolReadGuard pg(&sensorValues.susSets[0]);
if (pg.getReadResult() == returnvalue::OK) {
@ -630,3 +762,11 @@ void AcsController::copyGyrData() {
}
}
}
ReturnValue_t AcsController::initialize() {
ReturnValue_t result = parameterHelper.initialize();
if (result != returnvalue::OK) {
return result;
}
return ExtendedControllerBase::initialize();
}

25
mission/controller/AcsController.h
View File

@ -3,6 +3,8 @@
#include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/parameters/ParameterHelper.h>
#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
#include "acs/ActuatorCmd.h"
#include "acs/Guidance.h"
@ -18,21 +20,16 @@
#include "mission/devices/devicedefinitions/SusDefinitions.h"
#include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"
class AcsController : public ExtendedControllerBase {
class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
public:
static constexpr dur_millis_t INIT_DELAY = 500;
AcsController(object_id_t objectId);
static const Submode_t SUBMODE_SAFE = 2;
static const Submode_t SUBMODE_DETUMBLE = 3;
static const Submode_t SUBMODE_PTG_TARGET = 4;
static const Submode_t SUBMODE_PTG_NADIR = 5;
static const Submode_t SUBMODE_PTG_INERTIAL = 6;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
static const Event SAFE_RATE_VIOLATION =
MAKE_EVENT(0, severity::MEDIUM); //!< The limits for the rotation in safe mode were violated.
MessageQueueId_t getCommandQueue() const;
ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) override;
protected:
void performSafe();
@ -52,10 +49,13 @@ class AcsController : public ExtendedControllerBase {
uint8_t detumbleCounter;
ParameterHelper parameterHelper;
enum class InternalState { STARTUP, INITIAL_DELAY, READY };
InternalState internalState = InternalState::STARTUP;
ReturnValue_t initialize() override;
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
@ -69,6 +69,9 @@ class AcsController : public ExtendedControllerBase {
void modeChanged(Mode_t mode, Submode_t submode);
void announceMode(bool recursive);
/* ACS Sensor Values */
ACS::SensorValues sensorValues;
/* ACS Datasets */
IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
// MGMs
@ -143,6 +146,8 @@ class AcsController : public ExtendedControllerBase {
acsctrl::GpsDataProcessed gpsDataProcessed;
PoolEntry<double> gcLatitude = PoolEntry<double>();
PoolEntry<double> gdLongitude = PoolEntry<double>();
PoolEntry<double> gpsPosition = PoolEntry<double>(3);
PoolEntry<double> gpsVelocity = PoolEntry<double>(3);
// MEKF
acsctrl::MekfData mekfData;

487
mission/controller/ThermalController.cpp
View File

@ -2,6 +2,7 @@
#include <bsp_q7s/core/CoreDefinitions.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/thermal/ThermalComponentIF.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h>
#include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
#include <mission/devices/devicedefinitions/BpxBatteryDefinitions.h>
@ -14,12 +15,14 @@
#include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
#include <objects/systemObjectList.h>
ThermalController::ThermalController(object_id_t objectId)
ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater)
: ExtendedControllerBase(objectId),
heaterHandler(heater),
sensorTemperatures(this),
susTemperatures(this),
deviceTemperatures(this),
heaterInfo(this),
imtqThermalSet(objects::IMTQ_HANDLER),
max31865Set0(objects::RTD_0_IC3_PLOC_HEATSPREADER,
EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
max31865Set1(objects::RTD_1_IC4_PLOC_MISSIONBOARD,
@ -56,7 +59,9 @@ ThermalController::ThermalController(object_id_t objectId)
susSet8(objects::SUS_8_R_LOC_XBYBZB_PT_YB),
susSet9(objects::SUS_9_R_LOC_XBYBZB_PT_YF),
susSet10(objects::SUS_10_N_LOC_XMYBZF_PT_ZF),
susSet11(objects::SUS_11_R_LOC_XBYMZB_PT_ZB) {}
susSet11(objects::SUS_11_R_LOC_XBYMZB_PT_ZB) {
resetSensorsArray();
}
ReturnValue_t ThermalController::initialize() {
auto result = ExtendedControllerBase::initialize();
@ -105,6 +110,7 @@ void ThermalController::performControlOperation() {
deviceTemperatures.commit();
}
<<<<<<< HEAD
{
PoolReadGuard pg(&heaterInfo);
if (pg.getReadResult() == returnvalue::OK) {
@ -116,6 +122,32 @@ void ThermalController::performControlOperation() {
}
}
}
=======
ctrlCameraBody();
ctrlAcsBoard();
ctrlMgt();
ctrlRw();
ctrlStr();
ctrlIfBoard();
ctrlAcsBoard();
ctrlObc();
ctrlObcIfBoard();
ctrlSBandTransceiver();
ctrlPcduP60Board();
ctrlPcduAcu();
ctrlPcduPdu();
ctrlPlPcduBoard();
ctrlPlocMissionBoard();
ctrlPlocProcessingBoard();
ctrlDac();
ctrlDro();
ctrlX8();
ctrlHpa();
ctrlTx();
ctrlMpa();
ctrlScexBoard();
>>>>>>> origin/develop
}
ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -763,7 +795,7 @@ void ThermalController::copyDevices() {
{
lp_var_t<float> tempSyrlinksPowerAmplifier =
lp_var_t<float>(objects::SYRLINKS_HK_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER);
lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER);
PoolReadGuard pg(&tempSyrlinksPowerAmplifier, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read syrlinks power amplifier temperature"
@ -778,7 +810,7 @@ void ThermalController::copyDevices() {
{
lp_var_t<float> tempSyrlinksBasebandBoard =
lp_var_t<float>(objects::SYRLINKS_HK_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
PoolReadGuard pg(&tempSyrlinksBasebandBoard, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read syrlinks baseband board temperature"
@ -969,3 +1001,450 @@ void ThermalController::copyDevices() {
}
}
}
void ThermalController::ctrlAcsBoard() {
// TODO: check
heater::Switchers switchNr = heater::HEATER_2_ACS_BRD;
heater::Switchers redSwitchNr = heater::HEATER_0_OBC_BRD;
// A side
sensors[0].first = deviceTemperatures.gyro0SideA.isValid();
sensors[0].second = deviceTemperatures.gyro0SideA.value;
sensors[1].first = deviceTemperatures.mgm0SideA.isValid();
sensors[1].second = deviceTemperatures.mgm0SideA.value;
sensors[2].first = deviceTemperatures.gyro1SideA.isValid();
sensors[2].second = deviceTemperatures.gyro1SideA.value;
sensors[3].first = sensorTemperatures.sensor_tcs_board.isValid();
sensors[3].second = sensorTemperatures.sensor_tcs_board.value;
numSensors = 4;
if (selectAndReadSensorTemp()) {
if (chooseHeater(switchNr, redSwitchNr)) {
ctrlHeater(switchNr, redSwitchNr, acsBoardLimits);
}
resetSensorsArray();
return;
}
// B side
sensors[0].first = deviceTemperatures.gyro2SideB.isValid();
sensors[0].second = deviceTemperatures.gyro2SideB.value;
sensors[1].first = deviceTemperatures.mgm2SideB.isValid();
sensors[1].second = deviceTemperatures.mgm2SideB.value;
sensors[2].first = deviceTemperatures.gyro3SideB.isValid();
sensors[2].second = deviceTemperatures.gyro3SideB.value;
sensors[3].first = sensorTemperatures.sensor_tcs_board.isValid();
sensors[3].second = sensorTemperatures.sensor_tcs_board.value;
if (selectAndReadSensorTemp()) {
if (chooseHeater(switchNr, redSwitchNr)) {
ctrlHeater(switchNr, redSwitchNr, acsBoardLimits);
}
} else {
if (chooseHeater(switchNr, redSwitchNr)) {
if (heaterHandler.checkSwitchState(switchNr)) {
heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
sif::info << "ThermalController::ctrlHeater: Heater" << switchNr << " OFF" << std::endl;
}
}
}
resetSensorsArray();
}
void ThermalController::ctrlMgt() {
PoolReadGuard pg(&imtqThermalSet);
auto heaterReq =
static_cast<ThermalComponentIF::StateRequest>(imtqThermalSet.heaterRequest.value);
if (heaterReq == ThermalComponentIF::STATE_REQUEST_OPERATIONAL) {
sensors[0].first = sensorTemperatures.sensor_magnettorquer.isValid();
sensors[0].second = sensorTemperatures.sensor_magnettorquer.value;
sensors[1].first = deviceTemperatures.mgt.isValid();
sensors[1].second = deviceTemperatures.mgt.value;
sensors[2].first = sensorTemperatures.sensor_plpcdu_heatspreader.isValid();
sensors[2].second = sensorTemperatures.sensor_plpcdu_heatspreader.value;
numSensors = 3;
ctrlComponentTemperature(heater::HEATER_2_ACS_BRD, heater::HEATER_3_PCDU_PDU, mgtLimits);
}
}
void ThermalController::ctrlRw() {
// TODO: better solution?
// RW1
sensors[0].first = sensorTemperatures.sensor_rw1.isValid();
sensors[0].second = sensorTemperatures.sensor_rw1.value;
sensors[1].first = deviceTemperatures.rw1.isValid();
sensors[1].second = deviceTemperatures.rw1.value;
sensors[2].first = deviceTemperatures.rw4.isValid();
sensors[2].second = deviceTemperatures.rw4.value;
sensors[3].first = sensorTemperatures.sensor_dro.isValid();
sensors[3].second = sensorTemperatures.sensor_dro.value;
numSensors = 4;
ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_6_DRO, rwLimits);
// RW2
sensors[0].first = deviceTemperatures.rw2.isValid();
sensors[0].second = deviceTemperatures.rw2.value;
sensors[1].first = deviceTemperatures.rw3.isValid();
sensors[1].second = deviceTemperatures.rw3.value;
sensors[2].first = sensorTemperatures.sensor_rw1.isValid();
sensors[2].second = sensorTemperatures.sensor_rw1.value;
sensors[3].first = sensorTemperatures.sensor_dro.isValid();
sensors[3].second = sensorTemperatures.sensor_dro.value;
numSensors = 4;
ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_6_DRO, rwLimits);
// RW3
sensors[0].first = deviceTemperatures.rw3.isValid();
sensors[0].second = deviceTemperatures.rw3.value;
sensors[1].first = deviceTemperatures.rw4.isValid();
sensors[1].second = deviceTemperatures.rw4.value;
sensors[2].first = sensorTemperatures.sensor_rw1.isValid();
sensors[2].second = sensorTemperatures.sensor_rw1.value;
sensors[3].first = sensorTemperatures.sensor_dro.isValid();
sensors[3].second = sensorTemperatures.sensor_dro.value;
numSensors = 4;
ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_6_DRO, rwLimits);
// RW4
sensors[0].first = deviceTemperatures.rw4.isValid();
sensors[0].second = deviceTemperatures.rw4.value;
sensors[1].first = deviceTemperatures.rw1.isValid();
sensors[1].second = deviceTemperatures.rw1.value;
sensors[2].first = sensorTemperatures.sensor_rw1.isValid();
sensors[2].second = sensorTemperatures.sensor_rw1.value;
sensors[3].first = sensorTemperatures.sensor_dro.isValid();
sensors[3].second = sensorTemperatures.sensor_dro.value;
numSensors = 4;
ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_6_DRO, rwLimits);
}
void ThermalController::ctrlStr() {
sensors[0].first = sensorTemperatures.sensor_startracker.isValid();
sensors[0].second = sensorTemperatures.sensor_startracker.value;
sensors[1].first = deviceTemperatures.startracker.isValid();
sensors[1].second = deviceTemperatures.startracker.value;
sensors[2].first = sensorTemperatures.sensor_dro.isValid();
sensors[2].second = sensorTemperatures.sensor_dro.value;
numSensors = 3;
ctrlComponentTemperature(heater::HEATER_5_STR, heater::HEATER_6_DRO, strLimits);
}
void ThermalController::ctrlIfBoard() {
sensors[0].first = sensorTemperatures.tmp1075IfBrd.isValid();
sensors[0].second = sensorTemperatures.tmp1075IfBrd.value;
sensors[1].first = sensorTemperatures.sensor_magnettorquer.isValid();
sensors[1].second = sensorTemperatures.sensor_magnettorquer.value;
sensors[2].first = deviceTemperatures.mgm2SideB.isValid();
sensors[2].second = deviceTemperatures.mgm2SideB.value;
numSensors = 3;
ctrlComponentTemperature(heater::HEATER_2_ACS_BRD, heater::HEATER_3_PCDU_PDU, ifBoardLimits);
}
void ThermalController::ctrlTcsBoard() {
sensors[0].first = sensorTemperatures.sensor_tcs_board.isValid();
sensors[0].second = sensorTemperatures.sensor_tcs_board.value;
sensors[1].first = sensorTemperatures.tmp1075Tcs0.isValid();
sensors[1].second = sensorTemperatures.tmp1075Tcs0.value;
sensors[2].first = sensorTemperatures.tmp1075Tcs1.isValid();
sensors[2].second = sensorTemperatures.tmp1075Tcs1.value;
numSensors = 3;
ctrlComponentTemperature(heater::HEATER_0_OBC_BRD, heater::HEATER_2_ACS_BRD, tcsBoardLimits);
}
void ThermalController::ctrlObc() {
sensors[0].first = deviceTemperatures.q7s.isValid();
sensors[0].second = deviceTemperatures.q7s.value;
sensors[1].first = sensorTemperatures.tmp1075Tcs1.isValid();
sensors[1].second = sensorTemperatures.tmp1075Tcs1.value;
sensors[2].first = sensorTemperatures.tmp1075Tcs0.isValid();
sensors[2].second = sensorTemperatures.tmp1075Tcs0.value;
numSensors = 3;
ctrlComponentTemperature(heater::HEATER_0_OBC_BRD, heater::HEATER_2_ACS_BRD, obcLimits);
if (componentAboveCutOffLimit) {
triggerEvent(OBC_OVERHEATING);
}
}
void ThermalController::ctrlObcIfBoard() {
sensors[0].first = deviceTemperatures.q7s.isValid();
sensors[0].second = deviceTemperatures.q7s.value;
sensors[1].first = sensorTemperatures.tmp1075Tcs0.isValid();
sensors[1].second = sensorTemperatures.tmp1075Tcs0.value;
sensors[2].first = sensorTemperatures.tmp1075Tcs1.isValid();
sensors[2].second = sensorTemperatures.tmp1075Tcs1.value;
numSensors = 3;
ctrlComponentTemperature(heater::HEATER_0_OBC_BRD, heater::HEATER_2_ACS_BRD, obcIfBoardLimits);
}
void ThermalController::ctrlSBandTransceiver() {
sensors[0].first = deviceTemperatures.syrlinksPowerAmplifier.isValid();
sensors[0].second = deviceTemperatures.syrlinksPowerAmplifier.value;
sensors[1].first = deviceTemperatures.syrlinksBasebandBoard.isValid();
sensors[1].second = deviceTemperatures.syrlinksBasebandBoard.value;
sensors[2].first = sensorTemperatures.sensor_4k_camera.isValid();
sensors[2].second = sensorTemperatures.sensor_4k_camera.value;
numSensors = 3;
ctrlComponentTemperature(heater::HEATER_7_S_BAND, heater::HEATER_4_CAMERA,
sBandTransceiverLimits);
if (componentAboveCutOffLimit) {
triggerEvent(SYRLINKS_OVERHEATING);
}
}
void ThermalController::ctrlPcduP60Board() {
sensors[0].first = deviceTemperatures.temp1P60dock.isValid();
sensors[0].second = deviceTemperatures.temp1P60dock.value;
sensors[1].first = deviceTemperatures.temp2P60dock.isValid();
sensors[1].second = deviceTemperatures.temp2P60dock.value;
numSensors = 2;
ctrlComponentTemperature(heater::HEATER_3_PCDU_PDU, heater::HEATER_2_ACS_BRD, pcduP60BoardLimits);
}
void ThermalController::ctrlPcduAcu() {
heater::Switchers switchNr = heater::HEATER_3_PCDU_PDU;
heater::Switchers redSwitchNr = heater::HEATER_2_ACS_BRD;
if (chooseHeater(switchNr, redSwitchNr)) {
bool sensorTempAvailable = true;
if (deviceTemperatures.acu.value[0] != INVALID_TEMPERATURE) {
sensorTemp = deviceTemperatures.acu.value[0];
} else if (deviceTemperatures.acu.value[1] != INVALID_TEMPERATURE) {
sensorTemp = deviceTemperatures.acu.value[1];
} else if (deviceTemperatures.acu.value[2] != INVALID_TEMPERATURE) {
sensorTemp = deviceTemperatures.acu.value[2];
} else if (sensorTemperatures.sensor_acu.isValid()) {
sensorTemp = sensorTemperatures.sensor_acu.value;
} else {
triggerEvent(NO_VALID_SENSOR_TEMPERATURE, switchNr);
sensorTempAvailable = false;
}
if (sensorTempAvailable) {
ctrlHeater(switchNr, redSwitchNr, pcduAcuLimits);
}
}
}
void ThermalController::ctrlPcduPdu() {
sensors[0].first = deviceTemperatures.pdu1.isValid();
sensors[0].second = deviceTemperatures.pdu1.value;
sensors[1].first = deviceTemperatures.pdu2.isValid();
sensors[1].second = deviceTemperatures.pdu2.value;
sensors[2].first = sensorTemperatures.tmp1075Tcs0.isValid();
sensors[2].second = sensorTemperatures.tmp1075Tcs0.value;
numSensors = 2;
ctrlComponentTemperature(heater::HEATER_3_PCDU_PDU, heater::HEATER_2_ACS_BRD, pcduPduLimits);
}
void ThermalController::ctrlPlPcduBoard() {
sensors[0].first = sensorTemperatures.tmp1075PlPcdu0.isValid();
sensors[0].second = sensorTemperatures.tmp1075PlPcdu0.value;
sensors[1].first = sensorTemperatures.tmp1075PlPcdu1.isValid();
sensors[1].second = sensorTemperatures.tmp1075PlPcdu1.value;
sensors[2].first = deviceTemperatures.adcPayloadPcdu.isValid();
sensors[2].second = deviceTemperatures.adcPayloadPcdu.value;
sensors[3].first = sensorTemperatures.sensor_plpcdu_heatspreader.isValid();
sensors[3].second = sensorTemperatures.sensor_plpcdu_heatspreader.value;
numSensors = 4;
ctrlComponentTemperature(heater::HEATER_3_PCDU_PDU, heater::HEATER_2_ACS_BRD, plPcduBoardLimits);
if (componentAboveCutOffLimit) {
triggerEvent(PLPCDU_OVERHEATING);
}
}
void ThermalController::ctrlPlocMissionBoard() {
sensors[0].first = sensorTemperatures.sensor_ploc_heatspreader.isValid();
sensors[0].second = sensorTemperatures.sensor_ploc_heatspreader.value;
sensors[1].first = sensorTemperatures.sensor_ploc_missionboard.isValid();
sensors[1].second = sensorTemperatures.sensor_ploc_missionboard.value;
sensors[2].first = sensorTemperatures.sensor_dac_heatspreader.isValid();
sensors[2].second = sensorTemperatures.sensor_dac_heatspreader.value;
numSensors = 3;
ctrlComponentTemperature(heater::HEATER_1_PLOC_PROC_BRD, heater::HEATER_0_OBC_BRD,
plocMissionBoardLimits);
if (componentAboveCutOffLimit) {
triggerEvent(PLOC_OVERHEATING);
}
}
void ThermalController::ctrlPlocProcessingBoard() {
sensors[0].first = sensorTemperatures.sensor_ploc_missionboard.isValid();
sensors[0].second = sensorTemperatures.sensor_ploc_missionboard.value;
sensors[1].first = sensorTemperatures.sensor_ploc_heatspreader.isValid();
sensors[1].second = sensorTemperatures.sensor_ploc_heatspreader.value;
sensors[2].first = sensorTemperatures.sensor_dac_heatspreader.isValid();
sensors[2].second = sensorTemperatures.sensor_dac_heatspreader.value;
numSensors = 3;
ctrlComponentTemperature(heater::HEATER_1_PLOC_PROC_BRD, heater::HEATER_0_OBC_BRD,
plocProcessingBoardLimits);
}
void ThermalController::ctrlDac() {
sensors[0].first = sensorTemperatures.sensor_dac_heatspreader.isValid();
sensors[0].second = sensorTemperatures.sensor_dac_heatspreader.value;
sensors[1].first = sensorTemperatures.sensor_ploc_missionboard.isValid();
sensors[1].second = sensorTemperatures.sensor_ploc_missionboard.value;
sensors[2].first = sensorTemperatures.sensor_ploc_heatspreader.isValid();
sensors[2].second = sensorTemperatures.sensor_ploc_heatspreader.value;
numSensors = 3;
ctrlComponentTemperature(heater::HEATER_1_PLOC_PROC_BRD, heater::HEATER_0_OBC_BRD, dacLimits);
}
void ThermalController::ctrlCameraBody() {
sensors[0].first = sensorTemperatures.sensor_4k_camera.isValid();
sensors[0].second = sensorTemperatures.sensor_4k_camera.value;
sensors[1].first = sensorTemperatures.sensor_dro.isValid();
sensors[1].second = sensorTemperatures.sensor_dro.value;
sensors[2].first = sensorTemperatures.sensor_mpa.isValid();
sensors[2].second = sensorTemperatures.sensor_mpa.value;
numSensors = 3;
ctrlComponentTemperature(heater::HEATER_4_CAMERA, heater::HEATER_6_DRO, cameraLimits);
}
void ThermalController::ctrlDro() {
sensors[0].first = sensorTemperatures.sensor_dro.isValid();
sensors[0].second = sensorTemperatures.sensor_dro.value;
sensors[1].first = sensorTemperatures.sensor_4k_camera.isValid();
sensors[1].second = sensorTemperatures.sensor_4k_camera.value;
sensors[2].first = sensorTemperatures.sensor_mpa.isValid();
sensors[2].second = sensorTemperatures.sensor_mpa.value;
numSensors = 3;
ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_4_CAMERA, droLimits);
}
void ThermalController::ctrlX8() {
sensors[0].first = sensorTemperatures.sensor_x8.isValid();
sensors[0].second = sensorTemperatures.sensor_x8.value;
sensors[1].first = sensorTemperatures.sensor_hpa.isValid();
sensors[1].second = sensorTemperatures.sensor_hpa.value;
sensors[2].first = sensorTemperatures.sensor_tx_modul.isValid();
sensors[2].second = sensorTemperatures.sensor_tx_modul.value;
numSensors = 3;
ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_4_CAMERA, x8Limits);
}
void ThermalController::ctrlTx() {
sensors[0].first = sensorTemperatures.sensor_tx_modul.isValid();
sensors[0].second = sensorTemperatures.sensor_tx_modul.value;
sensors[1].first = sensorTemperatures.sensor_x8.isValid();
sensors[1].second = sensorTemperatures.sensor_x8.value;
sensors[2].first = sensorTemperatures.sensor_mpa.isValid();
sensors[2].second = sensorTemperatures.sensor_mpa.value;
numSensors = 3;
ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_4_CAMERA, txLimits);
}
void ThermalController::ctrlMpa() {
sensors[0].first = sensorTemperatures.sensor_mpa.isValid();
sensors[0].second = sensorTemperatures.sensor_mpa.value;
sensors[1].first = sensorTemperatures.sensor_hpa.isValid();
sensors[1].second = sensorTemperatures.sensor_hpa.value;
sensors[2].first = sensorTemperatures.sensor_tx_modul.isValid();
sensors[2].second = sensorTemperatures.sensor_tx_modul.value;
numSensors = 3;
ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_4_CAMERA, mpaLimits);
}
void ThermalController::ctrlHpa() {
sensors[0].first = sensorTemperatures.sensor_hpa.isValid();
sensors[0].second = sensorTemperatures.sensor_hpa.value;
sensors[1].first = sensorTemperatures.sensor_x8.isValid();
sensors[1].second = sensorTemperatures.sensor_x8.value;
sensors[2].first = sensorTemperatures.sensor_mpa.isValid();
sensors[2].second = sensorTemperatures.sensor_mpa.value;
numSensors = 3;
ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_4_CAMERA, hpaLimits);
if (componentAboveCutOffLimit) {
triggerEvent(HPA_OVERHEATING);
}
}
void ThermalController::ctrlScexBoard() {
sensors[0].first = sensorTemperatures.sensor_scex.isValid();
sensors[0].second = sensorTemperatures.sensor_scex.value;
sensors[1].first = sensorTemperatures.sensor_x8.isValid();
sensors[1].second = sensorTemperatures.sensor_x8.value;
sensors[2].first = sensorTemperatures.sensor_hpa.isValid();
sensors[2].second = sensorTemperatures.sensor_hpa.value;
numSensors = 3;
ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_5_STR, scexBoardLimits);
}
void ThermalController::ctrlHeater(heater::Switchers switchNr, heater::Switchers redSwitchNr,
struct TempLimits& tempLimit) {
componentAboveCutOffLimit = false;
// Heater off
if (not heaterHandler.checkSwitchState(switchNr)) {
if (sensorTemp < tempLimit.opLowerLimit) {
heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::ON);
sif::info << "ThermalController::ctrlHeater: Heater" << switchNr << " ON" << std::endl;
}
// Heater on
} else if (heaterHandler.checkSwitchState(switchNr)) {
if (sensorTemp >= tempLimit.opLowerLimit + TEMP_OFFSET) {
heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
sif::info << "ThermalController::ctrlHeater: Heater" << switchNr << " OFF" << std::endl;
}
} else if (not redSwitchNrInUse) {
if (heaterHandler.checkSwitchState(redSwitchNr)) {
if (sensorTemp >= tempLimit.cutOffLimit) {
componentAboveCutOffLimit = true;
heaterHandler.switchHeater(redSwitchNr, HeaterHandler::SwitchState::OFF);
sif::info << "ThermalController::ctrlHeater: Heater" << redSwitchNr << " OFF" << std::endl;
}
}
}
}
bool ThermalController::chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr) {
bool heaterAvailable = true;
if (heaterHandler.getHealth(switchNr) != HasHealthIF::HEALTHY) {
if (heaterHandler.getHealth(redSwitchNr) == HasHealthIF::HEALTHY) {
switchNr = redSwitchNr;
redSwitchNrInUse = true;
} else {
heaterAvailable = false;
triggerEvent(NO_HEALTHY_HEATER_AVAILABLE, switchNr, redSwitchNr);
}
} else {
redSwitchNrInUse = false;
}
return heaterAvailable;
}
bool ThermalController::selectAndReadSensorTemp() {
for (unsigned i = 0; i < numSensors; i++) {
if (sensors[i].first and sensors[i].second != INVALID_TEMPERATURE) {
sensorTemp = sensors[i].second;
return true;
}
}
triggerEvent(NO_VALID_SENSOR_TEMPERATURE);
return false;
}
void ThermalController::ctrlComponentTemperature(heater::Switchers switchNr,
heater::Switchers redSwitchNr,
TempLimits& tempLimit) {
if (selectAndReadSensorTemp()) {
if (chooseHeater(switchNr, redSwitchNr)) {
ctrlHeater(switchNr, redSwitchNr, tempLimit);
}
} else {
if (chooseHeater(switchNr,
redSwitchNr)) { // TODO: muss der Heater dann wirklich abgeschalten werden?
if (heaterHandler.checkSwitchState(switchNr)) {
heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
sif::info << "ThermalController::ctrlHeater: Heater" << switchNr << " OFF" << std::endl;
}
}
}
resetSensorsArray();
}
void ThermalController::resetSensorsArray() {
//TODO: müssen auch andere Variablen resettet werden? senstemp?
for (auto& validValuePair : sensors) {
validValuePair.first = false;
validValuePair.second = INVALID_TEMPERATURE;
}
}

148
mission/controller/ThermalController.h
View File

@ -2,6 +2,7 @@
#define MISSION_CONTROLLER_THERMALCONTROLLER_H_
#include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/devicehandlers/DeviceHandlerThermalSet.h>
#include <fsfw/timemanager/Countdown.h>
#include <mission/controller/controllerdefinitions/ThermalControllerDefinitions.h>
#include <mission/devices/devicedefinitions/Max31865Definitions.h>
@ -9,33 +10,70 @@
#include <mission/devices/devicedefinitions/Tmp1075Definitions.h>
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
#include "mission/devices/HeaterHandler.h"
#include <list>
/**
* NOP Limit: Hard limit for device, usually from datasheet. Device damage is possible lif NOP limit
* is exceeded.
* OP Limit: Soft limit. Device should be switched off or TCS controller should take action if the
* limit is exceeded to avoid reaching NOP limit
*/
struct TempLimits {
TempLimits(float nopLowerLimit, float opLowerLimit, float cutOffLimit, float opUpperLimit,
float nopUpperLimit)
: opLowerLimit(opLowerLimit),
opUpperLimit(opUpperLimit),
cutOffLimit(cutOffLimit),
nopLowerLimit(nopLowerLimit),
nopUpperLimit(nopUpperLimit) {}
float opLowerLimit;
float opUpperLimit;
float cutOffLimit;
float nopLowerLimit;
float nopUpperLimit;
};
class ThermalController : public ExtendedControllerBase {
public:
static const uint16_t INVALID_TEMPERATURE = 999;
static const uint8_t NUMBER_OF_SENSORS = 16;
ThermalController(object_id_t objectId);
ThermalController(object_id_t objectId, HeaterHandler& heater);
ReturnValue_t initialize() override;
protected:
virtual ReturnValue_t handleCommandMessage(CommandMessage* message) override;
virtual void performControlOperation() override;
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
// Mode abstract functions
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
private:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_CONTROLLER;
static constexpr Event NO_VALID_SENSOR_TEMPERATURE = MAKE_EVENT(0, severity::MEDIUM);
static constexpr Event NO_HEALTHY_HEATER_AVAILABLE = MAKE_EVENT(1, severity::MEDIUM);
static constexpr Event SYRLINKS_OVERHEATING = MAKE_EVENT(2, severity::HIGH);
static constexpr Event PLOC_OVERHEATING = MAKE_EVENT(3, severity::HIGH);
static constexpr Event OBC_OVERHEATING = MAKE_EVENT(4, severity::HIGH);
static constexpr Event HPA_OVERHEATING = MAKE_EVENT(5, severity::HIGH);
static constexpr Event PLPCDU_OVERHEATING = MAKE_EVENT(6, severity::HIGH);
static const uint32_t DELAY = 500;
static const uint32_t TEMP_OFFSET = 5;
enum class InternalState { STARTUP, INITIAL_DELAY, READY };
InternalState internalState = InternalState::STARTUP;
HeaterHandler& heaterHandler;
thermalControllerDefinitions::SensorTemperatures sensorTemperatures;
thermalControllerDefinitions::SusTemperatures susTemperatures;
thermalControllerDefinitions::DeviceTemperatures deviceTemperatures;
@ -43,23 +81,25 @@ class ThermalController : public ExtendedControllerBase {
lp_vec_t<int16_t, 9> currentVecPdu2 =
lp_vec_t<int16_t, 9>(gp_id_t(objects::PDU2_HANDLER, PDU::pool::PDU_CURRENTS));
DeviceHandlerThermalSet imtqThermalSet;
// Temperature Sensors
MAX31865::Max31865Set max31865Set0;
MAX31865::Max31865Set max31865Set1;
MAX31865::Max31865Set max31865Set2;
MAX31865::Max31865Set max31865Set3;
MAX31865::Max31865Set max31865Set4;
MAX31865::Max31865Set max31865Set5;
MAX31865::Max31865Set max31865Set6;
MAX31865::Max31865Set max31865Set7;
MAX31865::Max31865Set max31865Set8;
MAX31865::Max31865Set max31865Set9;
MAX31865::Max31865Set max31865Set10;
MAX31865::Max31865Set max31865Set11;
MAX31865::Max31865Set max31865Set12;
MAX31865::Max31865Set max31865Set13;
MAX31865::Max31865Set max31865Set14;
MAX31865::Max31865Set max31865Set15;
MAX31865::PrimarySet max31865Set0;
MAX31865::PrimarySet max31865Set1;
MAX31865::PrimarySet max31865Set2;
MAX31865::PrimarySet max31865Set3;
MAX31865::PrimarySet max31865Set4;
MAX31865::PrimarySet max31865Set5;
MAX31865::PrimarySet max31865Set6;
MAX31865::PrimarySet max31865Set7;
MAX31865::PrimarySet max31865Set8;
MAX31865::PrimarySet max31865Set9;
MAX31865::PrimarySet max31865Set10;
MAX31865::PrimarySet max31865Set11;
MAX31865::PrimarySet max31865Set12;
MAX31865::PrimarySet max31865Set13;
MAX31865::PrimarySet max31865Set14;
MAX31865::PrimarySet max31865Set15;
TMP1075::Tmp1075Dataset tmp1075SetTcs0;
TMP1075::Tmp1075Dataset tmp1075SetTcs1;
@ -82,9 +122,41 @@ class ThermalController : public ExtendedControllerBase {
SUS::SusDataset susSet10;
SUS::SusDataset susSet11;
// TempLimits
TempLimits acsBoardLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
TempLimits mgtLimits = TempLimits(-40.0, -40.0, 65.0, 70.0, 70.0);
TempLimits rwLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
TempLimits strLimits = TempLimits(-30.0, -20.0, 65.0, 70.0, 80.0);
TempLimits ifBoardLimits = TempLimits(-65.0, -40.0, 80.0, 85.0, 150.0);
TempLimits tcsBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 130.0);
TempLimits obcLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
TempLimits obcIfBoardLimits = TempLimits(-65.0, -40.0, 80.0, 85.0, 125.0);
TempLimits sBandTransceiverLimits = TempLimits(-40.0, -25.0, 35.0, 40.0, 65.0);
TempLimits pcduP60BoardLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
TempLimits pcduAcuLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
TempLimits pcduPduLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
TempLimits plPcduBoardLimits = TempLimits(-55.0, -40.0, 80.0, 85.0, 125.0);
TempLimits plocMissionBoardLimits = TempLimits(-30.0, -10.0, 40.0, 45.0, 60);
TempLimits plocProcessingBoardLimits = TempLimits(-30.0, -10.0, 40.0, 45.0, 60.0);
TempLimits dacLimits = TempLimits(-65.0, -40.0, 113.0, 118.0, 150.0);
TempLimits cameraLimits = TempLimits(-40.0, -30.0, 60.0, 65.0, 85.0);
TempLimits droLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
TempLimits x8Limits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
TempLimits hpaLimits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
TempLimits txLimits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
TempLimits mpaLimits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
TempLimits scexBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 150.0);
double sensorTemp = INVALID_TEMPERATURE;
bool redSwitchNrInUse = false;
bool componentAboveCutOffLimit = false;
// Initial delay to make sure all pool variables have been initialized their owners
Countdown initialCountdown = Countdown(DELAY);
std::array<std::pair<bool, double>, 5> sensors;
uint8_t numSensors = 0;
PoolEntry<float> tmp1075Tcs0 = PoolEntry<float>({10.0});
PoolEntry<float> tmp1075Tcs1 = PoolEntry<float>({10.0});
PoolEntry<float> tmp1075PlPcdu0 = PoolEntry<float>({10.0});
@ -94,9 +166,41 @@ class ThermalController : public ExtendedControllerBase {
PoolEntry<int16_t> heaterCurrent = PoolEntry<int16_t>();
static constexpr dur_millis_t MUTEX_TIMEOUT = 50;
void resetSensorsArray();
void copySensors();
void copySus();
void copyDevices();
void ctrlComponentTemperature(heater::Switchers switchNr, heater::Switchers redSwitchNr,
TempLimits& tempLimit);
void ctrlHeater(heater::Switchers switchNr, heater::Switchers redSwitchNr, TempLimits& tempLimit);
bool chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr);
bool selectAndReadSensorTemp();
void ctrlAcsBoard();
void ctrlMgt();
void ctrlRw();
void ctrlStr();
void ctrlIfBoard();
void ctrlTcsBoard();
void ctrlObc();
void ctrlObcIfBoard();
void ctrlSBandTransceiver();
void ctrlPcduP60Board();
void ctrlPcduAcu();
void ctrlPcduPdu();
void ctrlPlPcduBoard();
void ctrlPlocMissionBoard();
void ctrlPlocProcessingBoard();
void ctrlDac();
void ctrlCameraBody();
void ctrlDro();
void ctrlX8();
void ctrlHpa();
void ctrlTx();
void ctrlMpa();
void ctrlScexBoard();
};
#endif /* MISSION_CONTROLLER_THERMALCONTROLLER_H_ */

371
mission/controller/acs/AcsParameters.cpp
View File

@ -3,25 +3,23 @@
#include <fsfw/src/fsfw/globalfunctions/constants.h>
#include <stddef.h>
AcsParameters::AcsParameters(){}; //(uint8_t parameterModuleId) :
// parameterModuleId(parameterModuleId) {}
AcsParameters::AcsParameters() {}
AcsParameters::~AcsParameters() {}
/*ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint16_t parameterId,
ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues,
uint16_t startAtIndex) {
if (domainId == parameterModuleId) {
switch (parameterId >> 8) {
switch (domainId) {
case 0x0: // direct members
switch (parameterId & 0xFF) {
switch (parameterId) {
default:
return INVALID_IDENTIFIER_ID;
}
break;
case 0x1: // OnBoardParams
switch (parameterId & 0xFF) {
switch (parameterId) {
case 0x0:
parameterWrapper->set(onBoardParams.sampleTime);
break;
@ -30,19 +28,28 @@ AcsParameters::~AcsParameters() {}
}
break;
case 0x2: // InertiaEIVE
switch (parameterId & 0xFF) {
switch (parameterId) {
case 0x0:
parameterWrapper->set(inertiaEIVE.inertiaMatrix);
break;
case 0x1:
parameterWrapper->set(inertiaEIVE.inertiaMatrixInverse);
parameterWrapper->set(inertiaEIVE.inertiaMatrixDeployed);
break;
case 0x2:
parameterWrapper->set(inertiaEIVE.inertiaMatrixUndeployed);
break;
case 0x3:
parameterWrapper->set(inertiaEIVE.inertiaMatrixPanel1);
break;
case 0x4:
parameterWrapper->set(inertiaEIVE.inertiaMatrixPanel3);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case 0x3: // MgmHandlingParameters
switch (parameterId & 0xFF) {
switch (parameterId) {
case 0x0:
parameterWrapper->set(mgmHandlingParameters.mgm0orientationMatrix);
break;
@ -88,12 +95,21 @@ AcsParameters::~AcsParameters() {}
case 0xE:
parameterWrapper->set(mgmHandlingParameters.mgm4softIronInverse);
break;
case 0xF:
parameterWrapper->set(mgmHandlingParameters.mgm02variance);
break;
case 0x10:
parameterWrapper->set(mgmHandlingParameters.mgm13variance);
break;
case 0x11:
parameterWrapper->set(mgmHandlingParameters.mgm4variance);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case 0x4: // SusHandlingParameters
switch (parameterId & 0xFF) {
switch (parameterId) {
case 0x0:
parameterWrapper->set(susHandlingParameters.sus0orientationMatrix);
break;
@ -202,18 +218,12 @@ AcsParameters::~AcsParameters() {}
case 0x23:
parameterWrapper->set(susHandlingParameters.sus11coeffBeta);
break;
case 0x24:
parameterWrapper->set(susHandlingParameters.filterAlpha);
break;
case 0x25:
parameterWrapper->set(susHandlingParameters.sunThresh);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0x5): // GyrHandlingParameters
switch (parameterId & 0xFF) {
switch (parameterId) {
case 0x0:
parameterWrapper->set(gyrHandlingParameters.gyr0orientationMatrix);
break;
@ -227,38 +237,53 @@ AcsParameters::~AcsParameters() {}
parameterWrapper->set(gyrHandlingParameters.gyr3orientationMatrix);
break;
case 0x4:
parameterWrapper->set(gyrHandlingParameters.gyrFusionWeight);
parameterWrapper->set(gyrHandlingParameters.gyr0bias);
break;
case 0x5:
parameterWrapper->set(gyrHandlingParameters.gyr1bias);
break;
case 0x6:
parameterWrapper->set(gyrHandlingParameters.gyr2bias);
break;
case 0x7:
parameterWrapper->set(gyrHandlingParameters.gyr3bias);
break;
case 0x8:
parameterWrapper->set(gyrHandlingParameters.gyr02variance);
break;
case 0x9:
parameterWrapper->set(gyrHandlingParameters.gyr13variance);
break;
case 0xA:
parameterWrapper->set(gyrHandlingParameters.preferAdis);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0x6): // RwHandlingParameters
switch (parameterId & 0xFF) {
switch (parameterId) {
case 0x0:
parameterWrapper->set(rwHandlingParameters.rw0orientationMatrix);
break;
case 0x1:
parameterWrapper->set(rwHandlingParameters.rw1orientationMatrix);
break;
case 0x2:
parameterWrapper->set(rwHandlingParameters.rw2orientationMatrix);
break;
case 0x3:
parameterWrapper->set(rwHandlingParameters.rw3orientationMatrix);
break;
case 0x4:
parameterWrapper->set(rwHandlingParameters.inertiaWheel);
break;
case 0x5:
case 0x1:
parameterWrapper->set(rwHandlingParameters.maxTrq);
break;
case 0x2:
parameterWrapper->set(rwHandlingParameters.stictionSpeed);
break;
case 0x3:
parameterWrapper->set(rwHandlingParameters.stictionReleaseSpeed);
break;
case 0x4:
parameterWrapper->set(rwHandlingParameters.stictionTorque);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0x7): // RwMatrices
switch (parameterId & 0xFF) {
switch (parameterId) {
case 0x0:
parameterWrapper->set(rwMatrices.alignmentMatrix);
break;
@ -277,12 +302,15 @@ AcsParameters::~AcsParameters() {}
case 0x5:
parameterWrapper->set(rwMatrices.without3);
break;
case 0x6:
parameterWrapper->set(rwMatrices.nullspace);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0x8): // SafeModeControllerParameters
switch (parameterId & 0xFF) {
switch (parameterId) {
case 0x0:
parameterWrapper->set(safeModeControllerParameters.k_rate_mekf);
break;
@ -299,92 +327,170 @@ AcsParameters::~AcsParameters() {}
parameterWrapper->set(safeModeControllerParameters.sunMagAngleMin);
break;
case 0x5:
parameterWrapper->set(safeModeControllerParameters.sunTargetDir);
parameterWrapper->set(safeModeControllerParameters.sunTargetDirLeop);
break;
case 0x6:
parameterWrapper->set(safeModeControllerParameters.sunTargetDir);
break;
case 0x7:
parameterWrapper->set(safeModeControllerParameters.satRateRef);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0x9): // DetumbleCtrlParameters
switch (parameterId & 0xFF) {
case (0x9): // TargetModeControllerParameters
switch (parameterId) {
case 0x0:
parameterWrapper->set(detumbleCtrlParameters.gainD);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0xA): // PointingModeControllerParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(targetModeControllerParameters.updtFlag);
break;
case 0x1:
parameterWrapper->set(targetModeControllerParameters.A_rw);
break;
case 0x2:
parameterWrapper->set(targetModeControllerParameters.refDirection);
break;
case 0x3:
parameterWrapper->set(targetModeControllerParameters.refRotRate);
break;
case 0x4:
parameterWrapper->set(targetModeControllerParameters.quatRef);
break;
case 0x5:
parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
break;
case 0x6:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
break;
case 0x7:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
break;
case 0x8:
parameterWrapper->set(targetModeControllerParameters.blindRotRate);
break;
case 0x9:
parameterWrapper->set(targetModeControllerParameters.zeta);
break;
case 0xA:
parameterWrapper->set(targetModeControllerParameters.zetaLow);
break;
case 0xB:
case 0x1:
parameterWrapper->set(targetModeControllerParameters.om);
break;
case 0xC:
parameterWrapper->set(targetModeControllerParameters.omLow);
break;
case 0xD:
case 0x2:
parameterWrapper->set(targetModeControllerParameters.omMax);
break;
case 0xE:
case 0x3:
parameterWrapper->set(targetModeControllerParameters.qiMin);
break;
case 0xF:
case 0x4:
parameterWrapper->set(targetModeControllerParameters.gainNullspace);
break;
case 0x10:
case 0x5:
parameterWrapper->set(targetModeControllerParameters.desatMomentumRef);
break;
case 0x11:
case 0x6:
parameterWrapper->set(targetModeControllerParameters.deSatGainFactor);
break;
case 0x12:
case 0x7:
parameterWrapper->set(targetModeControllerParameters.desatOn);
break;
case 0x8:
parameterWrapper->set(targetModeControllerParameters.enableAntiStiction);
break;
case 0x9:
parameterWrapper->set(targetModeControllerParameters.refDirection);
break;
case 0xA:
parameterWrapper->set(targetModeControllerParameters.refRotRate);
break;
case 0xB:
parameterWrapper->set(targetModeControllerParameters.quatRef);
break;
case 0xC:
parameterWrapper->set(targetModeControllerParameters.timeElapsedMax);
break;
case 0xD:
parameterWrapper->set(targetModeControllerParameters.latitudeTgt);
break;
case 0xE:
parameterWrapper->set(targetModeControllerParameters.longitudeTgt);
break;
case 0xF:
parameterWrapper->set(targetModeControllerParameters.altitudeTgt);
break;
case 0x10:
parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
break;
case 0x11:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
break;
case 0x12:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
break;
case 0x13:
parameterWrapper->set(targetModeControllerParameters.omegaEarth);
parameterWrapper->set(targetModeControllerParameters.blindRotRate);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0xB): // StrParameters
switch (parameterId & 0xFF) {
case (0xA): // NadirModeControllerParameters
switch (parameterId) {
case 0x0:
parameterWrapper->set(nadirModeControllerParameters.zeta);
break;
case 0x1:
parameterWrapper->set(nadirModeControllerParameters.om);
break;
case 0x2:
parameterWrapper->set(nadirModeControllerParameters.omMax);
break;
case 0x3:
parameterWrapper->set(nadirModeControllerParameters.qiMin);
break;
case 0x4:
parameterWrapper->set(nadirModeControllerParameters.gainNullspace);
break;
case 0x5:
parameterWrapper->set(nadirModeControllerParameters.desatMomentumRef);
break;
case 0x6:
parameterWrapper->set(nadirModeControllerParameters.deSatGainFactor);
break;
case 0x7:
parameterWrapper->set(nadirModeControllerParameters.desatOn);
break;
case 0x8:
parameterWrapper->set(nadirModeControllerParameters.enableAntiStiction);
break;
case 0x9:
parameterWrapper->set(nadirModeControllerParameters.refDirection);
break;
case 0xA:
parameterWrapper->set(nadirModeControllerParameters.quatRef);
break;
case 0xC:
parameterWrapper->set(nadirModeControllerParameters.timeElapsedMax);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0xB): // InertialModeControllerParameters
switch (parameterId) {
case 0x0:
parameterWrapper->set(inertialModeControllerParameters.zeta);
break;
case 0x1:
parameterWrapper->set(inertialModeControllerParameters.om);
break;
case 0x2:
parameterWrapper->set(inertialModeControllerParameters.omMax);
break;
case 0x3:
parameterWrapper->set(inertialModeControllerParameters.qiMin);
break;
case 0x4:
parameterWrapper->set(inertialModeControllerParameters.gainNullspace);
break;
case 0x5:
parameterWrapper->set(inertialModeControllerParameters.desatMomentumRef);
break;
case 0x6:
parameterWrapper->set(inertialModeControllerParameters.deSatGainFactor);
break;
case 0x7:
parameterWrapper->set(inertialModeControllerParameters.desatOn);
break;
case 0x8:
parameterWrapper->set(inertialModeControllerParameters.enableAntiStiction);
break;
case 0x9:
parameterWrapper->set(inertialModeControllerParameters.tgtQuat);
break;
case 0xA:
parameterWrapper->set(inertialModeControllerParameters.refRotRate);
break;
case 0xC:
parameterWrapper->set(inertialModeControllerParameters.quatRef);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0xC): // StrParameters
switch (parameterId) {
case 0x0:
parameterWrapper->set(strParameters.exclusionAngle);
break;
@ -395,60 +501,39 @@ AcsParameters::~AcsParameters() {}
return INVALID_IDENTIFIER_ID;
}
break;
case (0xC): // GpsParameters
switch (parameterId & 0xFF) {
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0xD): // GroundStationParameters
switch (parameterId & 0xFF) {
case (0xD): // GpsParameters
switch (parameterId) {
case 0x0:
parameterWrapper->set(groundStationParameters.latitudeGs);
break;
case 0x1:
parameterWrapper->set(groundStationParameters.longitudeGs);
break;
case 0x2:
parameterWrapper->set(groundStationParameters.altitudeGs);
break;
case 0x3:
parameterWrapper->set(groundStationParameters.earthRadiusEquat);
break;
case 0x4:
parameterWrapper->set(groundStationParameters.earthRadiusPolar);
parameterWrapper->set(gpsParameters.timeDiffVelocityMax);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0xE): // SunModelParameters
switch (parameterId & 0xFF) {
switch (parameterId) {
case 0x0:
parameterWrapper->set(sunModelParameters.useSunModel);
break;
case 0x1:
parameterWrapper->set(sunModelParameters.domega);
break;
case 0x2:
case 0x1:
parameterWrapper->set(sunModelParameters.omega_0);
break;
case 0x3:
case 0x2:
parameterWrapper->set(sunModelParameters.m_0);
break;
case 0x4:
case 0x3:
parameterWrapper->set(sunModelParameters.dm);
break;
case 0x5:
case 0x4:
parameterWrapper->set(sunModelParameters.e);
break;
case 0x6:
case 0x5:
parameterWrapper->set(sunModelParameters.e1);
break;
case 0x7:
case 0x6:
parameterWrapper->set(sunModelParameters.p1);
break;
case 0x8:
case 0x7:
parameterWrapper->set(sunModelParameters.p2);
break;
default:
@ -456,39 +541,23 @@ AcsParameters::~AcsParameters() {}
}
break;
case (0xF): // KalmanFilterParameters
switch (parameterId & 0xFF) {
switch (parameterId) {
case 0x0:
parameterWrapper->set(kalmanFilterParameters.activateKalmanFilter);
break;
case 0x1:
parameterWrapper->set(kalmanFilterParameters.requestResetFlag);
break;
case 0x2:
parameterWrapper->set(
kalmanFilterParameters.maxToleratedTimeBetweenKalmanFilterExecutionSteps);
break;
case 0x3:
parameterWrapper->set(kalmanFilterParameters.processNoiseOmega);
break;
case 0x4:
parameterWrapper->set(kalmanFilterParameters.processNoiseQuaternion);
break;
case 0x5:
parameterWrapper->set(kalmanFilterParameters.sensorNoiseSTR);
break;
case 0x6:
case 0x1:
parameterWrapper->set(kalmanFilterParameters.sensorNoiseSS);
break;
case 0x7:
case 0x2:
parameterWrapper->set(kalmanFilterParameters.sensorNoiseMAG);
break;
case 0x8:
case 0x3:
parameterWrapper->set(kalmanFilterParameters.sensorNoiseGYR);
break;
case 0x9:
case 0x4:
parameterWrapper->set(kalmanFilterParameters.sensorNoiseArwGYR);
break;
case 0xA:
case 0x5:
parameterWrapper->set(kalmanFilterParameters.sensorNoiseBsGYR);
break;
default:
@ -496,7 +565,7 @@ AcsParameters::~AcsParameters() {}
}
break;
case (0x10): // MagnetorquesParameter
switch (parameterId & 0xFF) {
switch (parameterId) {
case 0x0:
parameterWrapper->set(magnetorquesParameter.mtq0orientationMatrix);
break;
@ -520,7 +589,7 @@ AcsParameters::~AcsParameters() {}
}
break;
case (0x11): // DetumbleParameter
switch (parameterId & 0xFF) {
switch (parameterId) {
case 0x0:
parameterWrapper->set(detumbleParameter.detumblecounter);
break;
@ -530,15 +599,15 @@ AcsParameters::~AcsParameters() {}
case 0x2:
parameterWrapper->set(detumbleParameter.omegaDetumbleEnd);
break;
case 0x3:
parameterWrapper->set(detumbleParameter.gainD);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
default:
return INVALID_IDENTIFIER_ID;
}
return returnvalue::OK;
} else {
return INVALID_DOMAIN_ID;
}
}*/
return returnvalue::OK;
}

432
mission/controller/acs/AcsParameters.h
View File

@ -12,22 +12,36 @@
typedef unsigned char uint8_t;
class AcsParameters /*: public HasParametersIF*/ {
class AcsParameters : public HasParametersIF {
public:
AcsParameters();
virtual ~AcsParameters();
/*
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex);
*/
ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
uint16_t startAtIndex) override;
struct OnBoardParams {
double sampleTime = 0.1; // [s]
double sampleTime = 0.4; // [s]
} onBoardParams;
struct InertiaEIVE {
double inertiaMatrix[3][3] = {{1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {0.0, 0.5, 1.0}};
double inertiaMatrixInverse[3][3];
double inertiaMatrix[3][3] = {{0.1539829, -0.0001821456, -0.0050135},
{-0.0001821456, 0.1701302, 0.0004748963},
{-0.0050135, 0.0004748963, 0.08374296}}; // 19.11.2021
// Possible inertia matrices
double inertiaMatrixDeployed[3][3] = {{0.1539829, -0.0001821456, -0.0050135},
{-0.0001821456, 0.1701302, 0.0004748963},
{-0.0050135, 0.0004748963, 0.08374296}}; // 19.11.2021
double inertiaMatrixUndeployed[3][3] = {{0.122485, -0.0001798426, -0.005008},
{-0.0001798426, 0.162240, 0.000475596},
{-0.005008, 0.000475596, 0.060136}}; // 19.11.2021
double inertiaMatrixPanel1[3][3] = {{0.13823347, -0.0001836122, -0.00501207},
{-0.0001836122, 0.16619787, 0.0083537},
{-0.00501207, 0.0083537, 0.07192588}}; // 19.11.2021
double inertiaMatrixPanel3[3][3] = {{0.13823487, -0.000178376, -0.005009767},
{-0.000178376, 0.166172, -0.007403},
{-0.005009767, -0.007403, 0.07195314}};
} inertiaEIVE;
struct MgmHandlingParameters {
@ -37,37 +51,41 @@ class AcsParameters /*: public HasParametersIF*/ {
float mgm3orientationMatrix[3][3] = {{0, 0, 1}, {0, -1, 0}, {1, 0, 0}};
float mgm4orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
float mgm0hardIronOffset[3] = {19.89364, -29.94111, -31.07508};
float mgm1hardIronOffset[3] = {10.95500, -8.053403, -33.36383};
float mgm2hardIronOffset[3] = {15.72181, -26.87090, -62.19010};
float mgm3hardIronOffset[3] = {0.0, 0.0, 0.0};
float mgm4hardIronOffset[3] = {0.0, 0.0, 0.0};
float mgm0hardIronOffset[3] = {6.116487, 6.796264, -19.188060};
float mgm1hardIronOffset[3] = {-1.077152, 2.080583, 1.974483};
float mgm2hardIronOffset[3] = {-19.285857, 5.401821, -16.096297};
float mgm3hardIronOffset[3] = {-0.634033, 2.787695, 0.092036};
float mgm4hardIronOffset[3] = {2.702743, 5.236043, 0.726229};
float mgm0softIronInverse[3][3] = {{0.910192, -0.188413, -0.161522},
{-0.188413, 1.642303, -0.033184},
{-0.161522, -0.033184, 0.943904}};
float mgm1softIronInverse[3][3] = {{1.053508, -0.170225, -0.041678},
{-0.170225, 1.274465, -0.040231},
{-0.041678, -0.040231, 1.086352}};
float mgm2softIronInverse[3][3] = {{0.931086, 0.172675, -0.043084},
{0.172675, 1.541296, 0.065489},
{-0.043084, 0.065489, 1.001238}};
float mgm3softIronInverse[3][3] = {{1.073353, 0.177266, -0.058832},
{0.177266, 1.262156, 0.010478},
{-0.058832, 0.010478, 1.068345}};
float mgm4softIronInverse[3][3] = {{1.114887, -0.007534, -0.037072},
{-0.007534, 1.253879, 0.006812},
{-0.037072, 0.006812, 1.313158}};
float mgm0softIronInverse[3][3] = {{1420.727e-3, 9.352825e-3, -127.1979e-3},
{9.352825e-3, 1031.965e-3, -80.02734e-3},
{-127.1979e-3, -80.02734e-3, 934.8899e-3}};
float mgm1softIronInverse[3][3] = {{126.7325e-2, -4.146410e-2, -18.37963e-2},
{-4.146410e-2, 109.3310e-2, -5.246314e-2},
{-18.37963e-2, -5.246314e-2, 105.7300e-2}};
float mgm2softIronInverse[3][3] = {{143.0438e-2, 7.095763e-2, 15.67482e-2},
{7.095763e-2, 99.65167e-2, -6.958760e-2},
{15.67482e-2, -6.958760e-2, 94.50124e-2}};
float mgm3softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
float mgm4softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
float mgm02variance[3] = {1, 1, 1};
float mgm13variance[3] = {1, 1, 1};
float mgm4variance[3] = {1, 1, 1};
} mgmHandlingParameters;
struct SusHandlingParameters {
float sus0orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}}; // FM07
float sus0orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}}; // FM10
float sus1orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}}; // FM06
float sus2orientationMatrix[3][3] = {{-1, 0, 0}, {0, 0, -1}, {0, -1, 0}}; // FM13
float sus3orientationMatrix[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}}; // FM14
float sus4orientationMatrix[3][3] = {{0, -1, 0}, {1, 0, 0}, {0, 0, 1}}; // FM05
float sus5orientationMatrix[3][3] = {{1, 0, 0}, {0, -1, 0}, {0, 0, -1}}; // FM02
float sus6orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}}; // FM10
float sus6orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}}; // FM07
float sus7orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}}; // FM01
float sus8orientationMatrix[3][3] = {{-1, 0, 0}, {0, 0, -1}, {0, -1, 0}}; // FM03
float sus9orientationMatrix[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}}; // FM11
@ -75,61 +93,61 @@ class AcsParameters /*: public HasParametersIF*/ {
float sus11orientationMatrix[3][3] = {{1, 0, 0}, {0, -1, 0}, {0, 0, -1}}; // FM08
float sus0coeffAlpha[9][10] = {
{10.4400948050067, 1.38202655603079, 0.975299591736672, 0.0172133914423707,
-0.0163482459492803, 0.035730152619911, 0.00021725657060767, -0.000181685375645396,
-0.000124096561459262, 0.00040790566176981},
{6.38281281805793, 1.81388255990089, 0.28679524291736, 0.0218036823758417,
0.010516766426651, 0.000446101708841615, 0.00020187044149361, 0.000114957457831415,
1.63114413539632e-05, -2.0187452317724e-05},
{-29.3049094555, -0.506844002611835, 1.64911970541112, -0.0336282997119334,
0.053185806861685, -0.028164943139695, -0.00021098074590512, 0.000643681643489995,
-0.000249094601806692, 0.000231466668650876},
{-4.76233790255328, 1.1780710601961, -0.194257188545164, 0.00471817228628384,
-0.00183773644319332, -0.00570261621182479, -7.99203367291902e-05, 7.75752247926601e-05,
-9.78534772816957e-06, -4.72083745991256e-05},
{0.692159025649028, 1.11895461388667, 0.341706834956496, 0.000237989648019541,
-0.000188322779563912, 0.000227310789253953, 0.000133001646828401, -0.000305810826248463,
0.00010150571088124, -0.000367705461590854},
{3.38094203317731, 1.24778838596815, 0.067807236112956, -0.00379395536123526,
-0.00339180589343601, -0.00188754615986649, -7.52406312245606e-05, 4.58398750278147e-05,
6.97244631313601e-05, 2.50519145070895e-05},
{-7.10546287716029, 0.459472977452686, -1.12251049944014, 0.0175406972371191,
-0.0310525406867782, -0.0531315970690727, -0.000121107664597462, 0.000544665437051928,
-1.78466217018177e-05, -0.00058976234038192},
{1.60633684055984, 1.1975095485662, 0.180159204664965, -0.00259157601062089,
-0.0038106317634397, 0.000956686555225968, 4.28416721502134e-06, 5.84532336259517e-06,
-2.73407888222758e-05, 5.45131881032866e-06},
{43.3732235586222, 0.528096786861784, -3.41255850703983, -0.0161629934278675,
0.0790998053536612, 0.0743822668655928, 0.000237176965460634, -0.000426691336904078,
-0.000889196131314391, -0.000509766491897672}};
{13.0465222152293, 0.0639132159808454, 2.98083557560227, -0.0773202212713293,
0.0949075412003712, 0.0503055998355815, -0.00104133434256204, 0.000633099036136146,
0.00091428505258307, 0.000259857066722932},
{1.66740227859888, 1.55804368674744, 0.209274741749388, 0.0123798418560859,
0.00724950517167516, -0.000577445375457582, 8.94374551545955e-05, 6.94513586221567e-05,
-1.06065583714065e-05, -1.43899892666699e-05},
{8.71610925597519, 1.42112818752419, -0.549859300501301, 0.0374581774684577,
0.0617635595955198, 0.0447491072679598, 0.00069998577106559, 0.00101018723225412,
-4.88501228194031e-06, -0.000434861113274231},
{-2.3555601314395, 1.29430213886389, 0.179499593411187, 0.00440896450927253,
0.00352052300927628, 0.00434187143967281, -9.66615195654703e-05, 3.64923075694275e-05,
6.09619017310129e-05, 4.23908862836885e-05},
{-0.858019663974047, 1.10138705956076, 0.278789852526915, -0.000199798507752607,
0.00112092406838628, -0.00177346866231588, 0.000217816070307086, -0.000240713988238257,
0.000150795563555828, -0.000279246491927943},
{7.93661480471297, 1.33902098855997, -0.64010306493848, -0.00307944184518557,
-0.00511421127083497, 0.0204008636376403, -9.50042323904954e-05, 6.01530207062221e-05,
9.13233708460098e-05, -0.000206717750924323},
{16.2658124154565, 0.191301571705827, 1.02390350838635, 0.0258487436355216,
-0.0219752092833362, 0.0236916776412211, -0.000350496453661261, -0.000123849795280597,
-0.000532190902882765, 9.36018171121253e-05},
{-1.53023612303052, 1.29132951637076, 0.181159073530008, -0.0023490608317645,
-0.00370741703297037, -0.000229071300377431, -1.6634455407558e-05, 1.11387154630828e-05,
1.02609175615251e-05, -9.64717658954667e-06},
{-32.9918791079688, 0.093536793089853, 4.76858627395571, 0.0595845684553358,
-0.054845749101257, -0.133247382500001, -0.000688999201915199, 7.67286265747961e-05,
0.000868163357631254, 0.00120099606910313}};
float sus0coeffBeta[9][10] = {
{1.03872648284911, -0.213507239271552, 1.43193059498181, -0.000972717820830235,
-0.00661046096415371, 0.00974284211491888, 2.96098456891215e-05, -8.2933115634257e-05,
-5.52178824394723e-06, 5.73935295303589e-05},
{3.42242235823356, 0.0848392511283237, 1.24574390342586, 0.00356248195980133,
0.00100415659893053, -0.00460120247716139, 3.84891005422427e-05, 2.70236417852327e-05,
-7.58501977656551e-05, -8.79809730730992e-05},
{14.0092526123741, 1.03126714946215, 1.0611008563785, 0.04076462444523, 0.0114106419194518,
0.00746959159048058, 0.000388033225774727, -0.000124645014888926, -0.000296639947532341,
-0.00020861690864945},
{1.3562422681189, -0.241585615891602, 1.49170424068611, 0.000179184170448335,
-0.00712399257616284, 0.0121433526723498, 3.29770580642447e-05, 8.78960210966787e-06,
-6.00508568552101e-05, 0.000101583822589461},
{-0.718855428908583, -0.344067476078684, 1.12397093701762, 0.000236505431484729,
-0.000406441415248947, 0.00032834991502413, 0.000359422093285086, 8.18895560425272e-05,
0.000316835483508523, 0.000151442890664899},
{-0.268764016434841, -0.275272048639511, 1.26239753050527, -0.000511224336925231,
0.0095628568270856, -0.00397960092451418, 1.39587366293607e-05, 1.31409051361129e-05,
-9.83662017231755e-05, 1.87078667116619e-05},
{27.168106989145, -2.43346872338192, 1.91135512970771, 0.0553180826818016,
-0.0481878292619383, 0.0052773235604729, -0.000428011927975304, 0.000528018208222772,
-0.000285438191474895, -5.71327627917386e-05},
{-0.169494136517622, -0.350851545482921, 1.19922076033643, 0.0101120903675328,
-0.00151674465424115, 0.00548694086125656, -0.000108240000970513, 1.57202185024105e-05,
-9.77555098179959e-05, 2.09624089449761e-05},
{-32.3807957489507, 1.8271436443167, 2.51530814328123, -0.0532334586403461,
-0.0355980127727253, -0.0213373892796204, 0.00045506092539885, 0.000545065581027688,
0.000141998709314758, 0.000101051304611037}};
{12.7380220453847, -0.6087309901836, 2.60957722462363, -0.0415319939920917,
0.0444944768824276, 0.0223231464060241, -0.000421503508733887, -9.39560038638717e-05,
0.000821479971871302, -4.5330528329465e-05},
{1.96846333975847, -0.33921438143463, 1.23957110477613, -0.00948832495296823,
0.00107211134687287, -0.00410820045700199, -9.33679611473279e-05, 3.72984782145427e-05,
-4.04514487800062e-05, -7.6296149087237e-05},
{5.7454444934481, -1.58476383793609, -0.418479494289251, -0.0985177320630941,
-0.0862179276808015, 0.0126762052037897, -0.00118207758271301, -0.000190361442918412,
0.0011723869613426, 0.000122882034141316},
{2.11042287406433, -0.225942746245056, 1.18084080712528, -0.00103013931607172,
-0.00675606790663387, -0.00106646109062746, 1.7708839355979e-05, -3.13642668374253e-05,
-5.87601932564404e-05, -3.92033314627704e-05},
{2.96049248725882, -0.286261455028255, 1.09122556181319, -0.000672369023155898,
0.000574446975796023, 0.000120303729680796, 0.000292285799270644, 0.000170497873487264,
0.000259925974231328, 0.000222437797823852},
{1.65218061201483, -0.19535446105784, 1.39609640918411, 0.000961524354787167,
0.00592400381724333, -0.0078500192096718, -7.02791628080906e-07, -2.07197580883822e-05,
-4.33518182614169e-05, 4.66993119419691e-05},
{-19.56673237415, 1.06558565338761, 0.151160448373445, -0.0252628659378108,
0.0281230551050938, -0.0217328869907185, 0.000241309440918385, -0.000116449585258429,
0.000401546410974577, -0.000147563886502726},
{1.56167171538684, -0.155299366654736, 1.20084049723279, 0.00457348893890231,
0.00118888040006052, 0.0029920178735941, -5.583448120596e-05, -2.34496315691865e-05,
-5.3309466243918e-05, 6.20289310356821e-06},
{1.95050549495182, -2.74909818412705, 3.80268788018641, 0.0629242254381785,
0.0581479035315726, -0.111361283351269, -0.00047845777495158, -0.00075354297736741,
-0.000186887396585446, 0.00119710704771344}};
float sus1coeffAlpha[9][10] = {
{-27.6783250420482, -0.964805032861791, -0.503974297997131, -0.0446471081874084,
-0.048219538329297, 0.000958491361905381, -0.000290972187162876, -0.000657145721554176,
@ -411,61 +429,61 @@ class AcsParameters /*: public HasParametersIF*/ {
-0.0542697403292778, 0.0285360568428252, 0.000845084580479371, 0.00114184315411245,
-0.000169538153750085, -0.000336529204350355}};
float sus6coeffAlpha[9][10] = {
{13.0465222152293, 0.0639132159808454, 2.98083557560227, -0.0773202212713293,
0.0949075412003712, 0.0503055998355815, -0.00104133434256204, 0.000633099036136146,
0.00091428505258307, 0.000259857066722932},
{1.66740227859888, 1.55804368674744, 0.209274741749388, 0.0123798418560859,
0.00724950517167516, -0.000577445375457582, 8.94374551545955e-05, 6.94513586221567e-05,
-1.06065583714065e-05, -1.43899892666699e-05},
{8.71610925597519, 1.42112818752419, -0.549859300501301, 0.0374581774684577,
0.0617635595955198, 0.0447491072679598, 0.00069998577106559, 0.00101018723225412,
-4.88501228194031e-06, -0.000434861113274231},
{-2.3555601314395, 1.29430213886389, 0.179499593411187, 0.00440896450927253,
0.00352052300927628, 0.00434187143967281, -9.66615195654703e-05, 3.64923075694275e-05,
6.09619017310129e-05, 4.23908862836885e-05},
{-0.858019663974047, 1.10138705956076, 0.278789852526915, -0.000199798507752607,
0.00112092406838628, -0.00177346866231588, 0.000217816070307086, -0.000240713988238257,
0.000150795563555828, -0.000279246491927943},
{7.93661480471297, 1.33902098855997, -0.64010306493848, -0.00307944184518557,
-0.00511421127083497, 0.0204008636376403, -9.50042323904954e-05, 6.01530207062221e-05,
9.13233708460098e-05, -0.000206717750924323},
{16.2658124154565, 0.191301571705827, 1.02390350838635, 0.0258487436355216,
-0.0219752092833362, 0.0236916776412211, -0.000350496453661261, -0.000123849795280597,
-0.000532190902882765, 9.36018171121253e-05},
{-1.53023612303052, 1.29132951637076, 0.181159073530008, -0.0023490608317645,
-0.00370741703297037, -0.000229071300377431, -1.6634455407558e-05, 1.11387154630828e-05,
1.02609175615251e-05, -9.64717658954667e-06},
{-32.9918791079688, 0.093536793089853, 4.76858627395571, 0.0595845684553358,
-0.054845749101257, -0.133247382500001, -0.000688999201915199, 7.67286265747961e-05,
0.000868163357631254, 0.00120099606910313}};
{10.4400948050067, 1.38202655603079, 0.975299591736672, 0.0172133914423707,
-0.0163482459492803, 0.035730152619911, 0.00021725657060767, -0.000181685375645396,
-0.000124096561459262, 0.00040790566176981},
{6.38281281805793, 1.81388255990089, 0.28679524291736, 0.0218036823758417,
0.010516766426651, 0.000446101708841615, 0.00020187044149361, 0.000114957457831415,
1.63114413539632e-05, -2.0187452317724e-05},
{-29.3049094555, -0.506844002611835, 1.64911970541112, -0.0336282997119334,
0.053185806861685, -0.028164943139695, -0.00021098074590512, 0.000643681643489995,
-0.000249094601806692, 0.000231466668650876},
{-4.76233790255328, 1.1780710601961, -0.194257188545164, 0.00471817228628384,
-0.00183773644319332, -0.00570261621182479, -7.99203367291902e-05, 7.75752247926601e-05,
-9.78534772816957e-06, -4.72083745991256e-05},
{0.692159025649028, 1.11895461388667, 0.341706834956496, 0.000237989648019541,
-0.000188322779563912, 0.000227310789253953, 0.000133001646828401, -0.000305810826248463,
0.00010150571088124, -0.000367705461590854},
{3.38094203317731, 1.24778838596815, 0.067807236112956, -0.00379395536123526,
-0.00339180589343601, -0.00188754615986649, -7.52406312245606e-05, 4.58398750278147e-05,
6.97244631313601e-05, 2.50519145070895e-05},
{-7.10546287716029, 0.459472977452686, -1.12251049944014, 0.0175406972371191,
-0.0310525406867782, -0.0531315970690727, -0.000121107664597462, 0.000544665437051928,
-1.78466217018177e-05, -0.00058976234038192},
{1.60633684055984, 1.1975095485662, 0.180159204664965, -0.00259157601062089,
-0.0038106317634397, 0.000956686555225968, 4.28416721502134e-06, 5.84532336259517e-06,
-2.73407888222758e-05, 5.45131881032866e-06},
{43.3732235586222, 0.528096786861784, -3.41255850703983, -0.0161629934278675,
0.0790998053536612, 0.0743822668655928, 0.000237176965460634, -0.000426691336904078,
-0.000889196131314391, -0.000509766491897672}};
float sus6coeffBeta[9][10] = {
{12.7380220453847, -0.6087309901836, 2.60957722462363, -0.0415319939920917,
0.0444944768824276, 0.0223231464060241, -0.000421503508733887, -9.39560038638717e-05,
0.000821479971871302, -4.5330528329465e-05},
{1.96846333975847, -0.33921438143463, 1.23957110477613, -0.00948832495296823,
0.00107211134687287, -0.00410820045700199, -9.33679611473279e-05, 3.72984782145427e-05,
-4.04514487800062e-05, -7.6296149087237e-05},
{5.7454444934481, -1.58476383793609, -0.418479494289251, -0.0985177320630941,
-0.0862179276808015, 0.0126762052037897, -0.00118207758271301, -0.000190361442918412,
0.0011723869613426, 0.000122882034141316},
{2.11042287406433, -0.225942746245056, 1.18084080712528, -0.00103013931607172,
-0.00675606790663387, -0.00106646109062746, 1.7708839355979e-05, -3.13642668374253e-05,
-5.87601932564404e-05, -3.92033314627704e-05},
{2.96049248725882, -0.286261455028255, 1.09122556181319, -0.000672369023155898,
0.000574446975796023, 0.000120303729680796, 0.000292285799270644, 0.000170497873487264,
0.000259925974231328, 0.000222437797823852},
{1.65218061201483, -0.19535446105784, 1.39609640918411, 0.000961524354787167,
0.00592400381724333, -0.0078500192096718, -7.02791628080906e-07, -2.07197580883822e-05,
-4.33518182614169e-05, 4.66993119419691e-05},
{-19.56673237415, 1.06558565338761, 0.151160448373445, -0.0252628659378108,
0.0281230551050938, -0.0217328869907185, 0.000241309440918385, -0.000116449585258429,
0.000401546410974577, -0.000147563886502726},
{1.56167171538684, -0.155299366654736, 1.20084049723279, 0.00457348893890231,
0.00118888040006052, 0.0029920178735941, -5.583448120596e-05, -2.34496315691865e-05,
-5.3309466243918e-05, 6.20289310356821e-06},
{1.95050549495182, -2.74909818412705, 3.80268788018641, 0.0629242254381785,
0.0581479035315726, -0.111361283351269, -0.00047845777495158, -0.00075354297736741,
-0.000186887396585446, 0.00119710704771344}};
{1.03872648284911, -0.213507239271552, 1.43193059498181, -0.000972717820830235,
-0.00661046096415371, 0.00974284211491888, 2.96098456891215e-05, -8.2933115634257e-05,
-5.52178824394723e-06, 5.73935295303589e-05},
{3.42242235823356, 0.0848392511283237, 1.24574390342586, 0.00356248195980133,
0.00100415659893053, -0.00460120247716139, 3.84891005422427e-05, 2.70236417852327e-05,
-7.58501977656551e-05, -8.79809730730992e-05},
{14.0092526123741, 1.03126714946215, 1.0611008563785, 0.04076462444523, 0.0114106419194518,
0.00746959159048058, 0.000388033225774727, -0.000124645014888926, -0.000296639947532341,
-0.00020861690864945},
{1.3562422681189, -0.241585615891602, 1.49170424068611, 0.000179184170448335,
-0.00712399257616284, 0.0121433526723498, 3.29770580642447e-05, 8.78960210966787e-06,
-6.00508568552101e-05, 0.000101583822589461},
{-0.718855428908583, -0.344067476078684, 1.12397093701762, 0.000236505431484729,
-0.000406441415248947, 0.00032834991502413, 0.000359422093285086, 8.18895560425272e-05,
0.000316835483508523, 0.000151442890664899},
{-0.268764016434841, -0.275272048639511, 1.26239753050527, -0.000511224336925231,
0.0095628568270856, -0.00397960092451418, 1.39587366293607e-05, 1.31409051361129e-05,
-9.83662017231755e-05, 1.87078667116619e-05},
{27.168106989145, -2.43346872338192, 1.91135512970771, 0.0553180826818016,
-0.0481878292619383, 0.0052773235604729, -0.000428011927975304, 0.000528018208222772,
-0.000285438191474895, -5.71327627917386e-05},
{-0.169494136517622, -0.350851545482921, 1.19922076033643, 0.0101120903675328,
-0.00151674465424115, 0.00548694086125656, -0.000108240000970513, 1.57202185024105e-05,
-9.77555098179959e-05, 2.09624089449761e-05},
{-32.3807957489507, 1.8271436443167, 2.51530814328123, -0.0532334586403461,
-0.0355980127727253, -0.0213373892796204, 0.00045506092539885, 0.000545065581027688,
0.000141998709314758, 0.000101051304611037}};
float sus7coeffAlpha[9][10] = {
{-92.1126183408754, -3.77261746189525, -4.50604668349213, -0.0909560776043523,
-0.15646903318971, -0.0766293642415356, -0.00059452135473577, -0.00144790037129283,
@ -746,9 +764,6 @@ class AcsParameters /*: public HasParametersIF*/ {
{116.975421945286, -5.53022680362263, -5.61081660666997, 0.109754904982136,
0.167666815691513, 0.163137400730063, -0.000609874123906977, -0.00205336098697513,
-0.000889232196185857, -0.00168429567131815}};
float filterAlpha;
float sunThresh;
} susHandlingParameters;
struct GyrHandlingParameters {
@ -756,110 +771,119 @@ class AcsParameters /*: public HasParametersIF*/ {
double gyr1orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
double gyr2orientationMatrix[3][3] = {{0, 0, -1}, {0, -1, 0}, {-1, 0, 0}};
double gyr3orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
// var = sqrt(sigma), sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
// assumed to be equal for the same class of sensors
double gyr0bias[3] = {0.06318149743589743, 0.4283235025641024, -0.16383500000000004};
double gyr1bias[3] = {-0.12855128205128205, 1.6737307692307695, 1.031724358974359};
double gyr2bias[3] = {0.15039212820512823, 0.7094475589743591, -0.22298363589743594};
double gyr3bias[3] = {0.0021730769230769217, -0.6655897435897435, 0.034096153846153845};
/* var = sqrt(sigma), sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
* assumed to be equal for the same class of sensors */
float gyr02variance[3] = {pow(3.0e-3 * sqrt(2), 2), // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
pow(3.0e-3 * sqrt(2), 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
pow(4.3e-3 * sqrt(2), 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
enum PreferAdis { NO = 0, YES = 1 };
uint8_t preferAdis = PreferAdis::YES;
uint8_t preferAdis = true;
} gyrHandlingParameters;
struct RwHandlingParameters {
double rw0orientationMatrix[3][3];
double rw1orientationMatrix[3][3];
double rw2orientationMatrix[3][3];
double rw3orientationMatrix[3][3];
double inertiaWheel = 0.000028198;
double maxTrq = 0.0032; // 3.2 [mNm]
double stictionSpeed = 100; // 80; // RPM
double stictionReleaseSpeed = 120; // RPM
double stictionTorque = 0.0006;
} rwHandlingParameters;
struct RwMatrices {
double alignmentMatrix[3][4] = {{0.9205, 0.0000, -0.9205, 0.0000},
{0.0000, -0.9205, 0.0000, 0.9205},
{0.3907, 0.3907, 0.3907, 0.3907}};
double pseudoInverse[4][3] = {{0.4434, -0.2845, 0.3597},
{0.2136, -0.3317, 1.0123},
{-0.8672, -0.1406, 0.1778},
{0.6426, 0.4794, 1.3603}};
double without0[4][3];
double without1[4][3];
double without2[4][3];
double without3[4][3];
double nullspace[4] = {-0.7358, 0.5469, -0.3637, -0.1649};
double pseudoInverse[4][3] = {
{0.5432, 0, 0.6398}, {0, -0.5432, 0.6398}, {-0.5432, 0, 0.6398}, {0, 0.5432, 0.6398}};
double without0[4][3] = {
{0, 0, 0}, {0.5432, -0.5432, 1.2797}, {-1.0864, 0, 0}, {0.5432, 0.5432, 1.2797}};
double without1[4][3] = {
{0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 1.0864, 0}};
double without2[4][3] = {
{1.0864, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, 0.5432, 1.2797}};
double without3[4][3] = {
{0.5432, 0.5432, 1.2797}, {0, -1.0864, 0}, {-0.5432, 0.5432, 1.2797}, {0, 0, 0}};
double nullspace[4] = {-0.5000, 0.5000, -0.5000, 0.5000};
} rwMatrices;
struct SafeModeControllerParameters {
double k_rate_mekf = 0.00059437;
double k_align_mekf = 0.000056875;
double k_rate_no_mekf;
double k_align_no_mekf;
double sunMagAngleMin;
double k_rate_no_mekf = 0.00059437;
double k_align_no_mekf = 0.000056875;
double sunTargetDir[3] = {1, 0, 0}; // Body frame
double satRateRef[3]; // Body frame
double sunMagAngleMin = 5 * M_PI / 180;
double sunTargetDirLeop[3] = {0, .5, .5};
double sunTargetDir[3] = {0, 0, 1};
double satRateRef[3] = {0, 0, 0};
} safeModeControllerParameters;
struct DetumbleCtrlParameters {
double gainD = pow(10.0, -3.3);
} detumbleCtrlParameters;
// ToDo: mutiple structs for different pointing mode controllers?
struct PointingModeControllerParameters {
double updtFlag;
double A_rw[3][12];
double refDirection[3] = {1, 0, 0};
double refRotRate[3] = {0, 0, 0};
double quatRef[4] = {0, 0, 0, 1};
bool avoidBlindStr = true;
double blindAvoidStart = 1.5;
double blindAvoidStop = 2.5;
double blindRotRate = 1 * M_PI / 180;
struct PointingLawParameters {
double zeta = 0.3;
double zetaLow;
double om = 0.3;
double omLow;
double omMax = 1 * M_PI / 180;
double qiMin = 0.1;
double gainNullspace = 0.01;
double desatMomentumRef[3] = {0, 0, 0};
double deSatGainFactor = 1000;
bool desatOn = true;
uint8_t desatOn = true;
uint8_t enableAntiStiction = true;
} pointingLawParameters;
double omegaEarth = 0.000072921158553;
struct TargetModeControllerParameters : PointingLawParameters {
double refDirection[3] = {-1, 0, 0}; // Antenna
double refRotRate[3] = {0, 0, 0}; // Not used atm, do we want an option to
// give this as an input- currently en calculation is done
double quatRef[4] = {0, 0, 0, 1};
int8_t timeElapsedMax = 10; // rot rate calculations
} inertialModeControllerParameters, nadirModeControllerParameters, targetModeControllerParameters;
// Default is Stuttgart GS
double latitudeTgt = 48.7495 * M_PI / 180.; // [rad] Latitude
double longitudeTgt = 9.10384 * M_PI / 180.; // [rad] Longitude
double altitudeTgt = 500; // [m]
// For one-axis control:
uint8_t avoidBlindStr = true;
double blindAvoidStart = 1.5;
double blindAvoidStop = 2.5;
double blindRotRate = 1 * M_PI / 180;
} targetModeControllerParameters;
struct NadirModeControllerParameters : PointingLawParameters {
double refDirection[3] = {-1, 0, 0}; // Antenna
double quatRef[4] = {0, 0, 0, 1};
int8_t timeElapsedMax = 10; // rot rate calculations
} nadirModeControllerParameters;
struct InertialModeControllerParameters : PointingLawParameters {
double tgtQuat[4] = {0, 0, 0, 1};
double refRotRate[3] = {0, 0, 0};
double quatRef[4] = {0, 0, 0, 1};
} inertialModeControllerParameters;
struct StrParameters {
double exclusionAngle = 20 * M_PI / 180;
// double strOrientationMatrix[3][3];
double boresightAxis[3] = {0.7593, 0.0000, -0.6508}; // in body/geometry frame
double boresightAxis[3] = {0.7593, 0.0000, -0.6508}; // geometry frame
} strParameters;
struct GpsParameters {
double timeDiffVelocityMax = 30; //[s]
} gpsParameters;
struct GroundStationParameters {
double latitudeGs = 48.7495 * M_PI / 180.; // [rad] Latitude
double longitudeGs = 9.10384 * M_PI / 180.; // [rad] Longitude
double altitudeGs = 500; // [m] Altitude
double earthRadiusEquat = 6378137; // [m]
double earthRadiusPolar = 6356752.314; // [m]
} groundStationParameters; // Stuttgart
struct SunModelParameters {
enum UseSunModel { NO = 0, YES = 3 };
uint8_t useSunModel;
float domega = 36000.771;
float omega_0 = 282.94 * M_PI / 180.; // RAAN plus argument of perigee
float m_0 = 357.5256; // coefficients for mean anomaly
float omega_0 = 280.46 * M_PI / 180.; // RAAN plus argument of
// perigee
float m_0 = 357.5277; // coefficients for mean anomaly
float dm = 35999.049; // coefficients for mean anomaly
float e = 23.4392911 * M_PI / 180.; // angle of earth's rotation axis
float e1 = 0.74508 * M_PI / 180.;
@ -869,19 +893,13 @@ class AcsParameters /*: public HasParametersIF*/ {
} sunModelParameters;
struct KalmanFilterParameters {
uint8_t activateKalmanFilter;
uint8_t requestResetFlag;
double maxToleratedTimeBetweenKalmanFilterExecutionSteps;
double processNoiseOmega[3];
double processNoiseQuaternion[4];
double sensorNoiseSTR = 0.1 * M_PI / 180;
double sensorNoiseSS = 8 * M_PI / 180;
double sensorNoiseMAG = 4 * M_PI / 180;
double sensorNoiseRMU[3];
double sensorNoiseGYR = 0.1 * M_PI / 180;
double sensorNoiseArwRmu; // Angular Random Walk
double sensorNoiseBsRMU; // Bias Stability
double sensorNoiseArwGYR = 3 * 0.0043 * M_PI / sqrt(10) / 180; // Angular Random Walk
double sensorNoiseBsGYR = 3 * M_PI / 180 / 3600; // Bias Stability
} kalmanFilterParameters;
struct MagnetorquesParameter {

36
mission/controller/acs/ActuatorCmd.cpp
View File

@ -21,26 +21,27 @@ ActuatorCmd::ActuatorCmd(AcsParameters *acsParameters_) { acsParameters = *acsPa
ActuatorCmd::~ActuatorCmd() {}
void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1,
const int32_t *speedRw2, const int32_t *speedRw3,
const double *rwTrqIn, const double *rwTrqNS, double *rwCmdSpeed) {
using namespace Math;
void ActuatorCmd::scalingTorqueRws(const double *rwTrq, double *rwTrqScaled) {
// Scaling the commanded torque to a maximum value
double torque[4] = {0, 0, 0, 0};
double maxTrq = acsParameters.rwHandlingParameters.maxTrq;
VectorOperations<double>::add(rwTrqIn, rwTrqNS, torque, 4);
double maxValue = 0;
for (int i = 0; i < 4; i++) { // size of torque, always 4 ?
if (abs(torque[i]) > maxValue) {
maxValue = abs(torque[i]);
if (abs(rwTrq[i]) > maxValue) {
maxValue = abs(rwTrq[i]);
}
}
if (maxValue > maxTrq) {
double scalingFactor = maxTrq / maxValue;
VectorOperations<double>::mulScalar(torque, scalingFactor, torque, 4);
VectorOperations<double>::mulScalar(rwTrq, scalingFactor, rwTrqScaled, 4);
}
}
void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1,
const int32_t *speedRw2, const int32_t *speedRw3,
const double *rwTorque, double *rwCmdSpeed) {
using namespace Math;
// Calculating the commanded speed in RPM for every reaction wheel
double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
@ -50,25 +51,26 @@ void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1
double radToRpm = 60 / (2 * PI); // factor for conversion to RPM
// W_RW = Torque_RW / I_RW * delta t [rad/s]
double factor = commandTime / inertiaWheel * radToRpm;
VectorOperations<double>::mulScalar(torque, factor, deltaSpeed, 4);
VectorOperations<double>::mulScalar(rwTorque, factor, deltaSpeed, 4);
VectorOperations<double>::add(speedRws, deltaSpeed, rwCmdSpeed, 4);
}
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits) {
// Convert to Unit frame
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator) {
// Convert to actuator frame
MatrixOperations<double>::multiply(*acsParameters.magnetorquesParameter.inverseAlignment,
dipolMoment, dipolMomentUnits, 3, 3, 1);
dipolMoment, dipolMomentActuator, 3, 3, 1);
// Scaling along largest element if dipol exceeds maximum
double maxDipol = acsParameters.magnetorquesParameter.DipolMax;
double maxValue = 0;
for (int i = 0; i < 3; i++) {
if (abs(dipolMomentUnits[i]) > maxDipol) {
maxValue = abs(dipolMomentUnits[i]);
if (abs(dipolMomentActuator[i]) > maxDipol) {
maxValue = abs(dipolMomentActuator[i]);
}
}
if (maxValue > maxDipol) {
double scalingFactor = maxDipol / maxValue;
VectorOperations<double>::mulScalar(dipolMomentUnits, scalingFactor, dipolMomentUnits, 3);
VectorOperations<double>::mulScalar(dipolMomentActuator, scalingFactor, dipolMomentActuator, 3);
}
// scale dipole from 1 Am^2 to 1e^-4 Am^2
VectorOperations<double>::mulScalar(dipolMomentActuator, 1e4, dipolMomentActuator, 3);
}

22
mission/controller/acs/ActuatorCmd.h
View File

@ -1,10 +1,3 @@
/*
* ActuatorCmd.h
*
* Created on: 4 Aug 2022
* Author: Robin Marquardt
*/
#ifndef ACTUATORCMD_H_
#define ACTUATORCMD_H_
@ -18,6 +11,14 @@ class ActuatorCmd {
ActuatorCmd(AcsParameters *acsParameters_); // Input mode ?
virtual ~ActuatorCmd();
/*
* @brief: scalingTorqueRws() scales the torque via maximum part in case this part is
* higher then the maximum torque
* @param: rwTrq given torque for reaction wheels
* rwTrqScaled possible scaled torque
*/
void scalingTorqueRws(const double *rwTrq, double *rwTrqScaled);
/*
* @brief: cmdSpeedToRws() will set the maximum possible torque for the reaction
* wheels, also will calculate the needed revolutions per minute for the RWs, which will be given
@ -28,16 +29,15 @@ class ActuatorCmd {
* reaction wheel
*/
void cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
const int32_t *speedRw3, const double *rwTrqIn, const double *rwTrqNS,
double *rwCmdSpeed);
const int32_t *speedRw3, const double *rwTorque, double *rwCmdSpeed);
/*
* @brief: cmdDipolMtq() gives the commanded dipol moment for the magnetorques
*
* @param: dipolMoment given dipol moment in spacecraft frame
* dipolMomentUnits resulting dipol moment for every unit
* dipolMomentActuator resulting dipol moment in actuator reference frame
*/
void cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits);
void cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator);
protected:
private:

484
mission/controller/acs/Guidance.cpp
View File

@ -13,6 +13,8 @@
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <math.h>
#include <filesystem>
#include "string.h"
#include "util/CholeskyDecomposition.h"
#include "util/MathOperations.h"
@ -22,57 +24,53 @@ Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = *acsParamete
Guidance::~Guidance() {}
void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double satRateSafe[3]) {
for (int i = 0; i < 3; i++) {
sunTargetSafe[i] = acsParameters.safeModeControllerParameters.sunTargetDir[i];
satRateSafe[i] = acsParameters.safeModeControllerParameters.satRateRef[i];
if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE) or
not std::filesystem::exists(SD_1_SKEWED_PTG_FILE)) { // ToDo: if file does not exist anymore
std::memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDir,
3 * sizeof(double));
} else {
std::memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDirLeop,
3 * sizeof(double));
}
// memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDir, 24);
std::memcpy(satRateSafe, acsParameters.safeModeControllerParameters.satRateRef,
3 * sizeof(double));
}
void Guidance::targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
acsctrl::SusDataProcessed *susDataProcessed, timeval now,
void Guidance::targetQuatPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
double targetQuat[4], double refSatRate[3]) {
//-------------------------------------------------------------------------------------
// Calculation of target quaternion to groundstation
// Calculation of target quaternion to groundstation or given latitude, longitude and altitude
//-------------------------------------------------------------------------------------
// Transform longitude, latitude and altitude of groundstation to cartesian coordiantes (earth
// Transform longitude, latitude and altitude to cartesian coordiantes (earth
// fixed/centered frame)
double groundStationCart[3] = {0, 0, 0};
double targetCart[3] = {0, 0, 0};
MathOperations<double>::cartesianFromLatLongAlt(acsParameters.groundStationParameters.latitudeGs,
acsParameters.groundStationParameters.longitudeGs,
acsParameters.groundStationParameters.altitudeGs,
groundStationCart);
MathOperations<double>::cartesianFromLatLongAlt(
acsParameters.targetModeControllerParameters.latitudeTgt,
acsParameters.targetModeControllerParameters.longitudeTgt,
acsParameters.targetModeControllerParameters.altitudeTgt, targetCart);
// Position of the satellite in the earth/fixed frame via GPS
double posSatE[3] = {0, 0, 0};
MathOperations<double>::cartesianFromLatLongAlt(sensorValues->gpsSet.latitude.value,
sensorValues->gpsSet.longitude.value,
double geodeticLatRad = (sensorValues->gpsSet.latitude.value) * PI / 180;
double longitudeRad = (sensorValues->gpsSet.longitude.value) * PI / 180;
MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad, longitudeRad,
sensorValues->gpsSet.altitude.value, posSatE);
// Target direction in the ECEF frame
double targetDirE[3] = {0, 0, 0};
VectorOperations<double>::subtract(groundStationCart, posSatE, targetDirE, 3);
VectorOperations<double>::subtract(targetCart, posSatE, targetDirE, 3);
// Transformation between ECEF and IJK frame
double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::dcmEJ(now, *dcmEJ);
MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
// Derivative of dmcEJ WITHOUT PRECISSION AND NUTATION
double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmDot[3][3] = {{0, 1, 0}, {-1, 0, 0}, {0, 0, 0}};
double omegaEarth = acsParameters.targetModeControllerParameters.omegaEarth;
// TEST SECTION !
// double dcmTEST[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
// MatrixOperations<double>::multiply(&acsParameters.magnetorquesParameter.mtq0orientationMatrix,
// dcmTEST, dcmTEST, 3, 3, 3);
MatrixOperations<double>::multiply(*dcmDot, *dcmEJ, *dcmEJDot, 3, 3, 3);
MatrixOperations<double>::multiplyScalar(*dcmEJDot, omegaEarth, *dcmEJDot, 3, 3);
MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
// Transformation between ECEF and Body frame
@ -111,9 +109,7 @@ void Guidance::targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData
// Calculation of reference rotation rate
//-------------------------------------------------------------------------------------
double velSatE[3] = {0, 0, 0};
velSatE[0] = 0.0; // sensorValues->gps0Velocity[0];
velSatE[1] = 0.0; // sensorValues->gps0Velocity[1];
velSatE[2] = 0.0; // sensorValues->gps0Velocity[2];
std::memcpy(velSatE, gpsDataProcessed->gpsVelocity.value, 3 * sizeof(double));
double velSatB[3] = {0, 0, 0}, velSatBPart1[3] = {0, 0, 0}, velSatBPart2[3] = {0, 0, 0};
// Velocity: v_B = dcm_BI * dcmIE * v_E + dcm_BI * DotDcm_IE * v_E
MatrixOperations<double>::multiply(*dcmBE, velSatE, velSatBPart1, 3, 3, 1);
@ -134,10 +130,10 @@ void Guidance::targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData
// Calculation of reference rotation rate in case of star tracker blinding
//-------------------------------------------------------------------------------------
if (acsParameters.targetModeControllerParameters.avoidBlindStr) {
double sunDirJ[3] = {0, 0, 0};
double sunDirB[3] = {0, 0, 0};
if (susDataProcessed->sunIjkModel.isValid()) {
double sunDirJ[3] = {0, 0, 0};
std::memcpy(sunDirJ, susDataProcessed->sunIjkModel.value, 3 * sizeof(double));
MatrixOperations<double>::multiply(*dcmBJ, sunDirJ, sunDirB, 3, 3, 1);
} else {
@ -183,14 +179,414 @@ void Guidance::targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData
}
}
void Guidance::comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double refSatRate[3],
double quatErrorComplete[4], double quatError[3], double deltaRate[3]) {
double quatRef[4] = {0, 0, 0, 0};
quatRef[0] = acsParameters.targetModeControllerParameters.quatRef[0];
quatRef[1] = acsParameters.targetModeControllerParameters.quatRef[1];
quatRef[2] = acsParameters.targetModeControllerParameters.quatRef[2];
quatRef[3] = acsParameters.targetModeControllerParameters.quatRef[3];
void Guidance::refRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
double *refSatRate) {
//-------------------------------------------------------------------------------------
// Calculation of reference rotation rate
//-------------------------------------------------------------------------------------
double timeElapsed = now.tv_sec + now.tv_usec * pow(10, -6) -
(timeSavedQuaternion.tv_sec +
timeSavedQuaternion.tv_usec * pow((double)timeSavedQuaternion.tv_usec, -6));
if (timeElapsed < timeElapsedMax) {
double qDiff[4] = {0, 0, 0, 0};
VectorOperations<double>::subtract(quatInertialTarget, savedQuaternion, qDiff, 4);
VectorOperations<double>::mulScalar(qDiff, 1 / timeElapsed, qDiff, 4);
double tgtQuatVec[3] = {quatInertialTarget[0], quatInertialTarget[1], quatInertialTarget[2]},
qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
double sum1[3] = {0, 0, 0}, sum2[3] = {0, 0, 0}, sum3[3] = {0, 0, 0}, sum[3] = {0, 0, 0};
VectorOperations<double>::cross(quatInertialTarget, qDiff, sum1);
VectorOperations<double>::mulScalar(tgtQuatVec, qDiff[3], sum2, 3);
VectorOperations<double>::mulScalar(qDiffVec, quatInertialTarget[3], sum3, 3);
VectorOperations<double>::add(sum1, sum2, sum, 3);
VectorOperations<double>::subtract(sum, sum3, sum, 3);
double omegaRefNew[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(sum, -2, omegaRefNew, 3);
VectorOperations<double>::mulScalar(omegaRefNew, 2, refSatRate, 3);
VectorOperations<double>::subtract(refSatRate, omegaRefSaved, refSatRate, 3);
omegaRefSaved[0] = omegaRefNew[0];
omegaRefSaved[1] = omegaRefNew[1];
omegaRefSaved[2] = omegaRefNew[2];
} else {
refSatRate[0] = 0;
refSatRate[1] = 0;
refSatRate[2] = 0;
}
timeSavedQuaternion = now;
savedQuaternion[0] = quatInertialTarget[0];
savedQuaternion[1] = quatInertialTarget[1];
savedQuaternion[2] = quatInertialTarget[2];
savedQuaternion[3] = quatInertialTarget[3];
}
void Guidance::targetQuatPtgThreeAxes(ACS::SensorValues *sensorValues,
acsctrl::GpsDataProcessed *gpsDataProcessed,
acsctrl::MekfData *mekfData, timeval now,
double targetQuat[4], double refSatRate[3]) {
//-------------------------------------------------------------------------------------
// Calculation of target quaternion for target pointing
//-------------------------------------------------------------------------------------
// Transform longitude, latitude and altitude to cartesian coordiantes (earth
// fixed/centered frame)
double targetCart[3] = {0, 0, 0};
MathOperations<double>::cartesianFromLatLongAlt(
acsParameters.targetModeControllerParameters.latitudeTgt,
acsParameters.targetModeControllerParameters.longitudeTgt,
acsParameters.targetModeControllerParameters.altitudeTgt, targetCart);
// Position of the satellite in the earth/fixed frame via GPS
double posSatE[3] = {0, 0, 0};
std::memcpy(posSatE, gpsDataProcessed->gpsPosition.value, 3 * sizeof(double));
double targetDirE[3] = {0, 0, 0};
VectorOperations<double>::subtract(targetCart, posSatE, targetDirE, 3);
// Transformation between ECEF and IJK frame
double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
// Target Direction and position vector in the inertial frame
double targetDirJ[3] = {0, 0, 0}, posSatJ[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*dcmJE, targetDirE, targetDirJ, 3, 3, 1);
MatrixOperations<double>::multiply(*dcmJE, posSatE, posSatJ, 3, 3, 1);
// negative x-Axis aligned with target (Camera/E-band transmitter position)
double xAxis[3] = {0, 0, 0};
VectorOperations<double>::normalize(targetDirJ, xAxis, 3);
VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
// Transform velocity into inertial frame
double velocityE[3];
std::memcpy(velocityE, gpsDataProcessed->gpsVelocity.value, 3 * sizeof(double));
double velocityJ[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*dcmJE, velocityE, velPart1, 3, 3, 1);
MatrixOperations<double>::multiply(*dcmJEDot, posSatE, velPart2, 3, 3, 1);
VectorOperations<double>::add(velPart1, velPart2, velocityJ, 3);
// orbital normal vector
double orbitalNormalJ[3] = {0, 0, 0};
VectorOperations<double>::cross(posSatJ, velocityJ, orbitalNormalJ);
VectorOperations<double>::normalize(orbitalNormalJ, orbitalNormalJ, 3);
// y-Axis of satellite in orbit plane so that z-axis parallel to long side of picture resolution
double yAxis[3] = {0, 0, 0};
VectorOperations<double>::cross(orbitalNormalJ, xAxis, yAxis);
VectorOperations<double>::normalize(yAxis, yAxis, 3);
// z-Axis completes RHS
double zAxis[3] = {0, 0, 0};
VectorOperations<double>::cross(xAxis, yAxis, zAxis);
// Complete transformation matrix
double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
{xAxis[1], yAxis[1], zAxis[1]},
{xAxis[2], yAxis[2], zAxis[2]}};
double quatInertialTarget[4] = {0, 0, 0, 0};
QuaternionOperations::fromDcm(dcmTgt, quatInertialTarget);
int8_t timeElapsedMax = acsParameters.targetModeControllerParameters.timeElapsedMax;
refRotationRate(timeElapsedMax, now, quatInertialTarget, refSatRate);
// Transform in system relative to satellite frame
double quatBJ[4] = {0, 0, 0, 0};
std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
}
void Guidance::targetQuatPtgGs(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
double targetQuat[4], double refSatRate[3]) {
//-------------------------------------------------------------------------------------
// Calculation of target quaternion for ground station pointing
//-------------------------------------------------------------------------------------
// Transform longitude, latitude and altitude to cartesian coordiantes (earth
// fixed/centered frame)
double groundStationCart[3] = {0, 0, 0};
MathOperations<double>::cartesianFromLatLongAlt(
acsParameters.targetModeControllerParameters.latitudeTgt,
acsParameters.targetModeControllerParameters.longitudeTgt,
acsParameters.targetModeControllerParameters.altitudeTgt, groundStationCart);
// Position of the satellite in the earth/fixed frame via GPS
double posSatE[3] = {0, 0, 0};
double geodeticLatRad = (sensorValues->gpsSet.latitude.value) * PI / 180;
double longitudeRad = (sensorValues->gpsSet.longitude.value) * PI / 180;
MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad, longitudeRad,
sensorValues->gpsSet.altitude.value, posSatE);
double targetDirE[3] = {0, 0, 0};
VectorOperations<double>::subtract(groundStationCart, posSatE, targetDirE, 3);
// Transformation between ECEF and IJK frame
double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
// Target Direction and position vector in the inertial frame
double targetDirJ[3] = {0, 0, 0}, posSatJ[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*dcmJE, targetDirE, targetDirJ, 3, 3, 1);
MatrixOperations<double>::multiply(*dcmJE, posSatE, posSatJ, 3, 3, 1);
// negative x-Axis aligned with target (Camera/E-band transmitter position)
double xAxis[3] = {0, 0, 0};
VectorOperations<double>::normalize(targetDirJ, xAxis, 3);
VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
// get Sun Vector Model in ECI
double sunJ[3];
std::memcpy(sunJ, susDataProcessed->sunIjkModel.value, 3 * sizeof(double));
VectorOperations<double>::normalize(sunJ, sunJ, 3);
// calculate z-axis as projection of sun vector into plane defined by x-axis as normal vector
// z = sPerpenticular = s - sParallel = s - (x*s)/norm(x)^2 * x
double xDotS = VectorOperations<double>::dot(xAxis, sunJ);
xDotS /= pow(VectorOperations<double>::norm(xAxis, 3), 2);
double sunParallel[3], zAxis[3];
VectorOperations<double>::mulScalar(xAxis, xDotS, sunParallel, 3);
VectorOperations<double>::subtract(sunJ, sunParallel, zAxis, 3);
VectorOperations<double>::normalize(zAxis, zAxis, 3);
// calculate y-axis
double yAxis[3];
VectorOperations<double>::cross(zAxis, xAxis, yAxis);
VectorOperations<double>::normalize(yAxis, yAxis, 3);
// Complete transformation matrix
double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
{xAxis[1], yAxis[1], zAxis[1]},
{xAxis[2], yAxis[2], zAxis[2]}};
double quatInertialTarget[4] = {0, 0, 0, 0};
QuaternionOperations::fromDcm(dcmTgt, quatInertialTarget);
int8_t timeElapsedMax = acsParameters.targetModeControllerParameters.timeElapsedMax;
refRotationRate(timeElapsedMax, now, quatInertialTarget, refSatRate);
// Transform in system relative to satellite frame
double quatBJ[4] = {0, 0, 0, 0};
std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
}
void Guidance::sunQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
double targetQuat[4], double refSatRate[3]) {
//-------------------------------------------------------------------------------------
// Calculation of target quaternion to sun
//-------------------------------------------------------------------------------------
double quatBJ[4] = {0, 0, 0, 0};
double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
QuaternionOperations::toDcm(quatBJ, dcmBJ);
double sunDirJ[3] = {0, 0, 0}, sunDirB[3] = {0, 0, 0};
if (susDataProcessed->sunIjkModel.isValid()) {
std::memcpy(sunDirJ, susDataProcessed->sunIjkModel.value, 3 * sizeof(double));
MatrixOperations<double>::multiply(*dcmBJ, sunDirJ, sunDirB, 3, 3, 1);
} else if (susDataProcessed->susVecTot.isValid()) {
std::memcpy(sunDirB, susDataProcessed->susVecTot.value, 3 * sizeof(double));
} else {
return;
}
// Transformation between ECEF and IJK frame
double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
// positive z-Axis of EIVE in direction of sun
double zAxis[3] = {0, 0, 0};
VectorOperations<double>::normalize(sunDirB, zAxis, 3);
// Assign helper vector (north pole inertial)
double helperVec[3] = {0, 0, 1};
//
double yAxis[3] = {0, 0, 0};
VectorOperations<double>::cross(zAxis, helperVec, yAxis);
VectorOperations<double>::normalize(yAxis, yAxis, 3);
//
double xAxis[3] = {0, 0, 0};
VectorOperations<double>::cross(yAxis, zAxis, xAxis);
VectorOperations<double>::normalize(xAxis, xAxis, 3);
// Transformation matrix to Sun, no further transforamtions, reference is already
// the EIVE body frame
double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
{xAxis[1], yAxis[1], zAxis[1]},
{xAxis[2], yAxis[2], zAxis[2]}};
double quatSun[4] = {0, 0, 0, 0};
QuaternionOperations::fromDcm(dcmTgt, quatSun);
targetQuat[0] = quatSun[0];
targetQuat[1] = quatSun[1];
targetQuat[2] = quatSun[2];
targetQuat[3] = quatSun[3];
//----------------------------------------------------------------------------
// Calculation of reference rotation rate
//----------------------------------------------------------------------------
refSatRate[0] = 0;
refSatRate[1] = 0;
refSatRate[2] = 0;
}
void Guidance::quatNadirPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
timeval now, double targetQuat[4],
double refSatRate[3]) { // old version of Nadir Pointing
//-------------------------------------------------------------------------------------
// Calculation of target quaternion for Nadir pointing
//-------------------------------------------------------------------------------------
// Position of the satellite in the earth/fixed frame via GPS
double posSatE[3] = {0, 0, 0};
double geodeticLatRad = (sensorValues->gpsSet.latitude.value) * PI / 180;
double longitudeRad = (sensorValues->gpsSet.longitude.value) * PI / 180;
MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad, longitudeRad,
sensorValues->gpsSet.altitude.value, posSatE);
double targetDirE[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(posSatE, -1, targetDirE, 3);
// Transformation between ECEF and IJK frame
double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
// Transformation between ECEF and Body frame
double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double quatBJ[4] = {0, 0, 0, 0};
std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
QuaternionOperations::toDcm(quatBJ, dcmBJ);
MatrixOperations<double>::multiply(*dcmBJ, *dcmJE, *dcmBE, 3, 3, 3);
// Target Direction in the body frame
double targetDirB[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*dcmBE, targetDirE, targetDirB, 3, 3, 1);
// rotation quaternion from two vectors
double refDir[3] = {0, 0, 0};
refDir[0] = acsParameters.nadirModeControllerParameters.refDirection[0];
refDir[1] = acsParameters.nadirModeControllerParameters.refDirection[1];
refDir[2] = acsParameters.nadirModeControllerParameters.refDirection[2];
double noramlizedTargetDirB[3] = {0, 0, 0};
VectorOperations<double>::normalize(targetDirB, noramlizedTargetDirB, 3);
VectorOperations<double>::normalize(refDir, refDir, 3);
double normTargetDirB = VectorOperations<double>::norm(noramlizedTargetDirB, 3);
double normRefDir = VectorOperations<double>::norm(refDir, 3);
double crossDir[3] = {0, 0, 0};
double dotDirections = VectorOperations<double>::dot(noramlizedTargetDirB, refDir);
VectorOperations<double>::cross(noramlizedTargetDirB, refDir, crossDir);
targetQuat[0] = crossDir[0];
targetQuat[1] = crossDir[1];
targetQuat[2] = crossDir[2];
targetQuat[3] = sqrt(pow(normTargetDirB, 2) * pow(normRefDir, 2) + dotDirections);
VectorOperations<double>::normalize(targetQuat, targetQuat, 4);
//-------------------------------------------------------------------------------------
// Calculation of reference rotation rate
//-------------------------------------------------------------------------------------
refSatRate[0] = 0;
refSatRate[1] = 0;
refSatRate[2] = 0;
}
void Guidance::quatNadirPtgThreeAxes(ACS::SensorValues *sensorValues,
acsctrl::GpsDataProcessed *gpsDataProcessed,
acsctrl::MekfData *mekfData, timeval now, double targetQuat[4],
double refSatRate[3]) {
//-------------------------------------------------------------------------------------
// Calculation of target quaternion for Nadir pointing
//-------------------------------------------------------------------------------------
// Position of the satellite in the earth/fixed frame via GPS
double posSatE[3] = {0, 0, 0};
double geodeticLatRad = (sensorValues->gpsSet.latitude.value) * PI / 180;
double longitudeRad = (sensorValues->gpsSet.longitude.value) * PI / 180;
MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad, longitudeRad,
sensorValues->gpsSet.altitude.value, posSatE);
double targetDirE[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(posSatE, -1, targetDirE, 3);
// Transformation between ECEF and IJK frame
double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
// Target Direction in the body frame
double targetDirJ[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*dcmJE, targetDirE, targetDirJ, 3, 3, 1);
// negative x-Axis aligned with target (Camera position)
double xAxis[3] = {0, 0, 0};
VectorOperations<double>::normalize(targetDirJ, xAxis, 3);
VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
// z-Axis parallel to long side of picture resolution
double zAxis[3] = {0, 0, 0}, velocityE[3];
std::memcpy(velocityE, gpsDataProcessed->gpsVelocity.value, 3 * sizeof(double));
double velocityJ[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*dcmJE, velocityE, velPart1, 3, 3, 1);
MatrixOperations<double>::multiply(*dcmJEDot, posSatE, velPart2, 3, 3, 1);
VectorOperations<double>::add(velPart1, velPart2, velocityJ, 3);
VectorOperations<double>::cross(xAxis, velocityJ, zAxis);
VectorOperations<double>::normalize(zAxis, zAxis, 3);
// y-Axis completes RHS
double yAxis[3] = {0, 0, 0};
VectorOperations<double>::cross(zAxis, xAxis, yAxis);
// Complete transformation matrix
double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
{xAxis[1], yAxis[1], zAxis[1]},
{xAxis[2], yAxis[2], zAxis[2]}};
double quatInertialTarget[4] = {0, 0, 0, 0};
QuaternionOperations::fromDcm(dcmTgt, quatInertialTarget);
int8_t timeElapsedMax = acsParameters.nadirModeControllerParameters.timeElapsedMax;
refRotationRate(timeElapsedMax, now, quatInertialTarget, refSatRate);
// Transform in system relative to satellite frame
double quatBJ[4] = {0, 0, 0, 0};
std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
}
void Guidance::inertialQuatPtg(double targetQuat[4], double refSatRate[3]) {
std::memcpy(targetQuat, acsParameters.inertialModeControllerParameters.tgtQuat,
4 * sizeof(double));
std::memcpy(refSatRate, acsParameters.inertialModeControllerParameters.refRotRate,
3 * sizeof(double));
}
void Guidance::comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double quatRef[4],
double refSatRate[3], double quatErrorComplete[4], double quatError[3],
double deltaRate[3]) {
double satRate[3] = {0, 0, 0};
std::memcpy(satRate, mekfData->satRotRateMekf.value, 3 * sizeof(double));
VectorOperations<double>::subtract(satRate, refSatRate, deltaRate, 3);
@ -210,8 +606,8 @@ void Guidance::comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, dou
quatError[1] = quatErrorComplete[1];
quatError[2] = quatErrorComplete[2];
// target flag in matlab, importance, does look like it only gives
// feedback if pointing control is under 150 arcsec ??
// target flag in matlab, importance, does look like it only gives feedback if pointing control is
// under 150 arcsec ??
}
void Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv) {
@ -300,7 +696,7 @@ void Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *
// @note: This one takes the normal pseudoInverse of all four raction wheels valid.
// Does not make sense, but is implemented that way in MATLAB ?!
// Thought: It does not really play a role, because in case there are more then one
// reaction wheel the pointing control is destined to fail.
// reaction wheel invalid the pointing control is destined to fail.
rwPseudoInv[0] = acsParameters.rwMatrices.pseudoInverse[0][0];
rwPseudoInv[1] = acsParameters.rwMatrices.pseudoInverse[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.pseudoInverse[0][2];

51
mission/controller/acs/Guidance.h
View File

@ -21,16 +21,49 @@ class Guidance {
void getTargetParamsSafe(double sunTargetSafe[3], double satRateRef[3]);
// Function to get the target quaternion and refence rotation rate from gps position and position
// of the ground station
void targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
acsctrl::SusDataProcessed *susDataProcessed, timeval now, double targetQuat[4],
// Function to get the target quaternion and refence rotation rate from gps position and
// position of the ground station
void targetQuatPtgThreeAxes(ACS::SensorValues *sensorValues,
acsctrl::GpsDataProcessed *gpsDataProcessed,
acsctrl::MekfData *mekfData, timeval now, double targetQuat[4],
double refSatRate[3]);
void targetQuatPtgGs(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
double targetQuat[4], double refSatRate[3]);
void targetQuatPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
double targetQuat[4], double refSatRate[3]);
// Function to get the target quaternion and refence rotation rate for sun pointing after ground
// station
void sunQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now, double targetQuat[4],
double refSatRate[3]);
// Function to get the target quaternion and refence rotation rate from gps position for Nadir
// pointing
void quatNadirPtgThreeAxes(ACS::SensorValues *sensorValues,
acsctrl::GpsDataProcessed *gpsDataProcessed,
acsctrl::MekfData *mekfData, timeval now, double targetQuat[4],
double refSatRate[3]);
void quatNadirPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
timeval now, double targetQuat[4], double refSatRate[3]);
// Function to get the target quaternion and refence rotation rate from parameters for inertial
// pointing
void inertialQuatPtg(double targetQuat[4], double refSatRate[3]);
// @note: compares target Quaternion and reference quaternion, also actual satellite rate and
// desired
void comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double refSatRate[3],
double quatErrorComplete[4], double quatError[3], double deltaRate[3]);
void comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double quatRef[4],
double refSatRate[3], double quatErrorComplete[4], double quatError[3],
double deltaRate[3]);
void refRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
double *refSatRate);
// @note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
// reation wheel maybe can be done in "commanding.h"
@ -39,6 +72,12 @@ class Guidance {
private:
AcsParameters acsParameters;
bool strBlindAvoidFlag = false;
timeval timeSavedQuaternion;
double savedQuaternion[4] = {0, 0, 0, 0};
double omegaRefSaved[3] = {0, 0, 0};
static constexpr char SD_0_SKEWED_PTG_FILE[] = "/mnt/sd0/conf/deployment";
static constexpr char SD_1_SKEWED_PTG_FILE[] = "/mnt/sd1/conf/deployment";
};
#endif /* ACS_GUIDANCE_H_ */

95
mission/controller/acs/Igrf13Model.cpp
View File

@ -1,22 +1,19 @@
/*
* Igrf13Model.cpp
*
* Created on: 10 Mar 2022
* Author: Robin Marquardt
*/
#include "Igrf13Model.h"
#include <fsfw/globalfunctions/constants.h>
#include <fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <math.h>
#include <fsfw/src/fsfw/globalfunctions/constants.h>
#include <fsfw/src/fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/src/fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/src/fsfw/globalfunctions/math/VectorOperations.h>
#include <stdint.h>
#include <string.h>
#include <time.h>
#include <cmath>
#include "util/MathOperations.h"
using namespace Math;
Igrf13Model::Igrf13Model() {}
Igrf13Model::~Igrf13Model() {}
@ -25,7 +22,7 @@ void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
double* magFieldModelInertial) {
double phi = longitude, theta = gcLatitude; // geocentric
/* Here is the co-latitude needed*/
theta -= 90 * Math::PI / 180;
theta -= 90 * PI / 180;
theta *= (-1);
double rE = 6371200.0; // radius earth [m]
@ -43,7 +40,7 @@ void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
/* Calculation of Legendre Polynoms (normalised) */
if (n == m) {
P2 = sin(theta) * P11;
dP2 = sin(theta) * dP11 - cos(theta) * P11;
dP2 = sin(theta) * dP11 + cos(theta) * P11;
P11 = P2;
P10 = P11;
P20 = 0;
@ -70,11 +67,11 @@ void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
magFieldModel[0] +=
pow(rE / (altitude + rE), (n + 2)) * (n + 1) *
((updatedG[m][n - 1] * cos(m * phi) + updatedH[m][n - 1] * sin(m * phi)) * P2);
/* gradient of scalar potential towards phi */
/* gradient of scalar potential towards theta */
magFieldModel[1] +=
pow(rE / (altitude + rE), (n + 2)) *
((updatedG[m][n - 1] * cos(m * phi) + updatedH[m][n - 1] * sin(m * phi)) * dP2);
/* gradient of scalar potential towards theta */
/* gradient of scalar potential towards phi */
magFieldModel[2] +=
pow(rE / (altitude + rE), (n + 2)) *
((-updatedG[m][n - 1] * sin(m * phi) + updatedH[m][n - 1] * cos(m * phi)) * P2 * m);
@ -85,31 +82,30 @@ void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
magFieldModel[1] *= -1;
magFieldModel[2] *= (-1 / sin(theta));
/* Next step: transform into inertial KOS (IJK)*/
// Julean Centuries
double JD2000Floor = 0;
double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfMagMeasurement);
JD2000Floor = floor(JD2000);
double JC2000 = JD2000Floor / 36525;
double gst = 100.4606184 + 36000.77005361 * JC2000 + 0.00038793 * pow(JC2000, 2) -
0.000000026 * pow(JC2000, 3); // greenwich sidereal time
gst *= PI / 180; // convert to radians
double sec =
(JD2000 - JD2000Floor) * 86400; // Seconds on this day (Universal time) // FROM GPS ?
double omega0 = 0.00007292115; // mean angular velocity earth [rad/s]
gst += omega0 * sec;
double UT1 = JD2000 / 36525.;
double gst =
280.46061837 + 360.98564736629 * JD2000 + 0.0003875 * pow(UT1, 2) - 2.6e-8 * pow(UT1, 3);
gst = std::fmod(gst, 360.);
gst *= PI / 180.;
double lst = gst + longitude; // local sidereal time [rad]
magFieldModelInertial[0] = magFieldModel[0] * cos(theta) +
magFieldModel[1] * sin(theta) * cos(lst) - magFieldModel[1] * sin(lst);
magFieldModelInertial[1] = magFieldModel[0] * cos(theta) +
magFieldModel[1] * sin(theta) * sin(lst) + magFieldModel[1] * cos(lst);
magFieldModelInertial[2] = magFieldModel[0] * sin(theta) + magFieldModel[1] * cos(lst);
magFieldModelInertial[0] =
(magFieldModel[0] * cos(gcLatitude) + magFieldModel[1] * sin(gcLatitude)) * cos(lst) -
magFieldModel[2] * sin(lst);
magFieldModelInertial[1] =
(magFieldModel[0] * cos(gcLatitude) + magFieldModel[1] * sin(gcLatitude)) * sin(lst) +
magFieldModel[2] * cos(lst);
magFieldModelInertial[2] =
magFieldModel[0] * sin(gcLatitude) - magFieldModel[1] * cos(gcLatitude);
double normVecMagFieldInert[3] = {0, 0, 0};
VectorOperations<double>::normalize(magFieldModelInertial, normVecMagFieldInert, 3);
magFieldModel[0] = 0;
magFieldModel[1] = 0;
magFieldModel[2] = 0;
}
void Igrf13Model::updateCoeffGH(timeval timeOfMagMeasurement) {
@ -123,3 +119,34 @@ void Igrf13Model::updateCoeffGH(timeval timeOfMagMeasurement) {
}
}
}
void Igrf13Model::schmidtNormalization() {
double kronDelta = 0;
schmidtFactors[0][0] = 1;
for (int n = 1; n <= igrfOrder; n++) {
if (n == 1) {
schmidtFactors[0][n - 1] = 1;
} else {
schmidtFactors[0][n - 1] = schmidtFactors[0][n - 2] * (2 * n - 1) / n;
}
for (int m = 1; m <= igrfOrder; m++) {
if (m == 1) {
kronDelta = 1;
} else {
kronDelta = 0;
}
schmidtFactors[m][n - 1] =
schmidtFactors[m - 1][n - 1] * sqrt((n - m + 1) * (kronDelta + 1) / (n + m));
}
}
for (int i = 0; i <= igrfOrder; i++) {
for (int j = 0; j <= (igrfOrder - 1); j++) {
coeffG[i][j] = schmidtFactors[i][j] * coeffG[i][j];
coeffH[i][j] = schmidtFactors[i][j] * coeffH[i][j];
svG[i][j] = schmidtFactors[i][j] * svG[i][j];
svH[i][j] = schmidtFactors[i][j] * svH[i][j];
}
}
}

21
mission/controller/acs/Igrf13Model.h
View File

@ -43,14 +43,15 @@ class Igrf13Model /*:public HasParametersIF*/ {
* - timeOfMagMeasurement: time of actual measurement [s]
*
* Outputs:
* - magFieldModelInertial: Magnetic Field Vector in IJK KOS [nT]*/
* - magFieldModelInertial: Magnetic Field Vector in IJK RF [nT]*/
// Coefficient wary over year, could be updated sometimes.
void updateCoeffGH(timeval timeOfMagMeasurement); // Secular variation (SV)
double magFieldModel[3];
void schmidtNormalization();
private:
const double coeffG[14][13] = {
double coeffG[14][13] = {
{-29404.8, -2499.6, 1363.2, 903.0, -234.3, 66.0, 80.6, 23.7, 5.0, -1.9, 3.0, -2.0, 0.1},
{-1450.9, 2982.0, -2381.2, 809.5, 363.2, 65.5, -76.7, 9.7, 8.4, -6.2, -1.4, -0.1, -0.9},
{0.0, 1677.0, 1236.2, 86.3, 187.8, 72.9, -8.2, -17.6, 2.9, -0.1, -2.5, 0.5, 0.5},
@ -66,7 +67,7 @@ class Igrf13Model /*:public HasParametersIF*/ {
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.3, -0.5},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.4}}; // [m][n] in nT
const double coeffH[14][13] = {
double coeffH[14][13] = {
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0},
{4652.5, -2991.6, -82.1, 281.9, 47.7, -19.1, -51.5, 8.4, -23.4, 3.4, 0.0, -1.2, -0.9},
{0.0, -734.6, 241.9, -158.4, 208.3, 25.1, -16.9, -15.3, 11.0, -0.2, 2.5, 0.5, 0.6},
@ -82,7 +83,7 @@ class Igrf13Model /*:public HasParametersIF*/ {
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, -0.4},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.6}}; // [m][n] in nT
const double svG[14][13] = {
double svG[14][13] = {
{5.7, -11.0, 2.2, -1.2, -0.3, -0.5, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
{7.4, -7.0, -5.9, -1.6, 0.5, -0.3, -0.2, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, -2.1, 3.1, -5.9, -0.6, 0.4, 0.0, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
@ -98,7 +99,7 @@ class Igrf13Model /*:public HasParametersIF*/ {
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}}; // [m][n] in nT
const double svH[14][13] = {
double svH[14][13] = {
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
{-25.9, -30.2, 6.0, -0.1, 0.0, 0.0, 0.6, -0.2, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, -22.4, -1.1, 6.5, 2.5, -1.6, 0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0},
@ -114,6 +115,16 @@ class Igrf13Model /*:public HasParametersIF*/ {
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}}; // [m][n] in nT
double schmidtFactors[14][13] = {
{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}};
;
double updatedG[14][13];
double updatedH[14][13];
static const int igrfOrder = 13; // degree of truncation

328
mission/controller/acs/MultiplicativeKalmanFilter.cpp
View File

@ -1,10 +1,3 @@
/*
* MultiplicativeKalmanFilter.cpp
*
* Created on: 4 Feb 2022
* Author: rooob
*/
#include "MultiplicativeKalmanFilter.h"
#include <fsfw/datapool/PoolReadGuard.h>
@ -14,6 +7,8 @@
#include <stdio.h>
#include <string.h>
#include <cmath>
#include "util/CholeskyDecomposition.h"
#include "util/MathOperations.h"
@ -29,7 +24,7 @@ MultiplicativeKalmanFilter::~MultiplicativeKalmanFilter() {}
void MultiplicativeKalmanFilter::loadAcsParameters(AcsParameters *acsParameters_) {
inertiaEIVE = &(acsParameters_->inertiaEIVE);
kalmanFilterParameters = &(acsParameters_->kalmanFilterParameters); /*Sensor noises also here*/
kalmanFilterParameters = &(acsParameters_->kalmanFilterParameters);
}
void MultiplicativeKalmanFilter::reset() {}
@ -41,14 +36,11 @@ void MultiplicativeKalmanFilter::init(
// check for valid mag/sun
if (validMagField_ && validSS && validSSModel && validMagModel) {
validInit = true;
// AcsParameters mekfEstParams;
// loadAcsParameters(&mekfEstParams);
// QUEST ALGO -----------------------------------------------------------------------
double sigmaSun = 0, sigmaMag = 0, sigmaGyro = 0;
sigmaSun = kalmanFilterParameters->sensorNoiseSS;
sigmaMag = kalmanFilterParameters->sensorNoiseMAG;
sigmaGyro = 0.1 * 3.141 / 180; // acs parameters
sigmaGyro = kalmanFilterParameters->sensorNoiseGYR;
double normMagB[3] = {0, 0, 0}, normSunB[3] = {0, 0, 0}, normMagJ[3] = {0, 0, 0},
normSunJ[3] = {0, 0, 0};
@ -136,7 +128,6 @@ void MultiplicativeKalmanFilter::init(
matrixMag[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
matrixSunMag[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
matrixMagSun[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
/* vector*transpose(vector)*/
MatrixOperations<double>::multiply(sunEstB, sunEstB, *matrixSun, 3, 1, 3);
MatrixOperations<double>::multiply(magEstB, magEstB, *matrixMag, 3, 1, 3);
MatrixOperations<double>::multiply(sunEstB, magEstB, *matrixSunMag, 3, 1, 3);
@ -199,8 +190,6 @@ void MultiplicativeKalmanFilter::init(
initialCovarianceMatrix[5][3] = initGyroCov[2][0];
initialCovarianceMatrix[5][4] = initGyroCov[2][1];
initialCovarianceMatrix[5][5] = initGyroCov[2][2];
// initialCovarianceMatrix[][] = {{0,0,0,0,0,0},{0,0,0,0,0,0},{0,0,0,0,0,0},
//{0,0,0,0,0,0},{0,0,0,0,0,0},{0,0,0,0,0,0}};
} else {
// no initialisation possible, no valid measurements
validInit = false;
@ -208,14 +197,15 @@ void MultiplicativeKalmanFilter::init(
}
// --------------- MEKF DISCRETE TIME STEP -------------------------------
ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
const double *quaternionSTR, const bool validSTR_, const double *rateGYRs_,
const bool validGYRs_, const double *magneticField_, const bool validMagField_,
const double *sunDir_, const bool validSS, const double *sunDirJ, const bool validSSModel,
const double *magFieldJ, const bool validMagModel, acsctrl::MekfData *mekfData) {
ReturnValue_t MultiplicativeKalmanFilter::mekfEst(const double *quaternionSTR, const bool validSTR_,
const double *rateGYRs_, const bool validGYRs_,
const double *magneticField_,
const bool validMagField_, const double *sunDir_,
const bool validSS, const double *sunDirJ,
const bool validSSModel, const double *magFieldJ,
const bool validMagModel, double sampleTime,
acsctrl::MekfData *mekfData) {
// Check for GYR Measurements
// AcsParameters mekfEstParams;
// loadAcsParameters(&mekfEstParams);
int MDF = 0; // Matrix Dimension Factor
if (!validGYRs_) {
{
@ -960,10 +950,8 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
biasGYR[2] = updatedGyroBias[2];
/* ----------- PROPAGATION ----------*/
// double sigmaU = kalmanFilterParameters->sensorNoiseBsGYR;
// double sigmaV = kalmanFilterParameters->sensorNoiseArwGYR;
double sigmaU = 3 * 3.141 / 180 / 3600;
double sigmaV = 3 * 0.0043 * 3.141 / sqrt(10) / 180;
double sigmaU = kalmanFilterParameters->sensorNoiseBsGYR;
double sigmaV = kalmanFilterParameters->sensorNoiseArwGYR;
double discTimeMatrix[6][6] = {{-1, 0, 0, 0, 0, 0}, {0, -1, 0, 0, 0, 0}, {0, 0, -1, 0, 0, 0},
{0, 0, 0, 1, 0, 0}, {0, 0, 0, 0, 1, 0}, {0, 0, 0, 0, 0, 1}};
@ -977,170 +965,135 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
// Discrete Process Noise Covariance Q
double discProcessNoiseCov[6][6] = {{0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0},
{0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}};
double covQ1[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
covQ2[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
covQ3[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
transCovQ2[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
if (normRotEst * sampleTime < 3.141 / 10) {
double fact1 = sampleTime * pow(sigmaV, 2) + pow(sampleTime, 3) * pow(sigmaU, 2 / 3);
MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact1, *covQ1, 3, 3);
double fact2 = -(0.5 * pow(sampleTime, 2) * pow(sigmaU, 2));
MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact2, *covQ2, 3, 3);
MatrixOperations<double>::transpose(*covQ2, *transCovQ2, 3);
double fact3 = sampleTime * pow(sigmaU, 2);
MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact3, *covQ3, 3, 3);
double covQ11[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
covQ12[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
covQ22[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
covQ12trans[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
if (normRotEst * sampleTime < M_PI / 10) {
double fact11 = pow(sigmaV, 2) * sampleTime + 1. / 3. * pow(sigmaU, 2) * pow(sampleTime, 3);
MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact11, *covQ11, 3, 3);
discProcessNoiseCov[0][0] = covQ1[0][0];
discProcessNoiseCov[0][1] = covQ1[0][1];
discProcessNoiseCov[0][2] = covQ1[0][2];
discProcessNoiseCov[0][3] = covQ2[0][0];
discProcessNoiseCov[0][4] = covQ2[0][1];
discProcessNoiseCov[0][5] = covQ2[0][2];
discProcessNoiseCov[1][0] = covQ1[1][0];
discProcessNoiseCov[1][1] = covQ1[1][1];
discProcessNoiseCov[1][2] = covQ1[1][2];
discProcessNoiseCov[1][3] = covQ2[1][0];
discProcessNoiseCov[1][4] = covQ2[1][1];
discProcessNoiseCov[1][5] = covQ2[1][2];
discProcessNoiseCov[2][0] = covQ1[2][0];
discProcessNoiseCov[2][1] = covQ1[2][1];
discProcessNoiseCov[2][2] = covQ1[2][2];
discProcessNoiseCov[2][3] = covQ2[2][0];
discProcessNoiseCov[2][4] = covQ2[2][1];
discProcessNoiseCov[2][5] = covQ2[2][2];
discProcessNoiseCov[3][0] = transCovQ2[0][0];
discProcessNoiseCov[3][1] = transCovQ2[0][1];
discProcessNoiseCov[3][2] = transCovQ2[0][2];
discProcessNoiseCov[3][3] = covQ3[0][0];
discProcessNoiseCov[3][4] = covQ3[0][1];
discProcessNoiseCov[3][5] = covQ3[0][2];
discProcessNoiseCov[4][0] = transCovQ2[1][0];
discProcessNoiseCov[4][1] = transCovQ2[1][1];
discProcessNoiseCov[4][2] = transCovQ2[1][2];
discProcessNoiseCov[4][3] = covQ3[1][0];
discProcessNoiseCov[4][4] = covQ3[1][1];
discProcessNoiseCov[4][5] = covQ3[1][2];
discProcessNoiseCov[5][0] = transCovQ2[2][0];
discProcessNoiseCov[5][1] = transCovQ2[2][1];
discProcessNoiseCov[5][2] = transCovQ2[2][2];
discProcessNoiseCov[5][3] = covQ3[2][0];
discProcessNoiseCov[5][4] = covQ3[2][1];
discProcessNoiseCov[5][5] = covQ3[2][2];
double fact12 = -(1. / 2. * pow(sigmaU, 2) * pow(sampleTime, 2));
MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact12, *covQ12, 3, 3);
std::memcpy(*covQ12trans, *covQ12, 3 * 3 * sizeof(double));
double fact22 = pow(sigmaU, 2) * sampleTime;
MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact22, *covQ22, 3, 3);
} else {
// double fact1 = sampleTime*pow(sigmaV,2);
double covQ11[3][3], covQ12[3][3], covQ13[3][3];
// MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact1, *covQ1, 3, 3);
double fact1 = (2 * normRotEst + sampleTime - 2 * sin(normRotEst * sampleTime) -
pow(normRotEst, 3) / 3 * pow(sampleTime, 3)) /
pow(normRotEst, 5);
MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *covQ11, 3, 3, 3);
MatrixOperations<double>::multiplyScalar(*covQ11, fact1, *covQ11, 3, 3);
double fact2 = pow(sampleTime, 3);
MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact2, *covQ12, 3, 3);
MatrixOperations<double>::subtract(*covQ12, *covQ11, *covQ11, 3, 3);
double fact3 = sampleTime * pow(sigmaV, 2);
MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact3, *covQ13, 3, 3);
MatrixOperations<double>::add(*covQ13, *covQ11, *covQ1, 3, 3);
double fact22 = pow(sigmaU, 2) * sampleTime;
MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact22, *covQ22, 3, 3);
double covQ21[3][3], covQ22[3][3], covQ23[3][3];
double fact4 =
(0.5 * pow(normRotEst, 2) * pow(sampleTime, 2) + cos(normRotEst * sampleTime) - 1) /
double covQ12_0[3][3], covQ12_1[3][3], covQ12_2[3][3], covQ12_01[3][3];
double fact12_0 = (normRotEst * sampleTime - sin(normRotEst * sampleTime) / pow(normRotEst, 3));
MatrixOperations<double>::multiplyScalar(*crossRotEst, fact12_0, *covQ12_0, 3, 3);
double fact12_1 = 1. / 2. * pow(sampleTime, 2);
MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact12_1, *covQ12_1, 3, 3);
double fact12_2 =
(1. / 2. * pow(normRotEst, 2) * pow(sampleTime, 2) + cos(normRotEst * sampleTime) - 1) /
pow(normRotEst, 4);
MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *covQ21, 3, 3, 3);
MatrixOperations<double>::multiplyScalar(*covQ21, fact4, *covQ21, 3, 3);
double fact5 = 0.5 * pow(sampleTime, 2);
MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact5, *covQ22, 3, 3);
MatrixOperations<double>::add(*covQ22, *covQ21, *covQ21, 3, 3);
double fact6 = normRotEst * sampleTime - sin(normRotEst * sampleTime) / pow(normRotEst, 3);
MatrixOperations<double>::multiplyScalar(*crossRotEst, fact6, *covQ23, 3, 3);
MatrixOperations<double>::subtract(*covQ23, *covQ21, *covQ21, 3, 3);
double fact7 = pow(sigmaU, 2);
MatrixOperations<double>::multiplyScalar(*covQ21, fact7, *covQ2, 3, 3);
MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *covQ12_2, 3, 3, 3);
MatrixOperations<double>::multiplyScalar(*covQ12_2, fact12_2, *covQ12_2, 3, 3);
MatrixOperations<double>::subtract(*covQ12_0, *covQ12_1, *covQ12_01, 3, 3);
MatrixOperations<double>::subtract(*covQ12_01, *covQ12_2, *covQ12, 3, 3);
MatrixOperations<double>::multiplyScalar(*covQ12, pow(sigmaU, 2), *covQ12, 3, 3);
MatrixOperations<double>::transpose(*covQ12, *covQ12trans, 3);
MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact7, *covQ3, 3, 3);
discProcessNoiseCov[0][0] = covQ1[0][0];
discProcessNoiseCov[0][1] = covQ1[0][1];
discProcessNoiseCov[0][2] = covQ1[0][2];
discProcessNoiseCov[0][3] = covQ2[0][0];
discProcessNoiseCov[0][4] = covQ2[0][1];
discProcessNoiseCov[0][5] = covQ2[0][2];
discProcessNoiseCov[1][0] = covQ1[1][0];
discProcessNoiseCov[1][1] = covQ1[1][1];
discProcessNoiseCov[1][2] = covQ1[1][2];
discProcessNoiseCov[1][3] = covQ2[1][0];
discProcessNoiseCov[1][4] = covQ2[1][1];
discProcessNoiseCov[1][5] = covQ2[1][2];
discProcessNoiseCov[2][0] = covQ1[2][0];
discProcessNoiseCov[2][1] = covQ1[2][1];
discProcessNoiseCov[2][2] = covQ1[2][2];
discProcessNoiseCov[2][3] = covQ2[2][0];
discProcessNoiseCov[2][4] = covQ2[2][1];
discProcessNoiseCov[2][5] = covQ2[2][2];
discProcessNoiseCov[3][0] = covQ2[0][0];
discProcessNoiseCov[3][1] = covQ2[0][1];
discProcessNoiseCov[3][2] = covQ2[0][2];
discProcessNoiseCov[3][3] = covQ3[0][0];
discProcessNoiseCov[3][4] = covQ3[0][1];
discProcessNoiseCov[3][5] = covQ3[0][2];
discProcessNoiseCov[4][0] = covQ2[1][0];
discProcessNoiseCov[4][1] = covQ2[1][1];
discProcessNoiseCov[4][2] = covQ2[1][2];
discProcessNoiseCov[4][3] = covQ3[1][0];
discProcessNoiseCov[4][4] = covQ3[1][1];
discProcessNoiseCov[4][5] = covQ3[1][2];
discProcessNoiseCov[5][0] = covQ2[2][0];
discProcessNoiseCov[5][1] = covQ2[2][1];
discProcessNoiseCov[5][2] = covQ2[2][2];
discProcessNoiseCov[5][3] = covQ3[2][0];
discProcessNoiseCov[5][4] = covQ3[2][1];
discProcessNoiseCov[5][5] = covQ3[2][2];
double covQ11_0[3][3], covQ11_1[3][3], covQ11_2[3][3], covQ11_12[3][3];
double fact11_0 = pow(sigmaV, 2) * sampleTime;
MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact11_0, *covQ11_0, 3, 3);
double fact11_1 = 1. / 3. * pow(sampleTime, 3);
MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact11_1, *covQ11_1, 3, 3);
double fact11_2 = (2 * normRotEst * sampleTime - 2 * sin(normRotEst * sampleTime) -
1. / 3. * pow(normRotEst, 3) * pow(sampleTime, 3)) /
pow(normRotEst, 5);
MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *covQ11_2, 3, 3, 3);
MatrixOperations<double>::multiplyScalar(*covQ11_2, fact11_2, *covQ11_2, 3, 3);
MatrixOperations<double>::subtract(*covQ11_1, *covQ11_2, *covQ11_12, 3, 3);
MatrixOperations<double>::multiplyScalar(*covQ11_12, pow(sigmaU, 2), *covQ11_12, 3, 3);
MatrixOperations<double>::add(*covQ11_0, *covQ11_12, *covQ11, 3, 3);
}
discProcessNoiseCov[0][0] = covQ11[0][0];
discProcessNoiseCov[0][1] = covQ11[0][1];
discProcessNoiseCov[0][2] = covQ11[0][2];
discProcessNoiseCov[0][3] = covQ12[0][0];
discProcessNoiseCov[0][4] = covQ12[0][1];
discProcessNoiseCov[0][5] = covQ12[0][2];
discProcessNoiseCov[1][0] = covQ11[1][0];
discProcessNoiseCov[1][1] = covQ11[1][1];
discProcessNoiseCov[1][2] = covQ11[1][2];
discProcessNoiseCov[1][3] = covQ12[1][0];
discProcessNoiseCov[1][4] = covQ12[1][1];
discProcessNoiseCov[1][5] = covQ12[1][2];
discProcessNoiseCov[2][0] = covQ11[2][0];
discProcessNoiseCov[2][1] = covQ11[2][1];
discProcessNoiseCov[2][2] = covQ11[2][2];
discProcessNoiseCov[2][3] = covQ12[2][0];
discProcessNoiseCov[2][4] = covQ12[2][1];
discProcessNoiseCov[2][5] = covQ12[2][2];
discProcessNoiseCov[3][0] = covQ12trans[0][0];
discProcessNoiseCov[3][1] = covQ12trans[0][1];
discProcessNoiseCov[3][2] = covQ12trans[0][2];
discProcessNoiseCov[3][3] = covQ22[0][0];
discProcessNoiseCov[3][4] = covQ22[0][1];
discProcessNoiseCov[3][5] = covQ22[0][2];
discProcessNoiseCov[4][0] = covQ12trans[1][0];
discProcessNoiseCov[4][1] = covQ12trans[1][1];
discProcessNoiseCov[4][2] = covQ12trans[1][2];
discProcessNoiseCov[4][3] = covQ22[1][0];
discProcessNoiseCov[4][4] = covQ22[1][1];
discProcessNoiseCov[4][5] = covQ22[1][2];
discProcessNoiseCov[5][0] = covQ12trans[2][0];
discProcessNoiseCov[5][1] = covQ12trans[2][1];
discProcessNoiseCov[5][2] = covQ12trans[2][2];
discProcessNoiseCov[5][3] = covQ22[2][0];
discProcessNoiseCov[5][4] = covQ22[2][1];
discProcessNoiseCov[5][5] = covQ22[2][2];
// State Transition Matrix phi
double phi1[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
phi2[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
double phi11[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
phi12[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
phi[6][6] = {{0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0},
{0, 0, 0, 1, 0, 0}, {0, 0, 0, 0, 1, 0}, {0, 0, 0, 0, 0, 1}};
double phi11[3][3], phi12[3][3];
double fact1 = sin(normRotEst * sampleTime);
MatrixOperations<double>::multiplyScalar(*crossRotEst, fact1, *phi11, 3, 3);
double fact2 = (1 - cos(normRotEst * sampleTime)) / pow(normRotEst, 2);
MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *phi12, 3, 3, 3);
MatrixOperations<double>::multiplyScalar(*phi12, fact2, *phi12, 3, 3);
MatrixOperations<double>::subtract(*identityMatrix3, *phi11, *phi11, 3, 3);
MatrixOperations<double>::add(*phi11, *phi12, *phi1, 3, 3);
double phi11_1[3][3], phi11_2[3][3], phi11_01[3][3];
double fact11_1 = sin(normRotEst * sampleTime) / normRotEst;
MatrixOperations<double>::multiplyScalar(*crossRotEst, fact11_1, *phi11_1, 3, 3);
double fact11_2 = (1 - cos(normRotEst * sampleTime)) / pow(normRotEst, 2);
MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *phi11_2, 3, 3, 3);
MatrixOperations<double>::multiplyScalar(*phi11_2, fact11_2, *phi11_2, 3, 3);
MatrixOperations<double>::subtract(*identityMatrix3, *phi11_1, *phi11_01, 3, 3);
MatrixOperations<double>::add(*phi11_01, *phi11_2, *phi11, 3, 3);
double phi21[3][3], phi22[3][3];
MatrixOperations<double>::multiplyScalar(*crossRotEst, fact2, *phi21, 3, 3);
MatrixOperations<double>::multiplyScalar(*identityMatrix3, sampleTime, *phi22, 3, 3);
MatrixOperations<double>::subtract(*phi21, *phi22, *phi21, 3, 3);
double fact3 = (normRotEst * sampleTime - sin(normRotEst * sampleTime) / pow(normRotEst, 3));
MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *phi22, 3, 3, 3);
MatrixOperations<double>::multiplyScalar(*phi22, fact3, *phi22, 3, 3);
MatrixOperations<double>::subtract(*phi21, *phi22, *phi2, 3, 3);
double phi12_0[3][3], phi12_1[3][3], phi12_2[3][3], phi12_01[3][3];
double fact12_0 = fact11_2;
MatrixOperations<double>::multiplyScalar(*crossRotEst, fact12_0, *phi12_0, 3, 3);
MatrixOperations<double>::multiplyScalar(*identityMatrix3, sampleTime, *phi12_1, 3, 3);
double fact12_2 = (normRotEst * sampleTime - sin(normRotEst * sampleTime) / pow(normRotEst, 3));
MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *phi12_2, 3, 3, 3);
MatrixOperations<double>::multiplyScalar(*phi12_2, fact12_2, *phi12_2, 3, 3);
MatrixOperations<double>::subtract(*phi12_0, *phi12_1, *phi12_01, 3, 3);
MatrixOperations<double>::subtract(*phi12_01, *phi12_2, *phi12, 3, 3);
phi[0][0] = phi1[0][0];
phi[0][1] = phi1[0][1];
phi[0][2] = phi1[0][2];
phi[0][3] = phi2[0][0];
phi[0][4] = phi2[0][1];
phi[0][5] = phi2[0][2];
phi[1][0] = phi1[1][0];
phi[1][1] = phi1[1][1];
phi[1][2] = phi1[1][2];
phi[1][3] = phi2[1][0];
phi[1][4] = phi2[1][1];
phi[1][5] = phi2[1][2];
phi[2][0] = phi1[2][0];
phi[2][1] = phi1[2][1];
phi[2][2] = phi1[2][2];
phi[2][3] = phi2[2][0];
phi[2][4] = phi2[2][1];
phi[2][5] = phi2[2][2];
phi[0][0] = phi11[0][0];
phi[0][1] = phi11[0][1];
phi[0][2] = phi11[0][2];
phi[0][3] = phi12[0][0];
phi[0][4] = phi12[0][1];
phi[0][5] = phi12[0][2];
phi[1][0] = phi11[1][0];
phi[1][1] = phi11[1][1];
phi[1][2] = phi11[1][2];
phi[1][3] = phi12[1][0];
phi[1][4] = phi12[1][1];
phi[1][5] = phi12[1][2];
phi[2][0] = phi11[2][0];
phi[2][1] = phi11[2][1];
phi[2][2] = phi11[2][2];
phi[2][3] = phi12[2][0];
phi[2][4] = phi12[2][1];
phi[2][5] = phi12[2][2];
// Propagated Quaternion
double rotSin[3] = {0, 0, 0}, omega1[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double rotSin[3] = {0, 0, 0}, rotCosMat[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double rotCos = cos(0.5 * normRotEst * sampleTime);
double sinFac = sin(0.5 * normRotEst * sampleTime) / normRotEst;
VectorOperations<double>::mulScalar(rotRateEst, sinFac, rotSin, 3);
@ -1148,25 +1101,26 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
double skewSin[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::skewMatrix(rotSin, *skewSin);
MatrixOperations<double>::multiplyScalar(*identityMatrix3, rotCos, *omega1, 3, 3);
MatrixOperations<double>::subtract(*omega1, *skewSin, *omega1, 3, 3);
double omega[4][4] = {{omega1[0][0], omega1[0][1], omega1[0][2], rotSin[0]},
{omega1[1][0], omega1[1][1], omega1[1][2], rotSin[1]},
{omega1[2][0], omega1[2][1], omega1[2][2], rotSin[2]},
MatrixOperations<double>::multiplyScalar(*identityMatrix3, rotCos, *rotCosMat, 3, 3);
double subMatUL[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MatrixOperations<double>::subtract(*rotCosMat, *skewSin, *subMatUL, 3, 3);
double omega[4][4] = {{subMatUL[0][0], subMatUL[0][1], subMatUL[0][2], rotSin[0]},
{subMatUL[1][0], subMatUL[1][1], subMatUL[1][2], rotSin[1]},
{subMatUL[2][0], subMatUL[2][1], subMatUL[2][2], rotSin[2]},
{-rotSin[0], -rotSin[1], -rotSin[2], rotCos}};
MatrixOperations<double>::multiply(*omega, quatBJ, propagatedQuaternion, 4, 4, 1);
// Update Covariance Matrix
double cov1[6][6], cov2[6][6], transDiscTimeMatrix[6][6], transPhi[6][6];
double cov0[6][6], cov1[6][6], transPhi[6][6], transDiscTimeMatrix[6][6];
MatrixOperations<double>::transpose(*phi, *transPhi, 6);
MatrixOperations<double>::multiply(*covMatPlus, *transPhi, *cov0, 6, 6, 6);
MatrixOperations<double>::multiply(*phi, *cov0, *cov0, 6, 6, 6);
MatrixOperations<double>::transpose(*discTimeMatrix, *transDiscTimeMatrix, 6);
MatrixOperations<double>::multiply(*discProcessNoiseCov, *transDiscTimeMatrix, *cov1, 6, 6, 6);
MatrixOperations<double>::multiply(*discTimeMatrix, *cov1, *cov1, 6, 6, 6);
MatrixOperations<double>::transpose(*phi, *transPhi, 6);
MatrixOperations<double>::multiply(*covMatPlus, *transPhi, *cov2, 6, 6, 6);
MatrixOperations<double>::multiply(*phi, *cov2, *cov2, 6, 6, 6);
MatrixOperations<double>::add(*cov2, *cov1, *initialCovarianceMatrix, 6, 6);
MatrixOperations<double>::add(*cov0, *cov1, *initialCovarianceMatrix, 6, 6);
validMekf = true;
// Discrete Time Step

17
mission/controller/acs/MultiplicativeKalmanFilter.h
View File

@ -20,7 +20,7 @@
#include "../controllerdefinitions/AcsCtrlDefinitions.h"
#include "AcsParameters.h"
#include "config/classIds.h"
#include "eive/resultClassIds.h"
class MultiplicativeKalmanFilter {
public:
@ -61,17 +61,13 @@ class MultiplicativeKalmanFilter {
const bool validGYRs_, const double *magneticField_,
const bool validMagField_, const double *sunDir_, const bool validSS,
const double *sunDirJ, const bool validSSModel, const double *magFieldJ,
const bool validMagModel, acsctrl::MekfData *mekfData);
const bool validMagModel, double sampleTime, acsctrl::MekfData *mekfData);
// Declaration of Events (like init) and memberships
// static const uint8_t INTERFACE_ID = CLASS_ID::MEKF; //CLASS IDS ND
// (/config/returnvalues/classIDs.h) static const Event RESET =
// MAKE_EVENT(1,severity::INFO);//typedef uint32_t Event (Event.h), should be
// resetting Mekf
static const uint8_t INTERFACE_ID = CLASS_ID::KALMAN;
static const ReturnValue_t KALMAN_NO_GYR_MEAS = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t KALMAN_NO_MODEL = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t KALMAN_INVERSION_FAILED = MAKE_RETURN_CODE(0x03);
static constexpr uint8_t IF_KAL_ID = CLASS_ID::ACS_KALMAN;
static constexpr ReturnValue_t KALMAN_NO_GYR_MEAS = returnvalue::makeCode(IF_KAL_ID, 1);
static constexpr ReturnValue_t KALMAN_NO_MODEL = returnvalue::makeCode(IF_KAL_ID, 2);
static constexpr ReturnValue_t KALMAN_INVERSION_FAILED = returnvalue::makeCode(IF_KAL_ID, 3);
private:
/*Parameters*/
@ -79,7 +75,6 @@ class MultiplicativeKalmanFilter {
AcsParameters::KalmanFilterParameters *kalmanFilterParameters;
double quaternion_STR_SB[4];
bool validInit;
double sampleTime = 0.1;
/*States*/
double initialQuaternion[4]; /*after reset?QUEST*/

2
mission/controller/acs/Navigation.cpp
View File

@ -39,7 +39,7 @@ void Navigation::useMekf(ACS::SensorValues *sensorValues,
mgmDataProcessed->mgmVecTot.isValid(), susDataProcessed->susVecTot.value,
susDataProcessed->susVecTot.isValid(), susDataProcessed->sunIjkModel.value,
susDataProcessed->sunIjkModel.isValid(), mgmDataProcessed->magIgrfModel.value,
mgmDataProcessed->magIgrfModel.isValid(),
mgmDataProcessed->magIgrfModel.isValid(), acsParameters.onBoardParams.sampleTime,
mekfData); // VALIDS FOR QUAT AND RATE ??
} else {
multiplicativeKalmanFilter.init(

270
mission/controller/acs/SensorProcessing.cpp
View File

@ -1,3 +1,10 @@
/*
* SensorProcessing.cpp
*
* Created on: 7 Mar 2022
* Author: Robin Marquardt
*/
#include "SensorProcessing.h"
#include <fsfw/datapool/PoolReadGuard.h>
@ -14,8 +21,7 @@
using namespace Math;
SensorProcessing::SensorProcessing(AcsParameters *acsParameters_)
: savedMgmVecTot{0, 0, 0}, validMagField(false), validGcLatitude(false) {}
SensorProcessing::SensorProcessing(AcsParameters *acsParameters_) {}
SensorProcessing::~SensorProcessing() {}
@ -27,19 +33,35 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
acsctrl::GpsDataProcessed *gpsDataProcessed,
const double gpsAltitude, bool gpsValid,
acsctrl::MgmDataProcessed *mgmDataProcessed) {
// ---------------- IGRF- 13 Implementation here ------------------------------------------------
double magIgrfModel[3] = {0.0, 0.0, 0.0};
if (gpsValid) {
// Should be existing class object which will be called and modified here.
Igrf13Model igrf13;
// So the line above should not be done here. Update: Can be done here as long updated coffs
// stored in acsParameters ?
igrf13.schmidtNormalization();
igrf13.updateCoeffGH(timeOfMgmMeasurement);
// maybe put a condition here, to only update after a full day, this
// class function has around 700 steps to perform
igrf13.magFieldComp(gpsDataProcessed->gdLongitude.value, gpsDataProcessed->gcLatitude.value,
gpsAltitude, timeOfMgmMeasurement, magIgrfModel);
}
if (!mgm0valid && !mgm1valid && !mgm2valid && !mgm3valid && !mgm4valid) {
{
PoolReadGuard pg(mgmDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(mgmDataProcessed->mgm0vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm1vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm2vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm3vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm4vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgmVecTot.value, zeroVector, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, zeroVector, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->magIgrfModel.value, zeroVector, 3 * sizeof(double));
float zeroVec[3] = {0.0, 0.0, 0.0};
std::memcpy(mgmDataProcessed->mgm0vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm1vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm2vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm3vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm4vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgmVecTot.value, zeroVec, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, zeroVec, 3 * sizeof(float));
mgmDataProcessed->setValidity(false, true);
std::memcpy(mgmDataProcessed->magIgrfModel.value, magIgrfModel, 3 * sizeof(double));
mgmDataProcessed->magIgrfModel.setValid(gpsValid);
}
}
return;
@ -47,71 +69,72 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
float mgm0ValueNoBias[3] = {0, 0, 0}, mgm1ValueNoBias[3] = {0, 0, 0},
mgm2ValueNoBias[3] = {0, 0, 0}, mgm3ValueNoBias[3] = {0, 0, 0},
mgm4ValueNoBias[3] = {0, 0, 0};
float mgm0ValueCalib[3] = {0, 0, 0}, mgm1ValueCalib[3] = {0, 0, 0}, mgm2ValueCalib[3] = {0, 0, 0},
mgm3ValueCalib[3] = {0, 0, 0}, mgm4ValueCalib[3] = {0, 0, 0};
float mgm0ValueBody[3] = {0, 0, 0}, mgm1ValueBody[3] = {0, 0, 0}, mgm2ValueBody[3] = {0, 0, 0},
mgm3ValueBody[3] = {0, 0, 0}, mgm4ValueBody[3] = {0, 0, 0};
float mgm0ValueCalib[3] = {0, 0, 0}, mgm1ValueCalib[3] = {0, 0, 0}, mgm2ValueCalib[3] = {0, 0, 0},
mgm3ValueCalib[3] = {0, 0, 0}, mgm4ValueCalib[3] = {0, 0, 0};
float sensorFusionNumerator[3] = {0, 0, 0}, sensorFusionDenominator[3] = {0, 0, 0};
if (mgm0valid) {
VectorOperations<float>::subtract(mgm0Value, mgmParameters->mgm0hardIronOffset, mgm0ValueNoBias,
3);
MatrixOperations<float>::multiply(mgmParameters->mgm0orientationMatrix[0], mgm0Value,
mgm0ValueBody, 3, 3, 1);
VectorOperations<float>::subtract(mgm0ValueBody, mgmParameters->mgm0hardIronOffset,
mgm0ValueNoBias, 3);
MatrixOperations<float>::multiply(mgmParameters->mgm0softIronInverse[0], mgm0ValueNoBias,
mgm0ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm0orientationMatrix[0], mgm0ValueCalib,
mgm0ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += mgm0ValueBody[i] / mgmParameters->mgm02variance[i];
sensorFusionNumerator[i] += mgm0ValueCalib[i] / mgmParameters->mgm02variance[i];
sensorFusionDenominator[i] += 1 / mgmParameters->mgm02variance[i];
}
}
if (mgm1valid) {
VectorOperations<float>::subtract(mgm1Value, mgmParameters->mgm1hardIronOffset, mgm1ValueNoBias,
3);
MatrixOperations<float>::multiply(mgmParameters->mgm1orientationMatrix[0], mgm1Value,
mgm1ValueBody, 3, 3, 1);
VectorOperations<float>::subtract(mgm1ValueBody, mgmParameters->mgm1hardIronOffset,
mgm1ValueNoBias, 3);
MatrixOperations<float>::multiply(mgmParameters->mgm1softIronInverse[0], mgm1ValueNoBias,
mgm1ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm1orientationMatrix[0], mgm1ValueCalib,
mgm1ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += mgm1ValueBody[i] / mgmParameters->mgm13variance[i];
sensorFusionNumerator[i] += mgm1ValueCalib[i] / mgmParameters->mgm13variance[i];
sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
}
}
if (mgm2valid) {
VectorOperations<float>::subtract(mgm2Value, mgmParameters->mgm2hardIronOffset, mgm2ValueNoBias,
3);
MatrixOperations<float>::multiply(mgmParameters->mgm2orientationMatrix[0], mgm2Value,
mgm2ValueBody, 3, 3, 1);
VectorOperations<float>::subtract(mgm2ValueBody, mgmParameters->mgm2hardIronOffset,
mgm2ValueNoBias, 3);
MatrixOperations<float>::multiply(mgmParameters->mgm2softIronInverse[0], mgm2ValueNoBias,
mgm2ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm2orientationMatrix[0], mgm2ValueCalib,
mgm2ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += mgm2ValueBody[i] / mgmParameters->mgm02variance[i];
sensorFusionNumerator[i] += mgm2ValueCalib[i] / mgmParameters->mgm02variance[i];
sensorFusionDenominator[i] += 1 / mgmParameters->mgm02variance[i];
}
}
if (mgm3valid) {
VectorOperations<float>::subtract(mgm3Value, mgmParameters->mgm3hardIronOffset, mgm3ValueNoBias,
3);
MatrixOperations<float>::multiply(mgmParameters->mgm3orientationMatrix[0], mgm3Value,
mgm3ValueBody, 3, 3, 1);
VectorOperations<float>::subtract(mgm3ValueBody, mgmParameters->mgm3hardIronOffset,
mgm3ValueNoBias, 3);
MatrixOperations<float>::multiply(mgmParameters->mgm3softIronInverse[0], mgm3ValueNoBias,
mgm3ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm3orientationMatrix[0], mgm3ValueCalib,
mgm3ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += mgm3ValueBody[i] / mgmParameters->mgm13variance[i];
sensorFusionNumerator[i] += mgm3ValueCalib[i] / mgmParameters->mgm13variance[i];
sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
}
}
if (mgm4valid) {
float mgm4ValueNT[3];
VectorOperations<float>::mulScalar(mgm4Value, 1e-3, mgm4ValueNT, 3); // uT to nT
VectorOperations<float>::subtract(mgm4ValueNT, mgmParameters->mgm4hardIronOffset,
float mgm4ValueUT[3];
VectorOperations<float>::mulScalar(mgm4Value, 1e-3, mgm4ValueUT, 3); // nT to uT
MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueUT,
mgm4ValueBody, 3, 3, 1);
VectorOperations<float>::subtract(mgm4ValueBody, mgmParameters->mgm4hardIronOffset,
mgm4ValueNoBias, 3);
MatrixOperations<float>::multiply(mgmParameters->mgm4softIronInverse[0], mgm4ValueNoBias,
mgm4ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueCalib,
mgm4ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += mgm4ValueBody[i] / mgmParameters->mgm4variance[i];
sensorFusionNumerator[i] += mgm4ValueCalib[i] / mgmParameters->mgm4variance[i];
sensorFusionDenominator[i] += 1 / mgmParameters->mgm4variance[i];
}
}
@ -128,35 +151,23 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
for (uint8_t i = 0; i < 3; i++) {
mgmVecTotDerivative[i] = (mgmVecTot[i] - savedMgmVecTot[i]) / timeDiff;
savedMgmVecTot[i] = mgmVecTot[i];
mgmVecTotDerivativeValid = true;
}
}
timeOfSavedMagFieldEst = timeOfMgmMeasurement;
// ---------------- IGRF- 13 Implementation here ------------------------------------------------
double magIgrfModel[3] = {0.0, 0.0, 0.0};
if (gpsValid) {
// Should be existing class object which will be called and modified here.
Igrf13Model igrf13;
// So the line above should not be done here. Update: Can be done here as long updated coffs
// stored in acsParameters ?
igrf13.updateCoeffGH(timeOfMgmMeasurement);
// maybe put a condition here, to only update after a full day, this
// class function has around 700 steps to perform
igrf13.magFieldComp(gpsDataProcessed->gdLongitude.value, gpsDataProcessed->gcLatitude.value,
gpsAltitude, timeOfMgmMeasurement, magIgrfModel);
}
{
PoolReadGuard pg(mgmDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(mgmDataProcessed->mgm0vec.value, mgm0ValueBody, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm0vec.value, mgm0ValueCalib, 3 * sizeof(float));
mgmDataProcessed->mgm0vec.setValid(mgm0valid);
std::memcpy(mgmDataProcessed->mgm1vec.value, mgm1ValueBody, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm1vec.value, mgm1ValueCalib, 3 * sizeof(float));
mgmDataProcessed->mgm1vec.setValid(mgm1valid);
std::memcpy(mgmDataProcessed->mgm2vec.value, mgm2ValueBody, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm2vec.value, mgm2ValueCalib, 3 * sizeof(float));
mgmDataProcessed->mgm2vec.setValid(mgm2valid);
std::memcpy(mgmDataProcessed->mgm3vec.value, mgm3ValueBody, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm3vec.value, mgm3ValueCalib, 3 * sizeof(float));
mgmDataProcessed->mgm3vec.setValid(mgm3valid);
std::memcpy(mgmDataProcessed->mgm4vec.value, mgm4ValueBody, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm4vec.value, mgm4ValueCalib, 3 * sizeof(float));
mgmDataProcessed->mgm4vec.setValid(mgm4valid);
std::memcpy(mgmDataProcessed->mgmVecTot.value, mgmVecTot, 3 * sizeof(double));
mgmDataProcessed->mgmVecTot.setValid(true);
@ -180,6 +191,25 @@ void SensorProcessing::processSus(
timeval timeOfSusMeasurement, const AcsParameters::SusHandlingParameters *susParameters,
const AcsParameters::SunModelParameters *sunModelParameters,
acsctrl::SusDataProcessed *susDataProcessed) {
/* -------- Sun Model Direction (IJK frame) ------- */
double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfSusMeasurement);
// Julean Centuries
double sunIjkModel[3] = {0.0, 0.0, 0.0};
double JC2000 = JD2000 / 36525.;
double meanLongitude =
sunModelParameters->omega_0 + (sunModelParameters->domega * JC2000) * PI / 180.;
double meanAnomaly = (sunModelParameters->m_0 + sunModelParameters->dm * JC2000) * PI / 180.;
double eclipticLongitude = meanLongitude + sunModelParameters->p1 * sin(meanAnomaly) +
sunModelParameters->p2 * sin(2 * meanAnomaly);
double epsilon = sunModelParameters->e - (sunModelParameters->e1) * JC2000;
sunIjkModel[0] = cos(eclipticLongitude);
sunIjkModel[1] = sin(eclipticLongitude) * cos(epsilon);
sunIjkModel[2] = sin(eclipticLongitude) * sin(epsilon);
if (sus0valid) {
sus0valid = susConverter.checkSunSensorData(sus0Value);
}
@ -222,22 +252,24 @@ void SensorProcessing::processSus(
{
PoolReadGuard pg(susDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataProcessed->sus0vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus1vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus2vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus3vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus4vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus5vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus6vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus7vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus8vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus9vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus10vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus11vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->susVecTot.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->susVecTotDerivative.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sunIjkModel.value, zeroVector, 3 * sizeof(double));
float zeroVec[3] = {0.0, 0.0, 0.0};
std::memcpy(susDataProcessed->sus0vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus1vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus2vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus3vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus4vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus5vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus6vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus7vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus8vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus9vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus10vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus11vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->susVecTot.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->susVecTotDerivative.value, zeroVec, 3 * sizeof(float));
susDataProcessed->setValidity(false, true);
std::memcpy(susDataProcessed->sunIjkModel.value, sunIjkModel, 3 * sizeof(double));
susDataProcessed->sunIjkModel.setValid(true);
}
}
return;
@ -256,16 +288,6 @@ void SensorProcessing::processSus(
susParameters->sus0coeffBeta),
sus0VecBody, 3, 3, 1);
}
{
PoolReadGuard pg(susDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataProcessed->sus0vec.value, sus0VecBody, 3 * sizeof(float));
susDataProcessed->sus0vec.setValid(sus0valid);
if (!sus0valid) {
std::memcpy(susDataProcessed->sus0vec.value, zeroVector, 3 * sizeof(float));
}
}
}
if (sus1valid) {
MatrixOperations<float>::multiply(
susParameters->sus1orientationMatrix[0],
@ -273,16 +295,6 @@ void SensorProcessing::processSus(
susParameters->sus1coeffBeta),
sus1VecBody, 3, 3, 1);
}
{
PoolReadGuard pg(susDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataProcessed->sus1vec.value, sus1VecBody, 3 * sizeof(float));
susDataProcessed->sus1vec.setValid(sus1valid);
if (!sus1valid) {
std::memcpy(susDataProcessed->sus1vec.value, zeroVector, 3 * sizeof(float));
}
}
}
if (sus2valid) {
MatrixOperations<float>::multiply(
susParameters->sus2orientationMatrix[0],
@ -387,30 +399,10 @@ void SensorProcessing::processSus(
for (uint8_t i = 0; i < 3; i++) {
susVecTotDerivative[i] = (susVecTot[i] - savedSusVecTot[i]) / timeDiff;
savedSusVecTot[i] = susVecTot[i];
susVecTotDerivativeValid = true;
}
}
timeOfSavedSusDirEst = timeOfSusMeasurement;
/* -------- Sun Model Direction (IJK frame) ------- */
// if (useSunModel) eventuell
double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfSusMeasurement);
// Julean Centuries
double sunIjkModel[3] = {0.0, 0.0, 0.0};
double JC2000 = JD2000 / 36525;
double meanLongitude =
(sunModelParameters->omega_0 + (sunModelParameters->domega) * JC2000) * PI / 180;
double meanAnomaly = (sunModelParameters->m_0 + sunModelParameters->dm * JC2000) * PI / 180.;
double eclipticLongitude = meanLongitude + sunModelParameters->p1 * sin(meanAnomaly) +
sunModelParameters->p2 * sin(2 * meanAnomaly);
double epsilon = sunModelParameters->e - (sunModelParameters->e1) * JC2000;
sunIjkModel[0] = cos(eclipticLongitude);
sunIjkModel[1] = sin(eclipticLongitude) * cos(epsilon);
sunIjkModel[2] = sin(eclipticLongitude) * sin(epsilon);
{
PoolReadGuard pg(susDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
@ -467,6 +459,7 @@ void SensorProcessing::processGyr(
{
PoolReadGuard pg(gyrDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
double zeroVector[3] = {0.0, 0.0, 0.0};
std::memcpy(gyrDataProcessed->gyr0vec.value, zeroVector, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr1vec.value, zeroVector, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr2vec.value, zeroVector, 3 * sizeof(double));
@ -486,6 +479,8 @@ void SensorProcessing::processGyr(
const double gyr0Value[3] = {gyr0axXvalue, gyr0axYvalue, gyr0axZvalue};
MatrixOperations<double>::multiply(gyrParameters->gyr0orientationMatrix[0], gyr0Value,
gyr0ValueBody, 3, 3, 1);
VectorOperations<double>::subtract(gyr0ValueBody, gyrParameters->gyr0bias, gyr0ValueBody, 3);
VectorOperations<double>::mulScalar(gyr0ValueBody, M_PI / 180, gyr0ValueBody, 3);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += gyr0ValueBody[i] / gyrParameters->gyr02variance[i];
sensorFusionDenominator[i] += 1 / gyrParameters->gyr02variance[i];
@ -495,6 +490,8 @@ void SensorProcessing::processGyr(
const double gyr1Value[3] = {gyr1axXvalue, gyr1axYvalue, gyr1axZvalue};
MatrixOperations<double>::multiply(gyrParameters->gyr1orientationMatrix[0], gyr1Value,
gyr1ValueBody, 3, 3, 1);
VectorOperations<double>::subtract(gyr1ValueBody, gyrParameters->gyr1bias, gyr1ValueBody, 3);
VectorOperations<double>::mulScalar(gyr1ValueBody, M_PI / 180, gyr1ValueBody, 3);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += gyr1ValueBody[i] / gyrParameters->gyr13variance[i];
sensorFusionDenominator[i] += 1 / gyrParameters->gyr13variance[i];
@ -504,6 +501,8 @@ void SensorProcessing::processGyr(
const double gyr2Value[3] = {gyr2axXvalue, gyr2axYvalue, gyr2axZvalue};
MatrixOperations<double>::multiply(gyrParameters->gyr2orientationMatrix[0], gyr2Value,
gyr2ValueBody, 3, 3, 1);
VectorOperations<double>::subtract(gyr2ValueBody, gyrParameters->gyr2bias, gyr2ValueBody, 3);
VectorOperations<double>::mulScalar(gyr2ValueBody, M_PI / 180, gyr2ValueBody, 3);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += gyr2ValueBody[i] / gyrParameters->gyr02variance[i];
sensorFusionDenominator[i] += 1 / gyrParameters->gyr02variance[i];
@ -513,6 +512,8 @@ void SensorProcessing::processGyr(
const double gyr3Value[3] = {gyr3axXvalue, gyr3axYvalue, gyr3axZvalue};
MatrixOperations<double>::multiply(gyrParameters->gyr3orientationMatrix[0], gyr3Value,
gyr3ValueBody, 3, 3, 1);
VectorOperations<double>::subtract(gyr3ValueBody, gyrParameters->gyr3bias, gyr3ValueBody, 3);
VectorOperations<double>::mulScalar(gyr3ValueBody, M_PI / 180, gyr3ValueBody, 3);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += gyr3ValueBody[i] / gyrParameters->gyr13variance[i];
sensorFusionDenominator[i] += 1 / gyrParameters->gyr13variance[i];
@ -523,7 +524,7 @@ void SensorProcessing::processGyr(
// take ADIS measurements, if both avail
// if just one ADIS measurement avail, perform sensor fusion
double gyrVecTot[3] = {0.0, 0.0, 0.0};
if ((gyr0valid && gyr2valid) && gyrParameters->preferAdis == gyrParameters->PreferAdis::YES) {
if ((gyr0valid && gyr2valid) && gyrParameters->preferAdis == true) {
double gyr02ValuesSum[3];
VectorOperations<double>::add(gyr0ValueBody, gyr2ValueBody, gyr02ValuesSum, 3);
VectorOperations<double>::mulScalar(gyr02ValuesSum, .5, gyrVecTot, 3);
@ -550,30 +551,45 @@ void SensorProcessing::processGyr(
}
}
void SensorProcessing::processGps(const double gps0latitude, const double gps0longitude,
void SensorProcessing::processGps(const double gpsLatitude, const double gpsLongitude,
const double gpsAltitude, const double gpsUnixSeconds,
const bool validGps,
const AcsParameters::GpsParameters *gpsParameters,
acsctrl::GpsDataProcessed *gpsDataProcessed) {
// name to convert not process
double gdLongitude, gcLatitude;
double gdLongitude = 0, gcLatitude = 0, posSatE[3] = {0, 0, 0}, gpsVelocityE[3] = {0, 0, 0};
if (validGps) {
// Transforming from Degree to Radians and calculation geocentric lattitude from geodetic
gdLongitude = gps0longitude * PI / 180;
double latitudeRad = gps0latitude * PI / 180;
gdLongitude = gpsLongitude * PI / 180.;
double latitudeRad = gpsLatitude * PI / 180.;
double eccentricityWgs84 = 0.0818195;
double factor = 1 - pow(eccentricityWgs84, 2);
gcLatitude = atan(factor * tan(latitudeRad));
// validGcLatitude = true;
// Calculation of the satellite velocity in earth fixed frame
double posSatE[3] = {0, 0, 0}, deltaDistance[3] = {0, 0, 0}, gpsVelocityE[3] = {0, 0, 0};
MathOperations<double>::cartesianFromLatLongAlt(latitudeRad, gdLongitude, gpsAltitude, posSatE);
if (validSavedPosSatE &&
(gpsUnixSeconds - timeOfSavedPosSatE) < (gpsParameters->timeDiffVelocityMax)) {
VectorOperations<double>::subtract(posSatE, savedPosSatE, deltaDistance, 3);
double timeDiffGpsMeas = gpsUnixSeconds - timeOfSavedPosSatE;
VectorOperations<double>::mulScalar(deltaDistance, 1. / timeDiffGpsMeas, gpsVelocityE, 3);
}
savedPosSatE[0] = posSatE[0];
savedPosSatE[1] = posSatE[1];
savedPosSatE[2] = posSatE[2];
timeOfSavedPosSatE = gpsUnixSeconds;
validSavedPosSatE = true;
}
{
PoolReadGuard pg(gpsDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
gpsDataProcessed->gdLongitude.value = gdLongitude;
gpsDataProcessed->gcLatitude.value = gcLatitude;
gpsDataProcessed->setValidity(validGps, validGps);
if (!validGps) {
gpsDataProcessed->gdLongitude.value = 0.0;
gpsDataProcessed->gcLatitude.value = 0.0;
}
std::memcpy(gpsDataProcessed->gpsPosition.value, posSatE, 3 * sizeof(double));
std::memcpy(gpsDataProcessed->gpsVelocity.value, gpsVelocityE, 3 * sizeof(double));
gpsDataProcessed->setValidity(validGps, true);
}
}
}
@ -585,10 +601,12 @@ void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues,
acsctrl::GpsDataProcessed *gpsDataProcessed,
const AcsParameters *acsParameters) {
sensorValues->update();
processGps(sensorValues->gpsSet.latitude.value, sensorValues->gpsSet.longitude.value,
processGps(
sensorValues->gpsSet.latitude.value, sensorValues->gpsSet.longitude.value,
sensorValues->gpsSet.altitude.value, sensorValues->gpsSet.unixSeconds.value,
(sensorValues->gpsSet.latitude.isValid() && sensorValues->gpsSet.longitude.isValid() &&
sensorValues->gpsSet.altitude.isValid()),
gpsDataProcessed);
sensorValues->gpsSet.altitude.isValid() && sensorValues->gpsSet.unixSeconds.isValid()),
&acsParameters->gpsParameters, gpsDataProcessed);
processMgm(sensorValues->mgm0Lis3Set.fieldStrengths.value,
sensorValues->mgm0Lis3Set.fieldStrengths.isValid(),

19
mission/controller/acs/SensorProcessing.h
View File

@ -1,5 +1,5 @@
/*******************************
* EIVE Flight Software Framework (FSFW)
* EIVE Flight Software
* (c) 2022 IRS, Uni Stuttgart
*******************************/
#ifndef SENSORPROCESSING_H_
@ -13,7 +13,7 @@
#include "AcsParameters.h"
#include "SensorValues.h"
#include "SusConverter.h"
#include "config/classIds.h"
#include "eive/resultClassIds.h"
class SensorProcessing {
public:
@ -65,17 +65,20 @@ class SensorProcessing {
void processStr();
void processGps(const double gps0latitude, const double gps0longitude, const bool validGps,
void processGps(const double gpsLatitude, const double gpsLongitude, const double gpsAltitude,
const double gpsUnixSeconds, const bool validGps,
const AcsParameters::GpsParameters *gpsParameters,
acsctrl::GpsDataProcessed *gpsDataProcessed);
double savedMgmVecTot[3];
double savedMgmVecTot[3] = {0.0, 0.0, 0.0};
timeval timeOfSavedMagFieldEst;
double savedSusVecTot[3];
double savedSusVecTot[3] = {0.0, 0.0, 0.0};
timeval timeOfSavedSusDirEst;
bool validMagField;
bool validGcLatitude;
bool validMagField = false;
const float zeroVector[3] = {0.0, 0.0, 0.0};
double savedPosSatE[3] = {0.0, 0.0, 0.0};
double timeOfSavedPosSatE = 0.0;
bool validSavedPosSatE = false;
SusConverter susConverter;
AcsParameters acsParameters;

117
mission/controller/acs/SensorValues.cpp
View File

@ -20,61 +20,112 @@ SensorValues::SensorValues() {}
SensorValues::~SensorValues() {}
ReturnValue_t SensorValues::updateMgm() {
ReturnValue_t result;
PoolReadGuard pgMgm0(&mgm0Lis3Set), pgMgm1(&mgm1Rm3100Set), pgMgm2(&mgm2Lis3Set),
pgMgm3(&mgm3Rm3100Set), pgImtq(&imtqMgmSet);
std::vector<ReturnValue_t> results;
result = (pgMgm0.getReadResult() || pgMgm1.getReadResult() || pgMgm2.getReadResult() ||
pgMgm3.getReadResult() || pgImtq.getReadResult());
{
PoolReadGuard pgMgm(&mgm0Lis3Set);
results.push_back(pgMgm.getReadResult());
}
{
PoolReadGuard pgMgm(&mgm1Rm3100Set);
results.push_back(pgMgm.getReadResult());
}
{
PoolReadGuard pgMgm(&mgm2Lis3Set);
results.push_back(pgMgm.getReadResult());
}
{
PoolReadGuard pgMgm(&mgm3Rm3100Set);
results.push_back(pgMgm.getReadResult());
}
{
PoolReadGuard pgMgm(&imtqMgmSet);
results.push_back(pgMgm.getReadResult());
}
for (const auto& result : results) {
if (result != returnvalue::OK) {
return result;
}
}
return returnvalue::OK;
}
ReturnValue_t SensorValues::updateSus() {
ReturnValue_t result;
PoolReadGuard pgSus0(&susSets[0]), pgSus1(&susSets[1]), pgSus2(&susSets[2]), pgSus3(&susSets[3]),
pgSus4(&susSets[4]), pgSus5(&susSets[5]), pgSus6(&susSets[6]), pgSus7(&susSets[7]),
pgSus8(&susSets[8]), pgSus9(&susSets[9]), pgSus10(&susSets[10]), pgSus11(&susSets[11]);
result = (pgSus0.getReadResult() || pgSus1.getReadResult() || pgSus2.getReadResult() ||
pgSus3.getReadResult() || pgSus4.getReadResult() || pgSus5.getReadResult() ||
pgSus6.getReadResult() || pgSus7.getReadResult() || pgSus8.getReadResult() ||
pgSus9.getReadResult() || pgSus10.getReadResult() || pgSus11.getReadResult());
std::vector<ReturnValue_t> results;
for (auto& susSet : susSets) {
{
PoolReadGuard pgSus(&susSet);
results.push_back(pgSus.getReadResult());
}
}
for (const auto& result : results) {
if (result != returnvalue::OK) {
return result;
}
}
return returnvalue::OK;
}
ReturnValue_t SensorValues::updateGyr() {
ReturnValue_t result;
PoolReadGuard pgGyr0(&gyr0AdisSet), pgGyr1(&gyr1L3gSet), pgGyr2(&gyr2AdisSet),
pgGyr3(&gyr3L3gSet);
result = (pgGyr0.getReadResult() || pgGyr1.getReadResult() || pgGyr2.getReadResult() ||
pgGyr3.getReadResult());
std::vector<ReturnValue_t> results;
{
PoolReadGuard pgGyr(&gyr0AdisSet);
results.push_back(pgGyr.getReadResult());
}
{
PoolReadGuard pgGyr(&gyr1L3gSet);
results.push_back(pgGyr.getReadResult());
}
{
PoolReadGuard pgGyr(&gyr2AdisSet);
results.push_back(pgGyr.getReadResult());
}
{
PoolReadGuard pgGyr(&gyr3L3gSet);
results.push_back(pgGyr.getReadResult());
}
for (const auto& result : results) {
if (result != returnvalue::OK) {
return result;
}
}
return returnvalue::OK;
}
ReturnValue_t SensorValues::updateStr() {
ReturnValue_t result;
PoolReadGuard pgStr(&strSet);
result = pgStr.getReadResult();
return result;
return pgStr.getReadResult();
}
ReturnValue_t SensorValues::updateGps() {
ReturnValue_t result;
PoolReadGuard pgGps(&gpsSet);
result = pgGps.getReadResult();
return result;
return pgGps.getReadResult();
}
ReturnValue_t SensorValues::updateRw() {
ReturnValue_t result;
PoolReadGuard pgRw1(&rw1Set), pgRw2(&rw2Set), pgRw3(&rw3Set), pgRw4(&rw4Set);
result = (pgRw1.getReadResult() || pgRw2.getReadResult() || pgRw3.getReadResult() ||
pgRw4.getReadResult());
std::vector<ReturnValue_t> results;
{
PoolReadGuard pgRw(&rw1Set);
results.push_back(pgRw.getReadResult());
}
{
PoolReadGuard pgRw(&rw2Set);
results.push_back(pgRw.getReadResult());
}
{
PoolReadGuard pgRw(&rw3Set);
results.push_back(pgRw.getReadResult());
}
{
PoolReadGuard pgRw(&rw4Set);
results.push_back(pgRw.getReadResult());
}
for (const auto& result : results) {
if (result != returnvalue::OK) {
return result;
}
}
return returnvalue::OK;
}
ReturnValue_t SensorValues::update() {

2
mission/controller/acs/SensorValues.h
View File

@ -1,12 +1,12 @@
#ifndef SENSORVALUES_H_
#define SENSORVALUES_H_
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
#include "mission/devices/devicedefinitions/GPSDefinitions.h"
#include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
#include "mission/devices/devicedefinitions/GyroL3GD20Definitions.h"
#include "mission/devices/devicedefinitions/RwDefinitions.h"
#include "mission/devices/devicedefinitions/SusDefinitions.h"
#include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"

18
mission/controller/acs/config/classIds.h
View File

@ -1,18 +0,0 @@
#ifndef ACS_CONFIG_CLASSIDS_H_
#define ACS_CONFIG_CLASSIDS_H_
#include <common/config/eive/resultClassIds.h>
#include <fsfw/returnvalues/FwClassIds.h>
namespace CLASS_ID {
enum eiveclassIds : uint8_t {
EIVE_CLASS_ID_START = COMMON_CLASS_ID_END,
KALMAN,
SAFE,
PTG,
DETUMBLE,
EIVE_CLASS_ID_END // [EXPORT] : [END]
};
}
#endif /* ACS_CONFIG_CLASSIDS_H_ */

16
mission/controller/acs/control/Detumble.cpp
View File

@ -22,7 +22,7 @@ Detumble::Detumble(AcsParameters *acsParameters_) { loadAcsParameters(acsParamet
Detumble::~Detumble() {}
void Detumble::loadAcsParameters(AcsParameters *acsParameters_) {
detumbleCtrlParameters = &(acsParameters_->detumbleCtrlParameters);
detumbleParameter = &(acsParameters_->detumbleParameter);
magnetorquesParameter = &(acsParameters_->magnetorquesParameter);
}
@ -31,7 +31,7 @@ ReturnValue_t Detumble::bDotLaw(const double *magRate, const bool magRateValid,
if (!magRateValid || !magFieldValid) {
return DETUMBLE_NO_SENSORDATA;
}
double gain = detumbleCtrlParameters->gainD;
double gain = detumbleParameter->gainD;
double factor = -gain / pow(VectorOperations<double>::norm(magField, 3), 2);
VectorOperations<double>::mulScalar(magRate, factor, magMom, 3);
return returnvalue::OK;
@ -50,3 +50,15 @@ ReturnValue_t Detumble::bangbangLaw(const double *magRate, const bool magRateVal
return returnvalue::OK;
}
ReturnValue_t Detumble::bDotLawGyro(const double *satRate, const bool *satRateValid,
const double *magField, const bool *magFieldValid,
double *magMom) {
if (!satRateValid || !magFieldValid) {
return DETUMBLE_NO_SENSORDATA;
}
double gain = detumbleParameter->gainD;
double factor = -gain / pow(VectorOperations<double>::norm(magField, 3), 2);
VectorOperations<double>::mulScalar(satRate, factor, magMom, 3);
return returnvalue::OK;
}

20
mission/controller/acs/control/Detumble.h
View File

@ -1,10 +1,3 @@
/*
* Detumble.h
*
* Created on: 17 Aug 2022
* Author: Robin Marquardt
*/
#ifndef ACS_CONTROL_DETUMBLE_H_
#define ACS_CONTROL_DETUMBLE_H_
@ -15,17 +8,17 @@
#include "../AcsParameters.h"
#include "../SensorValues.h"
#include "../config/classIds.h"
#include "eive/resultClassIds.h"
class Detumble {
public:
Detumble(AcsParameters *acsParameters_);
virtual ~Detumble();
static const uint8_t INTERFACE_ID = CLASS_ID::DETUMBLE;
static const uint8_t INTERFACE_ID = CLASS_ID::ACS_DETUMBLE;
static const ReturnValue_t DETUMBLE_NO_SENSORDATA = MAKE_RETURN_CODE(0x01);
/* @brief: Load AcsParameters für this class
/* @brief: Load AcsParameters for this class
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
void loadAcsParameters(AcsParameters *acsParameters_);
@ -35,8 +28,13 @@ class Detumble {
ReturnValue_t bangbangLaw(const double *magRate, const bool magRateValid, double *magMom);
ReturnValue_t bangbangLaw(const double *magRate, const bool *magRateValid, double *magMom);
ReturnValue_t bDotLawGyro(const double *satRate, const bool *satRateValid, const double *magField,
const bool *magFieldValid, double *magMom);
private:
AcsParameters::DetumbleCtrlParameters *detumbleCtrlParameters;
AcsParameters::DetumbleParameter *detumbleParameter;
AcsParameters::MagnetorquesParameter *magnetorquesParameter;
};

60
mission/controller/acs/control/PtgCtrl.cpp
View File

@ -21,21 +21,21 @@ PtgCtrl::PtgCtrl(AcsParameters *acsParameters_) { loadAcsParameters(acsParameter
PtgCtrl::~PtgCtrl() {}
void PtgCtrl::loadAcsParameters(AcsParameters *acsParameters_) {
pointingModeControllerParameters = &(acsParameters_->targetModeControllerParameters);
inertiaEIVE = &(acsParameters_->inertiaEIVE);
rwHandlingParameters = &(acsParameters_->rwHandlingParameters);
rwMatrices = &(acsParameters_->rwMatrices);
}
void PtgCtrl::ptgGroundstation(const double mode, const double *qError, const double *deltaRate,
const double *rwPseudoInv, double *torqueRws) {
void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters,
const double *qError, const double *deltaRate, const double *rwPseudoInv,
double *torqueRws) {
//------------------------------------------------------------------------------------------------
// Compute gain matrix K and P matrix
//------------------------------------------------------------------------------------------------
double om = pointingModeControllerParameters->om;
double zeta = pointingModeControllerParameters->zeta;
double qErrorMin = pointingModeControllerParameters->qiMin;
double omMax = pointingModeControllerParameters->omMax;
double om = pointingLawParameters->om;
double zeta = pointingLawParameters->zeta;
double qErrorMin = pointingLawParameters->qiMin;
double omMax = pointingLawParameters->omMax;
double cInt = 2 * om * zeta;
double kInt = 2 * pow(om, 2);
@ -104,12 +104,14 @@ void PtgCtrl::ptgGroundstation(const double mode, const double *qError, const do
double torque[3] = {0, 0, 0};
VectorOperations<double>::add(torqueRate, torqueQuat, torque, 3);
MatrixOperations<double>::multiply(rwPseudoInv, torque, torqueRws, 4, 3, 1);
VectorOperations<double>::mulScalar(torqueRws, -1, torqueRws, 4);
}
void PtgCtrl::ptgDesaturation(double *magFieldEst, bool magFieldEstValid, double *satRate,
void PtgCtrl::ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawParameters,
double *magFieldEst, bool magFieldEstValid, double *satRate,
int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2,
int32_t *speedRw3, double *mgtDpDes) {
if (!(magFieldEstValid) || !(pointingModeControllerParameters->desatOn)) {
if (!(magFieldEstValid) || !(pointingLawParameters->desatOn)) {
mgtDpDes[0] = 0;
mgtDpDes[1] = 0;
mgtDpDes[2] = 0;
@ -127,17 +129,18 @@ void PtgCtrl::ptgDesaturation(double *magFieldEst, bool magFieldEstValid, double
VectorOperations<double>::add(momentumSat, momentumRw, momentumTotal, 3);
// calculating momentum error
double deltaMomentum[3] = {0, 0, 0};
VectorOperations<double>::subtract(
momentumTotal, pointingModeControllerParameters->desatMomentumRef, deltaMomentum, 3);
VectorOperations<double>::subtract(momentumTotal, pointingLawParameters->desatMomentumRef,
deltaMomentum, 3);
// resulting magnetic dipole command
double crossMomentumMagField[3] = {0, 0, 0};
VectorOperations<double>::cross(deltaMomentum, magFieldEst, crossMomentumMagField);
double normMag = VectorOperations<double>::norm(magFieldEst, 3), factor = 0;
factor = (pointingModeControllerParameters->deSatGainFactor) / normMag;
factor = (pointingLawParameters->deSatGainFactor) / normMag;
VectorOperations<double>::mulScalar(crossMomentumMagField, factor, mgtDpDes, 3);
}
void PtgCtrl::ptgNullspace(const int32_t *speedRw0, const int32_t *speedRw1,
void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
const int32_t *speedRw0, const int32_t *speedRw1,
const int32_t *speedRw2, const int32_t *speedRw3, double *rwTrqNs) {
double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
double wheelMomentum[4] = {0, 0, 0, 0};
@ -149,7 +152,7 @@ void PtgCtrl::ptgNullspace(const int32_t *speedRw0, const int32_t *speedRw1,
VectorOperations<double>::subtract(speedRws, rpmOffset, diffRwSpeed, 4);
VectorOperations<double>::mulScalar(diffRwSpeed, rwHandlingParameters->inertiaWheel,
wheelMomentum, 4);
double gainNs = pointingModeControllerParameters->gainNullspace;
double gainNs = pointingLawParameters->gainNullspace;
double nullSpaceMatrix[4][4] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::vecTransposeVecMatrix(rwMatrices->nullspace, rwMatrices->nullspace,
*nullSpaceMatrix, 4);
@ -157,3 +160,32 @@ void PtgCtrl::ptgNullspace(const int32_t *speedRw0, const int32_t *speedRw1,
VectorOperations<double>::mulScalar(rwTrqNs, gainNs, rwTrqNs, 4);
VectorOperations<double>::mulScalar(rwTrqNs, -1, rwTrqNs, 4);
}
void PtgCtrl::rwAntistiction(const bool *rwAvailable, const int32_t *omegaRw,
double *torqueCommand) {
for (uint8_t i = 0; i < 4; i++) {
if (rwAvailable[i]) {
if (torqueMemory[i] != 0) {
if ((omegaRw[i] * torqueMemory[i]) > rwHandlingParameters->stictionReleaseSpeed) {
torqueMemory[i] = 0;
} else {
torqueCommand[i] = torqueMemory[i] * rwHandlingParameters->stictionTorque;
}
} else {
if ((omegaRw[i] < rwHandlingParameters->stictionSpeed) &&
(omegaRw[i] > -rwHandlingParameters->stictionSpeed)) {
if (omegaRw[i] < omegaMemory[i]) {
torqueMemory[i] = -1;
} else {
torqueMemory[i] = 1;
}
torqueCommand[i] = torqueMemory[i] * rwHandlingParameters->stictionTorque;
}
}
} else {
torqueMemory[i] = 0;
}
omegaMemory[i] = omegaRw[i];
}
}

27
mission/controller/acs/control/PtgCtrl.h
View File

@ -20,7 +20,7 @@
#include "../AcsParameters.h"
#include "../SensorValues.h"
#include "../config/classIds.h"
#include "eive/resultClassIds.h"
class PtgCtrl {
public:
@ -30,10 +30,10 @@ class PtgCtrl {
PtgCtrl(AcsParameters *acsParameters_);
virtual ~PtgCtrl();
static const uint8_t INTERFACE_ID = CLASS_ID::PTG;
static const uint8_t INTERFACE_ID = CLASS_ID::ACS_PTG;
static const ReturnValue_t PTGCTRL_MEKF_INPUT_INVALID = MAKE_RETURN_CODE(0x01);
/* @brief: Load AcsParameters für this class
/* @brief: Load AcsParameters for this class
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
void loadAcsParameters(AcsParameters *acsParameters_);
@ -41,21 +41,32 @@ class PtgCtrl {
/* @brief: Calculates the needed torque for the pointing control mechanism
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
void ptgGroundstation(const double mode, const double *qError, const double *deltaRate,
const double *rwPseudoInv, double *torqueRws);
void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError,
const double *deltaRate, const double *rwPseudoInv, double *torqueRws);
void ptgDesaturation(double *magFieldEst, bool magFieldEstValid, double *satRate,
void ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawParameters,
double *magFieldEst, bool magFieldEstValid, double *satRate,
int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2, int32_t *speedRw3,
double *mgtDpDes);
void ptgNullspace(const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
void ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
const int32_t *speedRw3, double *rwTrqNs);
/* @brief: Commands the stiction torque in case wheel speed is to low
* @param: rwAvailable Boolean Flag for all reaction wheels
* omegaRw current wheel speed of reaction wheels
* torqueCommand modified torque after antistiction
*/
void rwAntistiction(const bool *rwAvailable, const int32_t *omegaRw, double *torqueCommand);
private:
AcsParameters::PointingModeControllerParameters *pointingModeControllerParameters;
AcsParameters::RwHandlingParameters *rwHandlingParameters;
AcsParameters::InertiaEIVE *inertiaEIVE;
AcsParameters::RwMatrices *rwMatrices;
double torqueMemory[4] = {0, 0, 0, 0};
double omegaMemory[4] = {0, 0, 0, 0};
};
#endif /* ACS_CONTROL_PTGCTRL_H_ */

11
mission/controller/acs/control/SafeCtrl.cpp
View File

@ -87,7 +87,7 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
return returnvalue::OK;
}
// Will be the version in worst case scenario in event of no working MEKF (nor RMUs)
// Will be the version in worst case scenario in event of no working MEKF (nor GYRs)
void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
bool sunRateBValid, double *magFieldB, bool magFieldBValid,
double *magRateB, bool magRateBValid, double *sunDirRef,
@ -127,12 +127,9 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl
VectorOperations<double>::mulScalar(estSatRate, 0.5, estSatRate, 3);
/* Only valid if angle between sun direction and magnetic field direction
is sufficiently large */
double sinAngle = 0;
sinAngle = sin(acos(cos(cosAngleSunMag)));
if (!(sinAngle > sin(safeModeControllerParameters->sunMagAngleMin * M_PI / 180))) {
* is sufficiently large */
double angleSunMag = acos(cosAngleSunMag);
if (angleSunMag < safeModeControllerParameters->sunMagAngleMin) {
return;
}

11
mission/controller/acs/control/SafeCtrl.h
View File

@ -1,10 +1,3 @@
/*
* safeCtrl.h
*
* Created on: 19 Apr 2022
* Author: rooob
*/
#ifndef SAFECTRL_H_
#define SAFECTRL_H_
@ -14,14 +7,14 @@
#include "../AcsParameters.h"
#include "../SensorValues.h"
#include "../config/classIds.h"
#include "eive/resultClassIds.h"
class SafeCtrl {
public:
SafeCtrl(AcsParameters *acsParameters_);
virtual ~SafeCtrl();
static const uint8_t INTERFACE_ID = CLASS_ID::SAFE;
static const uint8_t INTERFACE_ID = CLASS_ID::ACS_SAFE;
static const ReturnValue_t SAFECTRL_MEKF_INPUT_INVALID = MAKE_RETURN_CODE(0x01);
void loadAcsParameters(AcsParameters *acsParameters_);

36
mission/controller/acs/util/MathOperations.h
View File

@ -96,8 +96,16 @@ class MathOperations {
static void cartesianFromLatLongAlt(const T1 lat, const T1 longi, const T1 alt,
T2 *cartesianOutput) {
double radiusPolar = 6378137;
double radiusEqua = 6356752.314;
/* @brief: cartesianFromLatLongAlt() - calculates cartesian coordinates in ECEF from latitude,
* longitude and altitude
* @param: lat geodetic latitude [rad]
* longi longitude [rad]
* alt altitude [m]
* cartesianOutput Cartesian Coordinates in ECEF (3x1)
* @source: Fundamentals of Spacecraft Attitude Determination and Control, P.34ff
* Landis Markley and John L. Crassidis*/
double radiusPolar = 6356752.314;
double radiusEqua = 6378137;
double eccentricity = sqrt(1 - pow(radiusPolar, 2) / pow(radiusEqua, 2));
double auxRadius = radiusEqua / sqrt(1 - pow(eccentricity, 2) * pow(sin(lat), 2));
@ -106,13 +114,13 @@ class MathOperations {
cartesianOutput[1] = (auxRadius + alt) * cos(lat) * sin(longi);
cartesianOutput[2] = ((1 - pow(eccentricity, 2)) * auxRadius + alt) * sin(lat);
}
static void dcmEJ(timeval time, T1 *outputDcmEJ, T1 *outputDotDcmEJ) {
/* @brief: dcmEJ() - calculates the transformation matrix between ECEF and ECI frame
* @param: time Current time
* outputDcmEJ Transformation matrix from ECI (J) to ECEF (E) [3][3]
* outputDotDcmEJ Derivative of transformation matrix [3][3]
* @source: Fundamentals of Spacecraft Attitude Determination and Control, P.32ff
* Landis Markley and John L. Crassidis*/
static void dcmEJ(timeval time, T1 *outputDcmEJ) {
double JD2000Floor = 0;
double JD2000 = convertUnixToJD2000(time);
// Getting Julian Century from Day start : JD (Y,M,D,0,0,0)
@ -143,6 +151,16 @@ class MathOperations {
outputDcmEJ[6] = 0;
outputDcmEJ[7] = 0;
outputDcmEJ[8] = 1;
// Derivative of dmcEJ WITHOUT PRECISSION AND NUTATION
double dcmEJCalc[3][3] = {{outputDcmEJ[0], outputDcmEJ[1], outputDcmEJ[2]},
{outputDcmEJ[3], outputDcmEJ[4], outputDcmEJ[5]},
{outputDcmEJ[6], outputDcmEJ[7], outputDcmEJ[8]}};
double dcmDot[3][3] = {{0, 1, 0}, {-1, 0, 0}, {0, 0, 0}};
double omegaEarth = 0.000072921158553;
double dotDcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MatrixOperations<double>::multiply(*dcmDot, *dcmEJCalc, *dotDcmEJ, 3, 3, 3);
MatrixOperations<double>::multiplyScalar(*dotDcmEJ, omegaEarth, outputDotDcmEJ, 3, 3);
}
/* @brief: ecfToEciWithNutPre() - calculates the transformation matrix between ECEF and ECI frame
@ -215,7 +233,7 @@ class MathOperations {
precession[2][2] = cos(theta2);
//-------------------------------------------------------------------------------------
// Calculation of Transformation from earth Nutation size
// Calculation of Transformation from earth Nutation N
//-------------------------------------------------------------------------------------
double nutation[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
// lunar asc node
@ -230,7 +248,6 @@ class MathOperations {
// % true obliquity of the ecliptic eps p.71 (simplified)
double e = 23.43929111 * PI / 180 - 46.8150 / 3600 * JC2000TT * PI / 180;
;
nutation[0][0] = cos(dp);
nutation[1][0] = cos(e + de) * sin(dp);
@ -260,10 +277,9 @@ class MathOperations {
MatrixOperations<double>::multiply(*nutationPrecession, *thetaDot, outputDotDcmEJ, 3, 3, 3);
}
static void inverseMatrixDimThree(const T1 *matrix, T1 *output) {
int i, j;
double determinant;
double determinant = 0;
double mat[3][3] = {{matrix[0], matrix[1], matrix[2]},
{matrix[3], matrix[4], matrix[5]},
{matrix[6], matrix[7], matrix[8]}};
@ -272,8 +288,8 @@ class MathOperations {
determinant = determinant + (mat[0][i] * (mat[1][(i + 1) % 3] * mat[2][(i + 2) % 3] -
mat[1][(i + 2) % 3] * mat[2][(i + 1) % 3]));
}
// cout<<"\size\ndeterminant: "<<determinant;
// cout<<"\size\nInverse of matrix is: \size";
// cout<<"\n\ndeterminant: "<<determinant;
// cout<<"\n\nInverse of matrix is: \n";
for (i = 0; i < 3; i++) {
for (j = 0; j < 3; j++) {
output[i * 3 + j] = ((mat[(j + 1) % 3][(i + 1) % 3] * mat[(j + 2) % 3][(i + 2) % 3]) -

14
mission/controller/controllerdefinitions/AcsControllerDefinitions.h
View File

@ -1,14 +0,0 @@
#ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
#define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
#include <fsfw/modes/HasModesIF.h>
namespace acs {
enum CtrlModes { OFF = HasModesIF::MODE_OFF, SAFE = 1, DETUMBLE = 2, IDLE = 3, TARGET_PT = 4 };
static constexpr Submode_t IDLE_CHARGE = 1;
} // namespace acs
#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_ */

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