start fixing this crap

bsp_q7s/core/InitMission.cpp

@@ -67,12 +67,6 @@ void initmission::initTasks() {
   void (*missedDeadlineFunc)(void) = nullptr;
 #endif
 
-  PeriodicTaskIF* sysCtrlTask = factory->createPeriodicTask(
-      "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
-  result = sysCtrlTask->addComponent(objects::CORE_CONTROLLER);
-  if (result != returnvalue::OK) {
-    initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
-  }
 #if OBSW_ADD_SA_DEPL == 1
   // Could add this to the core controller but the core controller does so many thing that I would
   // prefer to have the solar array deployment in a seprate task.
@@ -84,6 +78,17 @@ void initmission::initTasks() {
   }
 #endif
 
+  PeriodicTaskIF* sysTask = factory->createPeriodicTask(
+      "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  result = sysTask->addComponent(objects::CORE_CONTROLLER);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
+  }
+  result = sysTask->addComponent(objects::PL_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
+  }
+
   /* TMTC Distribution */
   PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
       "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
@@ -127,9 +132,7 @@ void initmission::initTasks() {
     initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
   }
 
-  // Minimal distance between two received TCs amounts to 0.6 seconds
+  // Runs in IRQ mode, frequency does not really matter
-  // If a command has not been read before the next one arrives, the old command will be
-  // overwritten by the PDEC.
   PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
       "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
   result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
@@ -321,7 +324,7 @@ void initmission::initTasks() {
   pdecHandlerTask->startTask();
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
 
-  sysCtrlTask->startTask();
+  sysTask->startTask();
 #if OBSW_ADD_SA_DEPL == 1
   solarArrayDeplTask->startTask();
 #endif

common/config/eive/objects.h

@@ -127,11 +127,9 @@ enum commonObjects : uint32_t {
   SUS_BOARD_ASS = 0x73000002,
   TCS_BOARD_ASS = 0x73000003,
   RW_ASS = 0x73000004,
-  PLOC_SWITCHER = 0x73000005,
   CAM_SWITCHER = 0x73000006,
   ACS_SUBSYSTEM = 0x73010001,
   PL_SUBSYSTEM = 0x73010002,
-  PLOC_SUBSYSTEM = 0x73010003,
   EIVE_SYSTEM = 0x73010000,
   CFDP_HANDLER = 0x73000005,
   CFDP_DISTRIBUTOR = 0x73000006,

mission/system/objects/CMakeLists.txt

@@ -1,6 +1,7 @@
 target_sources(
   ${LIB_EIVE_MISSION}
   PRIVATE EiveSystem.cpp
+          CamSwitcher.cpp
           AcsSubsystem.cpp
           ComSubsystem.cpp
           PayloadSubsystem.cpp

mission/system/objects/CamSwitcher.cpp

@@ -0,0 +1,5 @@
+#include "CamSwitcher.h"
+
+CamSwitcher::CamSwitcher(object_id_t objectId, PowerSwitchIF *pwrSwitcher,
+                         power::Switch_t pwrSwitch)
+    : PowerSwitcherComponent(objectId, pwrSwitcher, pwrSwitch) {}

mission/system/objects/CamSwitcher.h

@@ -0,0 +1,13 @@
+#ifndef MISSION_SYSTEM_OBJECTS_CAMSWITCHER_H_
+#define MISSION_SYSTEM_OBJECTS_CAMSWITCHER_H_
+
+#include <fsfw/power/PowerSwitcherComponent.h>
+
+class CamSwitcher : public PowerSwitcherComponent {
+ public:
+  CamSwitcher(object_id_t objectId, PowerSwitchIF *pwrSwitcher, power::Switch_t pwrSwitch);
+
+ private:
+};
+
+#endif /* MISSION_SYSTEM_OBJECTS_CAMSWITCHER_H_ */

mission/system/tree/payloadModeTree.cpp

@@ -27,7 +27,8 @@ static const auto NML = DeviceHandlerIF::MODE_NORMAL;
 
 auto PL_SEQUENCE_OFF = std::make_pair(OFF << 24, FixedArrayList<ModeListEntry, 2>());
 auto PL_TABLE_OFF_TGT = std::make_pair((OFF << 24) | 1, FixedArrayList<ModeListEntry, 0>());
-auto PL_TABLE_OFF_TRANS = std::make_pair((OFF << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto PL_TABLE_OFF_TRANS_0 = std::make_pair((OFF << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto PL_TABLE_OFF_TRANS_1 = std::make_pair((OFF << 24) | 3, FixedArrayList<ModeListEntry, 1>());
 
 auto PL_SEQUENCE_MPSOC_STREAM =
     std::make_pair(payload::Modes::MPSOC_STREAM << 24, FixedArrayList<ModeListEntry, 2>());
@@ -110,16 +111,21 @@ void initOffSequence(Subsystem* ss, ModeListEntry& eh) {
   check(ss->addTable(TableEntry(PL_TABLE_OFF_TGT.first, &PL_TABLE_OFF_TGT.second)), ctxc);
 
   // Build OFF transition 0
-  iht(objects::PLOC_SWITCHER, OFF, 0, PL_TABLE_OFF_TRANS.second);
+  iht(objects::PLOC_SWITCHER, OFF, 0, PL_TABLE_OFF_TRANS_0.second);
-  iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_OFF_TRANS.second);
+  iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_OFF_TRANS_0.second);
-  iht(objects::SCEX, OFF, 0, PL_TABLE_OFF_TRANS.second);
+  iht(objects::SCEX, OFF, 0, PL_TABLE_OFF_TRANS_0.second);
-  iht(objects::PLPCDU_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS.second);
+  iht(objects::PLPCDU_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS_0.second);
-  iht(objects::PLOC_SUBSYSTEM, OFF, 0, PL_TABLE_OFF_TRANS.second);
+  iht(objects::PLOC_MPSOC_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS_0.second);
-  check(ss->addTable(TableEntry(PL_TABLE_OFF_TRANS.first, &PL_TABLE_OFF_TRANS.second)), ctxc);
+  check(ss->addTable(TableEntry(PL_TABLE_OFF_TRANS_0.first, &PL_TABLE_OFF_TRANS_0.second)), ctxc);
+
+  // Build OFF transition 1
+  iht(objects::PLOC_SUPERVISOR_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS_1.second);
+  check(ss->addTable(TableEntry(PL_TABLE_OFF_TRANS_1.first, &PL_TABLE_OFF_TRANS_1.second)), ctxc);
 
   // Build OFF sequence
   ihs(PL_SEQUENCE_OFF.second, PL_TABLE_OFF_TGT.first, 0, false);
-  ihs(PL_SEQUENCE_OFF.second, PL_TABLE_OFF_TRANS.first, 0, false);
+  ihs(PL_SEQUENCE_OFF.second, PL_TABLE_OFF_TRANS_0.first, 0, false);
+  ihs(PL_SEQUENCE_OFF.second, PL_TABLE_OFF_TRANS_1.first, 0, false);
   check(ss->addSequence(
             SequenceEntry(PL_SEQUENCE_OFF.first, &PL_SEQUENCE_OFF.second, PL_SEQUENCE_OFF.first)),
         ctxc);
@@ -147,24 +153,26 @@ void initPlMpsocStreamSequence(Subsystem* ss, ModeListEntry& eh) {
 
   // Build MPSoC stream target
   // Camera should always be off to prevent a conflict with the MPSoC streaming
+  // PL PCDU must be on and in normal mode, but this is commanded separately because of the
+  // number of commands invovled
   iht(objects::PLPCDU_HANDLER, NML, plpcdu::ALL_ON_SUBMODE, PL_TABLE_MPSOC_STREAM_TGT.second);
-  iht(objects::PLOC_SWITCHER, ON, 0, PL_TABLE_MPSOC_STREAM_TGT.second);
   iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_MPSOC_STREAM_TGT.second);
-  iht(objects::PLOC_SUBSYSTEM, NML, payload::ploc::MPSOC_ON, PL_TABLE_MPSOC_STREAM_TGT.second);
+  iht(objects::PLOC_MPSOC_HANDLER, NML, 0, PL_TABLE_MPSOC_STREAM_TGT.second);
+  iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_MPSOC_STREAM_TGT.second);
   check(
       ss->addTable(TableEntry(PL_TABLE_MPSOC_STREAM_TGT.first, &PL_TABLE_MPSOC_STREAM_TGT.second)),
       ctxc);
 
   // Build MPSoC stream transition 0
-  iht(objects::PLOC_SWITCHER, ON, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
   iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
   iht(objects::SCEX, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
+  iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_MPSOC_STREAM_TGT.second);
   check(ss->addTable(
             TableEntry(PL_TABLE_MPSOC_STREAM_TRANS_0.first, &PL_TABLE_MPSOC_STREAM_TRANS_0.second)),
         ctxc);
 
   // Build MPSoC stream transition 1
-  iht(objects::PLOC_SUBSYSTEM, NML, payload::ploc::MPSOC_ON, PL_TABLE_MPSOC_STREAM_TRANS_1.second);
+  iht(objects::PLOC_MPSOC_HANDLER, NML, 0, PL_TABLE_MPSOC_STREAM_TGT.second);
   check(ss->addTable(
             TableEntry(PL_TABLE_MPSOC_STREAM_TRANS_1.first, &PL_TABLE_MPSOC_STREAM_TRANS_1.second)),
         ctxc);

tmtc

@@ -1 +1 @@
-Subproject commit f62c67a11e54b99fdb60dab13e55456f16450951
+Subproject commit f6fab2d44aff98174835c8446fd69c1ff589521b