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v8.2.0
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70
CHANGELOG.md
70
CHANGELOG.md
@ -16,9 +16,69 @@ will consitute of a breaking change warranting a new major release:
|
||||
|
||||
# [unreleased]
|
||||
|
||||
# [v8.2.0] 2024-06-26
|
||||
|
||||
## Changed
|
||||
|
||||
- Reworked MPSoC handler to be compatible to new MPSoC software image and use
|
||||
- STR quaternions are now used by the `MEKF` by default
|
||||
- Changed nominal `SUS Assembly` side to `B Side`.
|
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- Changed source for state machine of detumbling to SUS and MGM only.
|
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- Changed `FusedRotRateData` dataset to always display rotation rate from SUS and MGM.
|
||||
- Solution from `QUEST` will be set to invalid if sun vector and magnetic field vector are too close
|
||||
to each other.
|
||||
- Changed collection intervals of dataset collection
|
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- `GPS Controller`: `GPS Set` to 60s
|
||||
- `MTQ Handler`: `HK with Torque`, `HK without Torque` to 60s
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||||
- `RW Handler`: `Status Set` to 30s
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- `STR Handler`: `Solution Set` to 30s
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- `ACS Controller`: `MGM Sensor`, `MGM Processed`, `SUS Sensor`, `SUS Processed`, `GYR Sensor`,
|
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`GPS Processed` to 60s
|
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- `ACS Controller` at or below `IDLE`: `CTRL Values`, `ACT Commands`, `Attitude Estimation`,
|
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`Fused Rotation Rate` to 30s
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- `ACS Controller` above `IDLE`: `CTRL Values`, `ACT Commands`, `Attitude Estimation`,
|
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`Fused Rotation Rate` to 10s
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||||
|
||||
## Fixed
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||||
|
||||
- Added null termination for PLOC MPSoC image taking command which could possibly lead to
|
||||
default target filenames.
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|
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# [v8.1.1] 2024-06-05
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## Added
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- PLOC SUPV MPSoC update re-try logic for the `WRITE_MEMORY` command. These packets form > 98%
|
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of all packets required for a software update, but the update mechanism is not tolerant against
|
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occasional glitches on the RS485 communication to the PLOC SUPV. A simple re-try mechanism which
|
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tries to re-attempt packet handling up to three times for those packets is introduced.
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# [v8.1.0] 2024-05-29
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## Fixed
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- Small fix for transition failure handling of the MPSoC when the `START_MPSOC` action command
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to the supervisor fails.
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- Fixed inits of arrays within the `MEKF` not being zeros.
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- Important bugfix for PLOC SUPV: The SUPV previously was able to steal packets from the special
|
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communication helper, for example during software updates.
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- Corrected sigma of STR for `MEKF`.
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||||
|
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## Added
|
||||
|
||||
- Added new command to cancel the PLOC SUPV special communication helper.
|
||||
|
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# [v8.0.0] 2024-05-13
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||||
|
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- `eive-tmtc` v7.0.0
|
||||
|
||||
## Fixed
|
||||
|
||||
- Fixed calculation for target rotation rate during pointing modes.
|
||||
- Possible fix for MPSoC file read algorithm.
|
||||
|
||||
## Changed
|
||||
|
||||
- Reworked MPSoC handler to be compatible to new MPSoC software image and use
|
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new device handler base class. This should increase the reliability of the communication
|
||||
significantly.
|
||||
- MPSoC device modes IDLE, SNAPSHOT and REPLAY are now modelled using submodes.
|
||||
@ -32,6 +92,8 @@ will consitute of a breaking change warranting a new major release:
|
||||
|
||||
# [v7.8.1] 2024-04-11
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||||
|
||||
## Fixed
|
||||
|
||||
- Reverted fix for wrong order in quaternion multiplication for computation of the error quaternion.
|
||||
|
||||
# [v7.8.0] 2024-04-10
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||||
@ -42,7 +104,7 @@ will consitute of a breaking change warranting a new major release:
|
||||
- All pointing laws are now allowed to use the `MEKF` per default.
|
||||
- Changed limits in `PWR Controller`.
|
||||
- PUS time service: Now dumps the time before and after relative timeshift or setting absolute time
|
||||
- The `GPS Controller` does not set itself to `OFF` anymore, if it has not detected a valid fix for
|
||||
- The `GPS Controller` does not set itself to `OFF` anymore, if it has not detected a valid fix for
|
||||
some time. Instead it attempts to reset both GNSS devices once.
|
||||
- The maximum time to reach a fix is shortened from 30min to 15min.
|
||||
- The time the reset pin of the GNSS devices is pulled is prolonged from 5ms to 10s.
|
||||
@ -51,7 +113,7 @@ will consitute of a breaking change warranting a new major release:
|
||||
of the controller is changed. As arguments it now displays the new fix and the numer of fix changes
|
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missed.
|
||||
- The number of satellites seen and used is reset to 0, in case they are set to invalid.
|
||||
- Altitude, latitude and longitude messages are not checked anymore, in case the mode message was
|
||||
- Altitude, latitude and longitude messages are not checked anymore, in case the mode message was
|
||||
already invalid.
|
||||
|
||||
## Added
|
||||
@ -265,7 +327,7 @@ will consitute of a breaking change warranting a new major release:
|
||||
- `ACS Controller` now has the function `performAttitudeControl` which is called prior to passing
|
||||
on to the relevant mode functions. It handles all telemetry relevant functions, which were
|
||||
always called, regardless of the mode.
|
||||
|
||||
|
||||
## Added
|
||||
|
||||
- Higher ACS modes can now be entered without a running `MEKF`. Higher modes will collect their
|
||||
|
@ -10,7 +10,7 @@
|
||||
cmake_minimum_required(VERSION 3.13)
|
||||
|
||||
set(OBSW_VERSION_MAJOR 8)
|
||||
set(OBSW_VERSION_MINOR 0)
|
||||
set(OBSW_VERSION_MINOR 2)
|
||||
set(OBSW_VERSION_REVISION 0)
|
||||
|
||||
# set(CMAKE_VERBOSE TRUE)
|
||||
|
@ -1,7 +1,7 @@
|
||||
/**
|
||||
* @brief Auto-generated event translation file. Contains 324 translations.
|
||||
* @brief Auto-generated event translation file. Contains 325 translations.
|
||||
* @details
|
||||
* Generated on: 2024-04-17 11:22:10
|
||||
* Generated on: 2024-05-06 13:47:38
|
||||
*/
|
||||
#include "translateEvents.h"
|
||||
|
||||
@ -142,6 +142,7 @@ const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUEN
|
||||
const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
|
||||
const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
|
||||
const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
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||||
const char *CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING = "CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE";
|
||||
const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
|
||||
const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
|
||||
const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
|
||||
@ -606,6 +607,8 @@ const char *translateEvents(Event event) {
|
||||
return SUPV_NOT_ON_STRING;
|
||||
case (11608):
|
||||
return SUPV_REPLY_TIMEOUT_STRING;
|
||||
case (11609):
|
||||
return CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING;
|
||||
case (11701):
|
||||
return SELF_TEST_I2C_FAILURE_STRING;
|
||||
case (11702):
|
||||
|
@ -2,7 +2,7 @@
|
||||
* @brief Auto-generated object translation file.
|
||||
* @details
|
||||
* Contains 176 translations.
|
||||
* Generated on: 2024-04-17 11:22:10
|
||||
* Generated on: 2024-05-06 13:47:38
|
||||
*/
|
||||
#include "translateObjects.h"
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||||
|
||||
|
@ -65,6 +65,7 @@
|
||||
#include "linux/payload/PlocMpsocSpecialComHelper.h"
|
||||
#include "linux/payload/SerialConfig.h"
|
||||
#include "mission/config/configfile.h"
|
||||
#include "mission/power/defs.h"
|
||||
#include "mission/system/acs/AcsBoardFdir.h"
|
||||
#include "mission/system/acs/AcsSubsystem.h"
|
||||
#include "mission/system/acs/RwAssembly.h"
|
||||
@ -635,9 +636,9 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
|
||||
auto specialComHelper =
|
||||
new PlocMpsocSpecialComHelper(objects::PLOC_MPSOC_HELPER, *mpsocCommunication);
|
||||
DhbConfig dhbConf(objects::PLOC_MPSOC_HANDLER);
|
||||
auto* mpsocHandler = new FreshMpsocHandler(dhbConf, *mpsocCommunication, *specialComHelper,
|
||||
Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
|
||||
objects::PLOC_SUPERVISOR_HANDLER);
|
||||
auto* mpsocHandler = new FreshMpsocHandler(
|
||||
dhbConf, *mpsocCommunication, *specialComHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
|
||||
objects::PLOC_SUPERVISOR_HANDLER, pwrSwitcher, power::PDU2_CH8_PAYLOAD_CAMERA);
|
||||
mpsocHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
|
||||
#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
|
||||
#if OBSW_ADD_PLOC_SUPERVISOR == 1
|
||||
|
@ -135,7 +135,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
|
||||
11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/payload/plocMpsocHelpers.h
|
||||
11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/payload/plocMpsocHelpers.h
|
||||
11607;0x2d57;SUPV_NOT_ON;LOW;SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for ON transition.;linux/payload/plocMpsocHelpers.h
|
||||
11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/plocMpsocHelpers.h
|
||||
11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;SUPV reply timeout.;linux/payload/plocMpsocHelpers.h
|
||||
11609;0x2d59;CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE;LOW;Camera must be commanded on first.;linux/payload/plocMpsocHelpers.h
|
||||
11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
|
||||
11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
|
||||
11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
|
||||
|
|
@ -135,7 +135,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
|
||||
11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/payload/plocMpsocHelpers.h
|
||||
11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/payload/plocMpsocHelpers.h
|
||||
11607;0x2d57;SUPV_NOT_ON;LOW;SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for ON transition.;linux/payload/plocMpsocHelpers.h
|
||||
11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/plocMpsocHelpers.h
|
||||
11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;SUPV reply timeout.;linux/payload/plocMpsocHelpers.h
|
||||
11609;0x2d59;CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE;LOW;Camera must be commanded on first.;linux/payload/plocMpsocHelpers.h
|
||||
11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
|
||||
11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
|
||||
11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
|
||||
|
|
@ -1,7 +1,7 @@
|
||||
/**
|
||||
* @brief Auto-generated event translation file. Contains 324 translations.
|
||||
* @brief Auto-generated event translation file. Contains 325 translations.
|
||||
* @details
|
||||
* Generated on: 2024-04-17 11:22:10
|
||||
* Generated on: 2024-05-06 13:47:38
|
||||
*/
|
||||
#include "translateEvents.h"
|
||||
|
||||
@ -142,6 +142,7 @@ const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUEN
|
||||
const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
|
||||
const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
|
||||
const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
|
||||
const char *CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING = "CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE";
|
||||
const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
|
||||
const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
|
||||
const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
|
||||
@ -606,6 +607,8 @@ const char *translateEvents(Event event) {
|
||||
return SUPV_NOT_ON_STRING;
|
||||
case (11608):
|
||||
return SUPV_REPLY_TIMEOUT_STRING;
|
||||
case (11609):
|
||||
return CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING;
|
||||
case (11701):
|
||||
return SELF_TEST_I2C_FAILURE_STRING;
|
||||
case (11702):
|
||||
|
@ -2,7 +2,7 @@
|
||||
* @brief Auto-generated object translation file.
|
||||
* @details
|
||||
* Contains 180 translations.
|
||||
* Generated on: 2024-04-17 11:22:10
|
||||
* Generated on: 2024-05-06 13:47:38
|
||||
*/
|
||||
#include "translateObjects.h"
|
||||
|
||||
|
@ -100,7 +100,7 @@ ReturnValue_t GpsHyperionLinuxController::initializeLocalDataPool(
|
||||
localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
|
||||
localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
|
||||
localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
|
||||
poolManager.subscribeForRegularPeriodicPacket({gpsSet.getSid(), enableHkSets, 30.0});
|
||||
poolManager.subscribeForRegularPeriodicPacket({gpsSet.getSid(), enableHkSets, 60.0});
|
||||
localDataPoolMap.emplace(GpsHyperion::SKYVIEW_UNIX_SECONDS, new PoolEntry<double>());
|
||||
localDataPoolMap.emplace(GpsHyperion::PRN_ID, new PoolEntry<int16_t>());
|
||||
localDataPoolMap.emplace(GpsHyperion::AZIMUTH, new PoolEntry<int16_t>());
|
||||
|
@ -1,7 +1,7 @@
|
||||
/**
|
||||
* @brief Auto-generated event translation file. Contains 324 translations.
|
||||
* @brief Auto-generated event translation file. Contains 325 translations.
|
||||
* @details
|
||||
* Generated on: 2024-04-17 11:22:10
|
||||
* Generated on: 2024-05-06 13:47:38
|
||||
*/
|
||||
#include "translateEvents.h"
|
||||
|
||||
@ -142,6 +142,7 @@ const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUEN
|
||||
const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
|
||||
const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
|
||||
const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
|
||||
const char *CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING = "CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE";
|
||||
const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
|
||||
const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
|
||||
const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
|
||||
@ -606,6 +607,8 @@ const char *translateEvents(Event event) {
|
||||
return SUPV_NOT_ON_STRING;
|
||||
case (11608):
|
||||
return SUPV_REPLY_TIMEOUT_STRING;
|
||||
case (11609):
|
||||
return CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING;
|
||||
case (11701):
|
||||
return SELF_TEST_I2C_FAILURE_STRING;
|
||||
case (11702):
|
||||
|
@ -2,7 +2,7 @@
|
||||
* @brief Auto-generated object translation file.
|
||||
* @details
|
||||
* Contains 180 translations.
|
||||
* Generated on: 2024-04-17 11:22:10
|
||||
* Generated on: 2024-05-06 13:47:38
|
||||
*/
|
||||
#include "translateObjects.h"
|
||||
|
||||
|
@ -8,22 +8,29 @@
|
||||
#include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
|
||||
#include "fsfw/ipc/MessageQueueIF.h"
|
||||
#include "fsfw/ipc/QueueFactory.h"
|
||||
#include "fsfw/ipc/messageQueueDefinitions.h"
|
||||
#include "fsfw/power/PowerSwitchIF.h"
|
||||
#include "fsfw/power/definitions.h"
|
||||
#include "fsfw/returnvalues/returnvalue.h"
|
||||
#include "fsfw/serialize/SerializeAdapter.h"
|
||||
#include "linux/payload/MpsocCommunication.h"
|
||||
#include "linux/payload/plocMpsocHelpers.h"
|
||||
#include "linux/payload/plocSupvDefs.h"
|
||||
#include "mission/power/gsDefs.h"
|
||||
|
||||
FreshMpsocHandler::FreshMpsocHandler(DhbConfig cfg, MpsocCommunication& comInterface,
|
||||
PlocMpsocSpecialComHelper& specialComHelper,
|
||||
Gpio uartIsolatorSwitch, object_id_t supervisorHandler)
|
||||
Gpio uartIsolatorSwitch, object_id_t supervisorHandler,
|
||||
PowerSwitchIF& powerSwitcher, power::Switch_t camSwitchId)
|
||||
: FreshDeviceHandlerBase(cfg),
|
||||
comInterface(comInterface),
|
||||
specialComHelper(specialComHelper),
|
||||
commandActionHelper(this),
|
||||
uartIsolatorSwitch(uartIsolatorSwitch),
|
||||
hkReport(this),
|
||||
supervisorHandler(supervisorHandler) {
|
||||
supervisorHandler(supervisorHandler),
|
||||
powerSwitcher(powerSwitcher),
|
||||
camSwitchId(camSwitchId) {
|
||||
commandActionHelperQueue = QueueFactory::instance()->createMessageQueue(10);
|
||||
eventQueue = QueueFactory::instance()->createMessageQueue(10);
|
||||
spParams.maxSize = sizeof(commandBuffer);
|
||||
@ -77,8 +84,13 @@ void FreshMpsocHandler::performDefaultDeviceOperation() {
|
||||
}
|
||||
}
|
||||
|
||||
if (mode == MODE_NORMAL and not activeCmdInfo.pending) {
|
||||
// TODO: Take care of regular periodic commanding here.
|
||||
// We checked the action queue beforehand, so action commands should always be performed
|
||||
// before normal commands.
|
||||
if (mode == MODE_NORMAL and not activeCmdInfo.pending and not specialComHelperExecuting) {
|
||||
ReturnValue_t result = commandTcGetHkReport();
|
||||
if (result == returnvalue::OK) {
|
||||
commandInitHandling(mpsoc::TC_GET_HK_REPORT, MessageQueueIF::NO_QUEUE);
|
||||
}
|
||||
}
|
||||
|
||||
if (activeCmdInfo.pending and activeCmdInfo.cmdCountdown.hasTimedOut()) {
|
||||
@ -224,6 +236,11 @@ ReturnValue_t FreshMpsocHandler::checkModeCommand(Mode_t mode, Submode_t submode
|
||||
return HasModesIF::INVALID_SUBMODE;
|
||||
}
|
||||
}
|
||||
if (submode == mpsoc::Submode::SNAPSHOT and
|
||||
powerSwitcher.getSwitchState(camSwitchId) != PowerSwitchIF::SWITCH_ON) {
|
||||
triggerEvent(mpsoc::CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE);
|
||||
return HasModesIF::TRANS_NOT_ALLOWED;
|
||||
}
|
||||
*msToReachTheMode = MPSOC_MODE_CMD_TIMEOUT_MS;
|
||||
return returnvalue::OK;
|
||||
}
|
||||
@ -296,8 +313,6 @@ ReturnValue_t FreshMpsocHandler::executeAction(ActionId_t actionId, MessageQueue
|
||||
default:
|
||||
break;
|
||||
}
|
||||
// For longer commands, do not set these.
|
||||
// TODO: Do all the stuff the form buildDeviceFromDevice blah did.
|
||||
executeRegularCmd(actionId, commandedBy, data, size);
|
||||
return returnvalue::OK;
|
||||
}
|
||||
@ -322,6 +337,10 @@ void FreshMpsocHandler::startTransition(Mode_t newMode, Submode_t submode) {
|
||||
} else if ((newMode == MODE_ON or newMode == MODE_NORMAL) &&
|
||||
((mode == MODE_OFF) or (mode == MODE_UNDEFINED))) {
|
||||
transitionState = TransitionState::TO_ON;
|
||||
} else if (mode == MODE_ON && newMode == MODE_NORMAL) {
|
||||
hkReport.setReportingEnabled(true);
|
||||
} else if (mode == MODE_NORMAL && newMode == MODE_ON) {
|
||||
hkReport.setReportingEnabled(false);
|
||||
} else if (newMode == MODE_OFF) {
|
||||
transitionState = TransitionState::TO_OFF;
|
||||
}
|
||||
@ -357,7 +376,9 @@ void FreshMpsocHandler::handleTransitionToOn() {
|
||||
if (startupState == StartupState::DONE) {
|
||||
setMode(targetMode, targetSubmode);
|
||||
transitionState = TransitionState::NONE;
|
||||
hkReport.setReportingEnabled(true);
|
||||
if (targetMode == MODE_NORMAL) {
|
||||
hkReport.setReportingEnabled(true);
|
||||
}
|
||||
powerState = PowerState::IDLE;
|
||||
startupState = StartupState::IDLE;
|
||||
}
|
||||
@ -435,7 +456,7 @@ void FreshMpsocHandler::handleActionCommandFailure(ActionId_t actionId, ReturnVa
|
||||
if (actionId != supv::START_MPSOC) {
|
||||
return;
|
||||
}
|
||||
sif::info << "PlocMPSoCHandler::handleActionCommandFailure: MPSoC boot command failed"
|
||||
sif::info << "FreshMpsocHandler::handleActionCommandFailure: MPSoC boot command failed"
|
||||
<< std::endl;
|
||||
// This is commonly the case when the MPSoC is already operational. Thus the power state is
|
||||
// set to on here
|
||||
@ -569,8 +590,8 @@ ReturnValue_t FreshMpsocHandler::executeRegularCmd(ActionId_t actionId,
|
||||
result = commandTcSimplexStreamFile(commandData, commandDataLen);
|
||||
break;
|
||||
}
|
||||
case (mpsoc::TC_SIMPLEX_STORE_FILE): {
|
||||
result = commandTcSimplexStoreFile(commandData, commandDataLen);
|
||||
case (mpsoc::TC_SPLIT_FILE): {
|
||||
result = commandTcSplitFile(commandData, commandDataLen);
|
||||
break;
|
||||
}
|
||||
case (mpsoc::TC_DOWNLINK_DATA_MODULATE): {
|
||||
@ -585,16 +606,20 @@ ReturnValue_t FreshMpsocHandler::executeRegularCmd(ActionId_t actionId,
|
||||
}
|
||||
|
||||
if (result == returnvalue::OK) {
|
||||
activeCmdInfo.start(actionId, commandedBy);
|
||||
/**
|
||||
* Flushing the receive buffer to make sure there are no data left from a faulty reply.
|
||||
*/
|
||||
comInterface.getComHelper().flushUartRxBuffer();
|
||||
commandInitHandling(actionId, commandedBy);
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
void FreshMpsocHandler::commandInitHandling(ActionId_t actionId, MessageQueueId_t commandedBy) {
|
||||
activeCmdInfo.start(actionId, commandedBy);
|
||||
/**
|
||||
* Flushing the receive buffer to make sure there are no data left from a faulty reply.
|
||||
*/
|
||||
comInterface.getComHelper().flushUartRxBuffer();
|
||||
}
|
||||
|
||||
ReturnValue_t FreshMpsocHandler::commandTcMemWrite(const uint8_t* commandData,
|
||||
size_t commandDataLen) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
@ -743,14 +768,14 @@ ReturnValue_t FreshMpsocHandler::commandTcSimplexStreamFile(const uint8_t* comma
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t FreshMpsocHandler::commandTcSimplexStoreFile(const uint8_t* commandData,
|
||||
size_t commandDataLen) {
|
||||
mpsoc::TcSimplexStoreFile tcSimplexStoreFile(spParams, commandSequenceCount);
|
||||
ReturnValue_t result = tcSimplexStoreFile.setPayload(commandData, commandDataLen);
|
||||
ReturnValue_t FreshMpsocHandler::commandTcSplitFile(const uint8_t* commandData,
|
||||
size_t commandDataLen) {
|
||||
mpsoc::TcSplitFile tcSplitFile(spParams, commandSequenceCount);
|
||||
ReturnValue_t result = tcSplitFile.setPayload(commandData, commandDataLen);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
finishAndSendTc(mpsoc::TC_SIMPLEX_STORE_FILE, tcSimplexStoreFile);
|
||||
finishAndSendTc(mpsoc::TC_SPLIT_FILE, tcSplitFile);
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
@ -784,11 +809,15 @@ ReturnValue_t FreshMpsocHandler::commandTcModeSnapshot() {
|
||||
|
||||
ReturnValue_t FreshMpsocHandler::finishAndSendTc(DeviceCommandId_t cmdId, mpsoc::TcBase& tcBase,
|
||||
uint32_t cmdCountdownMs) {
|
||||
// Emit warning but still send command.
|
||||
if (specialComHelperExecuting) {
|
||||
sif::warning << "PLOC MPSoC: Sending command even though special COM helper is executing"
|
||||
<< std::endl;
|
||||
}
|
||||
ReturnValue_t result = tcBase.finishPacket();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
// TODO: We should find a way so this works with the old implementation.
|
||||
commandSequenceCount++;
|
||||
|
||||
mpsoc::printTxPacket(tcBase);
|
||||
@ -836,8 +865,6 @@ void FreshMpsocHandler::cmdDoneHandler(bool success, ReturnValue_t result) {
|
||||
ReturnValue_t FreshMpsocHandler::handleDeviceReply() {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
|
||||
// SpacePacketReader spacePacket;
|
||||
// spacePacket.setReadOnlyData(start, remainingSize);
|
||||
const auto& replyReader = comInterface.getSpReader();
|
||||
if (replyReader.isNull()) {
|
||||
return returnvalue::FAILED;
|
||||
@ -889,15 +916,14 @@ ReturnValue_t FreshMpsocHandler::handleDeviceReply() {
|
||||
default: {
|
||||
sif::debug << "FreshMpsocHandler:: Reply has invalid APID 0x" << std::hex << std::setfill('0')
|
||||
<< std::setw(2) << apid << std::dec << std::endl;
|
||||
//*foundLen = remainingSize;
|
||||
return mpsoc::INVALID_APID;
|
||||
}
|
||||
}
|
||||
|
||||
// TODO: We should implement some way so this can also be used with the former implementation.
|
||||
uint16_t sequenceCount = replyReader.getSequenceCount();
|
||||
if (sequenceCount != lastReplySequenceCount + 1) {
|
||||
// TODO: Trigger event for possible missing reply packet to inform operator.
|
||||
// We could trigger event for possible missing reply packet to inform operator, but I don't
|
||||
// think this is properly implemented and used on the MPSoC side anymore.
|
||||
}
|
||||
lastReplySequenceCount = sequenceCount;
|
||||
|
||||
@ -952,7 +978,6 @@ ReturnValue_t FreshMpsocHandler::handleAckReport() {
|
||||
|
||||
switch (replyReader.getApid()) {
|
||||
case mpsoc::apid::ACK_FAILURE: {
|
||||
// DeviceCommandId_t commandId = getPendingCommand();
|
||||
uint16_t status = mpsoc::getStatusFromRawData(replyReader.getFullData());
|
||||
sif::warning << "MPSoC ACK Failure: " << mpsoc::getStatusString(status) << std::endl;
|
||||
triggerEvent(mpsoc::ACK_FAILURE, activeCmdInfo.pendingCmd, status);
|
||||
@ -1199,6 +1224,7 @@ bool FreshMpsocHandler::handleHwStartup() {
|
||||
if (powerState == PowerState::SUPV_FAILED) {
|
||||
setMode(MODE_OFF);
|
||||
powerState = PowerState::IDLE;
|
||||
transitionState = TransitionState::NONE;
|
||||
return false;
|
||||
}
|
||||
if (powerState == PowerState::PENDING_STARTUP) {
|
||||
@ -1236,7 +1262,9 @@ bool FreshMpsocHandler::handleHwShutdown() {
|
||||
supvTransitionCd.resetTimer();
|
||||
powerState = PowerState::PENDING_SHUTDOWN;
|
||||
} else {
|
||||
triggerEvent(mpsoc::SUPV_NOT_ON, 0);
|
||||
if ((this->mode != MODE_OFF) and (this->mode != MODE_UNDEFINED)) {
|
||||
triggerEvent(mpsoc::SUPV_NOT_ON, 0);
|
||||
}
|
||||
powerState = PowerState::DONE;
|
||||
}
|
||||
}
|
||||
|
@ -1,3 +1,4 @@
|
||||
#include "fsfw/action/ActionMessage.h"
|
||||
#include "fsfw/action/CommandsActionsIF.h"
|
||||
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
|
||||
#include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
|
||||
@ -5,6 +6,8 @@
|
||||
#include "fsfw/ipc/messageQueueDefinitions.h"
|
||||
#include "fsfw/modes/ModeMessage.h"
|
||||
#include "fsfw/objectmanager/SystemObjectIF.h"
|
||||
#include "fsfw/power/PowerSwitchIF.h"
|
||||
#include "fsfw/power/definitions.h"
|
||||
#include "fsfw/returnvalues/returnvalue.h"
|
||||
#include "fsfw_hal/linux/gpio/Gpio.h"
|
||||
#include "linux/payload/MpsocCommunication.h"
|
||||
@ -18,7 +21,8 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI
|
||||
|
||||
FreshMpsocHandler(DhbConfig cfg, MpsocCommunication& comInterface,
|
||||
PlocMpsocSpecialComHelper& specialComHelper, Gpio uartIsolatorSwitch,
|
||||
object_id_t supervisorHandler);
|
||||
object_id_t supervisorHandler, PowerSwitchIF& powerSwitcher,
|
||||
power::Switch_t camSwitchId);
|
||||
|
||||
/**
|
||||
* Periodic helper executed function, implemented by child class.
|
||||
@ -128,6 +132,8 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI
|
||||
TmMemReadReport tmMemReadReport;
|
||||
uint32_t lastReplySequenceCount = 0;
|
||||
uint8_t skipSupvCommandingToOn = false;
|
||||
PowerSwitchIF& powerSwitcher;
|
||||
power::Switch_t camSwitchId;
|
||||
|
||||
// HK manager abstract functions.
|
||||
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
|
||||
@ -181,7 +187,7 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI
|
||||
ReturnValue_t commandTcModeIdle();
|
||||
ReturnValue_t commandTcCamTakePic(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t commandTcSimplexStreamFile(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t commandTcSimplexStoreFile(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t commandTcSplitFile(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t commandTcDownlinkDataModulate(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t commandTcModeSnapshot();
|
||||
|
||||
@ -202,4 +208,5 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI
|
||||
void commandSubmodeTransition();
|
||||
void commonSpecialComInit();
|
||||
void commonSpecialComStop();
|
||||
void commandInitHandling(ActionId_t actionId, MessageQueueId_t commandedBy);
|
||||
};
|
||||
|
@ -241,6 +241,10 @@ ReturnValue_t FreshSupvHandler::executeAction(ActionId_t actionId, MessageQueueI
|
||||
uartManager->initiateUpdateContinuation();
|
||||
return EXECUTION_FINISHED;
|
||||
}
|
||||
case ABORT_LONGER_REQUEST: {
|
||||
uartManager->stop();
|
||||
return EXECUTION_FINISHED;
|
||||
}
|
||||
case MEMORY_CHECK_WITH_FILE: {
|
||||
UpdateParams params;
|
||||
result = extractBaseParams(&data, size, params);
|
||||
@ -849,6 +853,10 @@ ReturnValue_t FreshSupvHandler::prepareWipeMramCmd(const uint8_t* commandData, s
|
||||
ReturnValue_t FreshSupvHandler::parseTmPackets() {
|
||||
uint8_t* receivedData = nullptr;
|
||||
size_t receivedSize = 0;
|
||||
// We do not want to steal packets from the long request handler.
|
||||
if (uartManager->longerRequestActive()) {
|
||||
return returnvalue::OK;
|
||||
}
|
||||
while (true) {
|
||||
ReturnValue_t result =
|
||||
uartManager->readReceivedMessage(comCookie, &receivedData, &receivedSize);
|
||||
|
@ -9,8 +9,8 @@
|
||||
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
|
||||
#include "linux/payload/SerialCommunicationHelper.h"
|
||||
|
||||
static constexpr bool MPSOC_LOW_LEVEL_TX_WIRETAPPING = true;
|
||||
static constexpr bool MPSOC_LOW_LEVEL_RX_WIRETAPPING = true;
|
||||
static constexpr bool MPSOC_LOW_LEVEL_TX_WIRETAPPING = false;
|
||||
static constexpr bool MPSOC_LOW_LEVEL_RX_WIRETAPPING = false;
|
||||
|
||||
class MpsocCommunication : public SystemObject {
|
||||
public:
|
||||
|
@ -179,8 +179,12 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
|
||||
std::error_code e;
|
||||
std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::trunc | std::ios::binary);
|
||||
if (ofile.bad()) {
|
||||
if (std::filesystem::exists(flashReadAndWrite.obcFile)) {
|
||||
// Truncate the file first.
|
||||
std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::binary | std::ios::trunc);
|
||||
}
|
||||
std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::binary | std::ios::app);
|
||||
if (ofile.bad() or not ofile.is_open()) {
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
ReturnValue_t result = flashfopen(mpsoc::FileAccessModes::READ);
|
||||
|
@ -11,6 +11,8 @@
|
||||
#include <fstream>
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
#include "fsfw/returnvalues/returnvalue.h"
|
||||
#include "linux/payload/plocSupvDefs.h"
|
||||
#include "tas/hdlc.h"
|
||||
#ifdef XIPHOS_Q7S
|
||||
#include "bsp_q7s/fs/FilesystemHelper.h"
|
||||
@ -21,9 +23,13 @@
|
||||
|
||||
#include "fsfw/tasks/TaskFactory.h"
|
||||
#include "fsfw/timemanager/Countdown.h"
|
||||
|
||||
#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
|
||||
#include "mission/utility/Filenaming.h"
|
||||
#include "mission/utility/ProgressPrinter.h"
|
||||
#include "mission/utility/Timestamp.h"
|
||||
#endif
|
||||
|
||||
#include "tas/crc.h"
|
||||
|
||||
using namespace returnvalue;
|
||||
@ -277,23 +283,6 @@ ReturnValue_t PlocSupvUartManager::initiateUpdateContinuation() {
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
// ReturnValue_t PlocSupvHelper::startEventBufferRequest(std::string path) {
|
||||
// #ifdef XIPHOS_Q7S
|
||||
// ReturnValue_t result = FilesystemHelper::checkPath(path);
|
||||
// if (result != returnvalue::OK) {
|
||||
// return result;
|
||||
// }
|
||||
// #endif
|
||||
// if (not std::filesystem::exists(path)) {
|
||||
// return PATH_NOT_EXISTS;
|
||||
// }
|
||||
// eventBufferReq.path = path;
|
||||
// request = Request::REQUEST_EVENT_BUFFER;
|
||||
// //uartComIF->flushUartTxAndRxBuf(comCookie);
|
||||
// semaphore->release();
|
||||
// return returnvalue::OK;
|
||||
// }
|
||||
|
||||
void PlocSupvUartManager::stop() {
|
||||
MutexGuard mg(lock);
|
||||
if (state == InternalState::SLEEPING or state == InternalState::GO_TO_SLEEP) {
|
||||
@ -449,10 +438,8 @@ ReturnValue_t PlocSupvUartManager::writeUpdatePackets() {
|
||||
update.bytesWritten);
|
||||
return result;
|
||||
}
|
||||
result = handlePacketTransmissionNoReply(packet, 5000);
|
||||
result = writeMemoryHandlingWithRetryLogic(packet, progPercent);
|
||||
if (result != returnvalue::OK) {
|
||||
triggerEvent(WRITE_MEMORY_FAILED, buildProgParams1(progPercent, update.sequenceCount),
|
||||
update.bytesWritten);
|
||||
return result;
|
||||
}
|
||||
|
||||
@ -463,7 +450,25 @@ ReturnValue_t PlocSupvUartManager::writeUpdatePackets() {
|
||||
#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
|
||||
progressPrinter.print(update.bytesWritten);
|
||||
#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
|
||||
// TaskFactory::delayTask(1);
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocSupvUartManager::writeMemoryHandlingWithRetryLogic(supv::WriteMemory& packet,
|
||||
unsigned progPercent) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
// Simple re-try logic in place to deal with communication unreliability in orbit.
|
||||
for (uint8_t retryCount = 0; retryCount < MAX_RETRY_COUNT; retryCount++) {
|
||||
result = handlePacketTransmissionNoReply(packet, COM_TIMEOUT_MS);
|
||||
if (result == returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
triggerEvent(WRITE_MEMORY_FAILED, buildProgParams1(progPercent, update.sequenceCount),
|
||||
update.bytesWritten);
|
||||
// Clear data structures related to reply handling.
|
||||
serial::flushTxRxBuf(serialPort);
|
||||
recRingBuf.clear();
|
||||
decodedRingBuf.clear();
|
||||
}
|
||||
return result;
|
||||
}
|
||||
@ -572,7 +577,16 @@ ReturnValue_t PlocSupvUartManager::handlePacketTransmissionNoReply(
|
||||
bool ackReceived = false;
|
||||
bool packetWasHandled = false;
|
||||
while (true) {
|
||||
handleUartReception();
|
||||
ReturnValue_t status = handleUartReception();
|
||||
if (status != returnvalue::OK) {
|
||||
result = status;
|
||||
if (result == HDLC_ERROR) {
|
||||
// We could bail here immediately.. but I prefer to wait for the timeout, because we should
|
||||
// ensure that all packets which might be related to the transfer are still received and
|
||||
// cleared from all data structures related to reply handling.
|
||||
// return result;
|
||||
}
|
||||
}
|
||||
if (not decodedQueue.empty()) {
|
||||
size_t packetLen = 0;
|
||||
decodedQueue.retrieve(&packetLen);
|
||||
@ -615,7 +629,7 @@ ReturnValue_t PlocSupvUartManager::handlePacketTransmissionNoReply(
|
||||
return result::NO_REPLY_TIMEOUT;
|
||||
}
|
||||
}
|
||||
return returnvalue::OK;
|
||||
return result;
|
||||
}
|
||||
|
||||
int PlocSupvUartManager::handleAckReception(supv::TcBase& tc, size_t packetLen) {
|
||||
|
@ -118,6 +118,7 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
|
||||
static constexpr Event HDLC_FRAME_REMOVAL_ERROR = MAKE_EVENT(31, severity::INFO);
|
||||
static constexpr Event HDLC_CRC_ERROR = MAKE_EVENT(32, severity::INFO);
|
||||
|
||||
static constexpr unsigned MAX_RETRY_COUNT = 3;
|
||||
PlocSupvUartManager(object_id_t objectId);
|
||||
virtual ~PlocSupvUartManager();
|
||||
/**
|
||||
@ -199,6 +200,8 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
|
||||
static constexpr ReturnValue_t POSSIBLE_PACKET_LOSS_CONSECUTIVE_END = returnvalue::makeCode(1, 4);
|
||||
static constexpr ReturnValue_t HDLC_ERROR = returnvalue::makeCode(1, 5);
|
||||
|
||||
static constexpr uint32_t COM_TIMEOUT_MS = 3000;
|
||||
|
||||
static const uint16_t CRC16_INIT = 0xFFFF;
|
||||
// Event buffer reply will carry 24 space packets with 1016 bytes and one space packet with
|
||||
// 192 bytes
|
||||
@ -369,6 +372,8 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
|
||||
*/
|
||||
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
|
||||
|
||||
ReturnValue_t writeMemoryHandlingWithRetryLogic(supv::WriteMemory& packet, unsigned progPercent);
|
||||
|
||||
void performUartShutdown();
|
||||
void updateVtime(uint8_t vtime);
|
||||
};
|
||||
|
@ -8,12 +8,16 @@
|
||||
#include "eive/eventSubsystemIds.h"
|
||||
#include "eive/resultClassIds.h"
|
||||
#include "fsfw/action/HasActionsIF.h"
|
||||
#include "fsfw/events/Event.h"
|
||||
#include "fsfw/returnvalues/returnvalue.h"
|
||||
#include "fsfw/serialize/SerializeAdapter.h"
|
||||
#include "fsfw/serialize/SerializeIF.h"
|
||||
|
||||
namespace mpsoc {
|
||||
|
||||
static constexpr bool MPSOC_TX_WIRETAPPING = false;
|
||||
static constexpr bool MPSOC_RX_WIRETAPPING = false;
|
||||
|
||||
static constexpr size_t CRC_SIZE = 2;
|
||||
|
||||
/**
|
||||
@ -56,9 +60,6 @@ class TcBase : public ploc::SpTcBase {
|
||||
void printRxPacket(const SpacePacketReader& spReader);
|
||||
void printTxPacket(const ploc::SpTcBase& tcBase);
|
||||
|
||||
static constexpr bool MPSOC_TX_WIRETAPPING = true;
|
||||
static constexpr bool MPSOC_RX_WIRETAPPING = true;
|
||||
|
||||
static constexpr uint32_t DEFAULT_CMD_TIMEOUT_MS = 5000;
|
||||
static constexpr uint32_t CMD_TIMEOUT_MKFS = 15000;
|
||||
|
||||
@ -112,7 +113,11 @@ static const Event MPSOC_SHUTDOWN_FAILED = MAKE_EVENT(6, severity::HIGH);
|
||||
//! [EXPORT] : [COMMENT] SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for
|
||||
//! ON transition.
|
||||
static constexpr Event SUPV_NOT_ON = event::makeEvent(SUBSYSTEM_ID, 7, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] SUPV reply timeout.
|
||||
static constexpr Event SUPV_REPLY_TIMEOUT = event::makeEvent(SUBSYSTEM_ID, 8, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Camera must be commanded on first.
|
||||
static constexpr Event CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE =
|
||||
event::makeEvent(SUBSYSTEM_ID, 9, severity::LOW);
|
||||
|
||||
enum ParamId : uint8_t { SKIP_SUPV_ON_COMMANDING = 0x01 };
|
||||
|
||||
@ -205,7 +210,7 @@ static const DeviceCommandId_t TC_FLASH_GET_DIRECTORY_CONTENT = 28;
|
||||
static const DeviceCommandId_t TM_FLASH_DIRECTORY_CONTENT = 29;
|
||||
static constexpr DeviceCommandId_t TC_FLASH_READ_FULL_FILE = 30;
|
||||
// Store file on MPSoC.
|
||||
static const DeviceCommandId_t TC_SIMPLEX_STORE_FILE = 31;
|
||||
static const DeviceCommandId_t TC_SPLIT_FILE = 31;
|
||||
static const DeviceCommandId_t TC_VERIFY_BOOT = 32;
|
||||
static const DeviceCommandId_t TC_ENABLE_TC_EXECTION = 33;
|
||||
static const DeviceCommandId_t TC_FLASH_MKFS = 34;
|
||||
@ -215,8 +220,6 @@ static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT_LEGACY = 50;
|
||||
|
||||
static const uint16_t SIZE_ACK_REPORT = 14;
|
||||
static const uint16_t SIZE_EXE_REPORT = 14;
|
||||
// static const uint16_t SIZE_TM_MEM_READ_REPORT = 18;
|
||||
// static const uint16_t SIZE_TM_CAM_CMD_RPT = 18;
|
||||
static constexpr size_t SIZE_TM_HK_REPORT = 369;
|
||||
|
||||
enum Submode : uint8_t { IDLE_OR_NONE = 0, REPLAY = 1, SNAPSHOT = 2 };
|
||||
@ -917,13 +920,14 @@ class TcCamTakePic : public TcBase {
|
||||
}
|
||||
size_t deserLen = commandDataLen;
|
||||
size_t serLen = 0;
|
||||
fileName = reinterpret_cast<const char*>(commandData);
|
||||
fileName = std::string(reinterpret_cast<const char*>(commandData));
|
||||
if (fileName.size() > MAX_FILENAME_SIZE) {
|
||||
return FILENAME_TOO_LONG;
|
||||
}
|
||||
deserLen -= fileName.length() + 1;
|
||||
*dataPtr += fileName.length() + 1;
|
||||
uint8_t** payloadPtr = &payloadStart;
|
||||
memset(payloadStart, 0, FILENAME_FIELD_SIZE);
|
||||
memcpy(payloadStart, fileName.data(), fileName.size());
|
||||
*payloadPtr += FILENAME_FIELD_SIZE;
|
||||
serLen += FILENAME_FIELD_SIZE;
|
||||
@ -1053,9 +1057,9 @@ class TcSimplexStreamFile : public TcBase {
|
||||
/**
|
||||
* @brief Class to build simplex send file command
|
||||
*/
|
||||
class TcSimplexStoreFile : public TcBase {
|
||||
class TcSplitFile : public TcBase {
|
||||
public:
|
||||
TcSimplexStoreFile(ploc::SpTcParams params, uint16_t sequenceCount)
|
||||
TcSplitFile(ploc::SpTcParams params, uint16_t sequenceCount)
|
||||
: TcBase(params, apid::TC_SIMPLEX_SEND_FILE, sequenceCount) {}
|
||||
|
||||
ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
|
||||
|
@ -159,6 +159,7 @@ static const DeviceCommandId_t ENABLE_NVMS = 59;
|
||||
static const DeviceCommandId_t CONTINUE_UPDATE = 60;
|
||||
static const DeviceCommandId_t MEMORY_CHECK_WITH_FILE = 61;
|
||||
static constexpr DeviceCommandId_t MEMORY_CHECK = 62;
|
||||
static constexpr DeviceCommandId_t ABORT_LONGER_REQUEST = 63;
|
||||
|
||||
/** Reply IDs */
|
||||
enum ReplyId : DeviceCommandId_t {
|
||||
@ -1145,14 +1146,14 @@ class WriteMemory : public TcBase {
|
||||
: TcBase(params, Apid::MEM_MAN, static_cast<uint8_t>(tc::MemManId::WRITE), 1) {}
|
||||
|
||||
ReturnValue_t buildPacket(ccsds::SequenceFlags seqFlags, uint16_t sequenceCount, uint8_t memoryId,
|
||||
uint32_t startAddress, uint16_t length, uint8_t* updateData) {
|
||||
uint32_t currentAddr, uint16_t length, uint8_t* updateData) {
|
||||
if (length > CHUNK_MAX) {
|
||||
sif::error << "WriteMemory::WriteMemory: Invalid length" << std::endl;
|
||||
return SerializeIF::BUFFER_TOO_SHORT;
|
||||
}
|
||||
spParams.creator.setSeqFlags(seqFlags);
|
||||
spParams.creator.setSeqCount(sequenceCount);
|
||||
auto res = initPacket(memoryId, startAddress, length, updateData);
|
||||
auto res = initPacket(memoryId, currentAddr, length, updateData);
|
||||
if (res != returnvalue::OK) {
|
||||
return res;
|
||||
}
|
||||
@ -1170,7 +1171,7 @@ class WriteMemory : public TcBase {
|
||||
static const uint16_t META_DATA_LENGTH = 8;
|
||||
uint8_t n = 1;
|
||||
|
||||
ReturnValue_t initPacket(uint8_t memoryId, uint32_t startAddr, uint16_t updateDataLen,
|
||||
ReturnValue_t initPacket(uint8_t memoryId, uint32_t currentAddr, uint16_t updateDataLen,
|
||||
uint8_t* updateData) {
|
||||
uint8_t* data = payloadStart;
|
||||
if (updateDataLen % 2 != 0) {
|
||||
@ -1188,7 +1189,7 @@ class WriteMemory : public TcBase {
|
||||
SerializeIF::Endianness::BIG);
|
||||
SerializeAdapter::serialize(&n, &data, &serializedSize, spParams.maxSize,
|
||||
SerializeIF::Endianness::BIG);
|
||||
SerializeAdapter::serialize(&startAddr, &data, &serializedSize, spParams.maxSize,
|
||||
SerializeAdapter::serialize(¤tAddr, &data, &serializedSize, spParams.maxSize,
|
||||
SerializeIF::Endianness::BIG);
|
||||
SerializeAdapter::serialize(&updateDataLen, &data, &serializedSize, spParams.maxSize,
|
||||
SerializeIF::Endianness::BIG);
|
||||
|
@ -795,9 +795,9 @@ ReturnValue_t ImtqHandler::initializeLocalDataPool(localpool::DataPool& localDat
|
||||
localDataPoolMap.emplace(imtq::FINA_NEG_Z_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
||||
|
||||
poolManager.subscribeForDiagPeriodicPacket(
|
||||
subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), enableHkSets, 30.0));
|
||||
subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), enableHkSets, 60.0));
|
||||
poolManager.subscribeForDiagPeriodicPacket(
|
||||
subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), enableHkSets, 30.0));
|
||||
subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), enableHkSets, 60.0));
|
||||
poolManager.subscribeForDiagPeriodicPacket(
|
||||
subdp::DiagnosticsHkPeriodicParams(rawMtmNoTorque.getSid(), false, 10.0));
|
||||
poolManager.subscribeForDiagPeriodicPacket(
|
||||
|
@ -340,7 +340,7 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP
|
||||
localDataPoolMap.emplace(rws::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
|
||||
localDataPoolMap.emplace(rws::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
|
||||
poolManager.subscribeForDiagPeriodicPacket(
|
||||
subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 12.0));
|
||||
subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 30.0));
|
||||
poolManager.subscribeForRegularPeriodicPacket(
|
||||
subdp::RegularHkPeriodicParams(tmDataset.getSid(), false, 30.0));
|
||||
poolManager.subscribeForRegularPeriodicPacket(
|
||||
|
@ -1662,7 +1662,7 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
|
||||
poolManager.subscribeForRegularPeriodicPacket(
|
||||
subdp::RegularHkPeriodicParams(interfaceSet.getSid(), false, 10.0));
|
||||
poolManager.subscribeForDiagPeriodicPacket(
|
||||
subdp::DiagnosticsHkPeriodicParams(solutionSet.getSid(), false, 12.0));
|
||||
subdp::DiagnosticsHkPeriodicParams(solutionSet.getSid(), false, 30.0));
|
||||
poolManager.subscribeForRegularPeriodicPacket(
|
||||
subdp::RegularHkPeriodicParams(cameraSet.getSid(), false, 10.0));
|
||||
poolManager.subscribeForRegularPeriodicPacket(
|
||||
|
@ -232,7 +232,8 @@ void AcsController::performSafe() {
|
||||
acs::ControlModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy(
|
||||
mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag,
|
||||
gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(),
|
||||
fusedRotRateData.rotRateTotal.isValid(), acsParameters.safeModeControllerParameters.useMekf,
|
||||
fusedRotRateSourcesData.rotRateTotalSusMgm.isValid(),
|
||||
acsParameters.safeModeControllerParameters.useMekf,
|
||||
acsParameters.safeModeControllerParameters.useGyr,
|
||||
acsParameters.safeModeControllerParameters.dampingDuringEclipse);
|
||||
switch (safeCtrlStrat) {
|
||||
@ -251,9 +252,10 @@ void AcsController::performSafe() {
|
||||
safeCtrlFailureCounter = 0;
|
||||
break;
|
||||
case (acs::ControlModeStrategy::SAFECTRL_SUSMGM):
|
||||
safeCtrl.safeSusMgm(mgmDataProcessed.mgmVecTot.value, fusedRotRateData.rotRateTotal.value,
|
||||
fusedRotRateData.rotRateParallel.value,
|
||||
fusedRotRateData.rotRateOrthogonal.value,
|
||||
safeCtrl.safeSusMgm(mgmDataProcessed.mgmVecTot.value,
|
||||
fusedRotRateSourcesData.rotRateTotalSusMgm.value,
|
||||
fusedRotRateSourcesData.rotRateParallelSusMgm.value,
|
||||
fusedRotRateSourcesData.rotRateOrthogonalSusMgm.value,
|
||||
susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
|
||||
safeCtrlFailureFlag = false;
|
||||
safeCtrlFailureCounter = 0;
|
||||
@ -267,8 +269,8 @@ void AcsController::performSafe() {
|
||||
break;
|
||||
case (acs::ControlModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM):
|
||||
safeCtrl.safeRateDampingSusMgm(mgmDataProcessed.mgmVecTot.value,
|
||||
fusedRotRateData.rotRateTotal.value, sunTargetDir, magMomMtq,
|
||||
errAng);
|
||||
fusedRotRateSourcesData.rotRateTotalSusMgm.value, sunTargetDir,
|
||||
magMomMtq, errAng);
|
||||
safeCtrlFailureFlag = false;
|
||||
safeCtrlFailureCounter = 0;
|
||||
break;
|
||||
@ -355,7 +357,7 @@ void AcsController::performPointingCtrl() {
|
||||
}
|
||||
acs::ControlModeStrategy ptgCtrlStrat = ptgCtrl.pointingCtrlStrategy(
|
||||
mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag, strValid,
|
||||
attitudeEstimationData.quatQuest.isValid(), fusedRotRateData.rotRateTotal.isValid(),
|
||||
attitudeEstimationData.quatQuest.isValid(), fusedRotRateData.rotRateTotalSource.isValid(),
|
||||
fusedRotRateData.rotRateSource.value, useMekf);
|
||||
|
||||
if (ptgCtrlStrat == acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL or
|
||||
@ -387,11 +389,11 @@ void AcsController::performPointingCtrl() {
|
||||
quatBI[1] = sensorValues.strSet.caliQy.value;
|
||||
quatBI[2] = sensorValues.strSet.caliQz.value;
|
||||
quatBI[3] = sensorValues.strSet.caliQw.value;
|
||||
std::memcpy(rotRateB, fusedRotRateData.rotRateTotal.value, sizeof(rotRateB));
|
||||
std::memcpy(rotRateB, fusedRotRateData.rotRateTotalSource.value, sizeof(rotRateB));
|
||||
break;
|
||||
case acs::ControlModeStrategy::PTGCTRL_QUEST:
|
||||
std::memcpy(quatBI, attitudeEstimationData.quatQuest.value, sizeof(quatBI));
|
||||
std::memcpy(rotRateB, fusedRotRateData.rotRateTotal.value, sizeof(rotRateB));
|
||||
std::memcpy(rotRateB, fusedRotRateData.rotRateTotalSource.value, sizeof(rotRateB));
|
||||
break;
|
||||
default:
|
||||
sif::error << "AcsController: Invalid pointing mode strategy for performPointingCtrl"
|
||||
@ -555,8 +557,8 @@ void AcsController::performPointingCtrl() {
|
||||
void AcsController::handleDetumbling() {
|
||||
switch (detumbleState) {
|
||||
case DetumbleState::NO_DETUMBLE:
|
||||
if (fusedRotRateData.rotRateTotal.isValid() and
|
||||
VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
|
||||
if (fusedRotRateData.rotRateTotalSusMgm.isValid() and
|
||||
VectorOperations<double>::norm(fusedRotRateData.rotRateTotalSusMgm.value, 3) >
|
||||
acsParameters.detumbleParameter.omegaDetumbleStart) {
|
||||
detumbleCounter++;
|
||||
} else if (detumbleCounter > 0) {
|
||||
@ -599,8 +601,8 @@ void AcsController::handleDetumbling() {
|
||||
detumbleState = DetumbleState::NO_DETUMBLE;
|
||||
break;
|
||||
case DetumbleState::IN_DETUMBLE:
|
||||
if (fusedRotRateData.rotRateTotal.isValid() and
|
||||
VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) <
|
||||
if (fusedRotRateData.rotRateTotalSusMgm.isValid() and
|
||||
VectorOperations<double>::norm(fusedRotRateData.rotRateTotalSusMgm.value, 3) <
|
||||
acsParameters.detumbleParameter.omegaDetumbleEnd) {
|
||||
detumbleCounter++;
|
||||
} else if (detumbleCounter > 0) {
|
||||
@ -747,7 +749,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_RM3100_UT, &mgm3VecRaw);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_NT, &imtqMgmVecRaw);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_ACT_STATUS, &imtqCalActStatus);
|
||||
poolManager.subscribeForRegularPeriodicPacket({mgmDataRaw.getSid(), false, 10.0});
|
||||
poolManager.subscribeForRegularPeriodicPacket({mgmDataRaw.getSid(), false, 60.0});
|
||||
// MGM Processed
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_VEC, &mgm0VecProc);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_VEC, &mgm1VecProc);
|
||||
@ -757,7 +759,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT, &mgmVecTot);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT_DERIVATIVE, &mgmVecTotDer);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::MAG_IGRF_MODEL, &magIgrf);
|
||||
poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), enableHkSets, 10.0});
|
||||
poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), enableHkSets, 60.0});
|
||||
// SUS Raw
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_N_LOC_XFYFZM_PT_XF, &sus0ValRaw);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_N_LOC_XBYFZM_PT_XB, &sus1ValRaw);
|
||||
@ -771,7 +773,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_9_R_LOC_XBYBZB_PT_YF, &sus9ValRaw);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_10_N_LOC_XMYBZF_PT_ZF, &sus10ValRaw);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_11_R_LOC_XBYMZB_PT_ZB, &sus11ValRaw);
|
||||
poolManager.subscribeForRegularPeriodicPacket({susDataRaw.getSid(), false, 10.0});
|
||||
poolManager.subscribeForRegularPeriodicPacket({susDataRaw.getSid(), false, 60.0});
|
||||
// SUS Processed
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_VEC, &sus0VecProc);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_VEC, &sus1VecProc);
|
||||
@ -788,20 +790,20 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT, &susVecTot);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT_DERIVATIVE, &susVecTotDer);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::SUN_IJK_MODEL, &sunIjk);
|
||||
poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), enableHkSets, 10.0});
|
||||
poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), enableHkSets, 60.0});
|
||||
// GYR Raw
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_ADIS, &gyr0VecRaw);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_L3, &gyr1VecRaw);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_ADIS, &gyr2VecRaw);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_L3, &gyr3VecRaw);
|
||||
poolManager.subscribeForDiagPeriodicPacket({gyrDataRaw.getSid(), false, 10.0});
|
||||
poolManager.subscribeForDiagPeriodicPacket({gyrDataRaw.getSid(), false, 60.0});
|
||||
// GYR Processed
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_VEC, &gyr0VecProc);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_VEC, &gyr1VecProc);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_VEC, &gyr2VecProc);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_VEC, &gyr3VecProc);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_VEC_TOT, &gyrVecTot);
|
||||
poolManager.subscribeForDiagPeriodicPacket({gyrDataProcessed.getSid(), enableHkSets, 10.0});
|
||||
poolManager.subscribeForDiagPeriodicPacket({gyrDataProcessed.getSid(), enableHkSets, 60.0});
|
||||
// GPS Processed
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::GC_LATITUDE, &gcLatitude);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::GD_LONGITUDE, &gdLongitude);
|
||||
@ -809,38 +811,37 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::GPS_POSITION, &gpsPosition);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::GPS_VELOCITY, &gpsVelocity);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::SOURCE, &gpsSource);
|
||||
poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), enableHkSets, 30.0});
|
||||
poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), enableHkSets, 60.0});
|
||||
// Attitude Estimation
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::SAT_ROT_RATE_MEKF, &satRotRateMekf);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::MEKF_STATUS, &mekfStatus);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_QUEST, &quatQuest);
|
||||
poolManager.subscribeForDiagPeriodicPacket({attitudeEstimationData.getSid(), enableHkSets, 10.0});
|
||||
poolManager.subscribeForDiagPeriodicPacket({attitudeEstimationData.getSid(), enableHkSets, 30.0});
|
||||
// Ctrl Values
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::SAFE_STRAT, &safeStrat);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_QUAT, &errQuat);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_ANG, &errAng);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::TGT_ROT_RATE, &tgtRotRate);
|
||||
poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), enableHkSets, 10.0});
|
||||
poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), enableHkSets, 30.0});
|
||||
// Actuator CMD
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_TORQUE, &rwTargetTorque);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_SPEED, &rwTargetSpeed);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::MTQ_TARGET_DIPOLE, &mtqTargetDipole);
|
||||
poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), enableHkSets, 10.0});
|
||||
poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), enableHkSets, 30.0});
|
||||
// Fused Rot Rate
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_ORTHOGONAL, &rotRateOrthogonal);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL, &rotRateParallel);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL, &rotRateTotal);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOT_SUSMGM, &rotRateTotSusMgm);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOT_SOURCE, &rotRateTotSource);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_SOURCE, &rotRateSource);
|
||||
poolManager.subscribeForRegularPeriodicPacket({fusedRotRateData.getSid(), enableHkSets, 10.0});
|
||||
poolManager.subscribeForRegularPeriodicPacket({fusedRotRateData.getSid(), enableHkSets, 30.0});
|
||||
// Fused Rot Rate Sources
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_ORTHOGONAL_SUSMGM, &rotRateOrthogonalSusMgm);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL_SUSMGM, &rotRateParallelSusMgm);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_SUSMGM, &rotRateTotalSusMgm);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_QUEST, &rotRateTotalQuest);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_STR, &rotRateTotalStr);
|
||||
poolManager.subscribeForRegularPeriodicPacket({fusedRotRateSourcesData.getSid(), false, 10.0});
|
||||
poolManager.subscribeForRegularPeriodicPacket({fusedRotRateSourcesData.getSid(), false, 60.0});
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
@ -926,6 +927,17 @@ void AcsController::modeChanged(Mode_t mode, Submode_t submode) {
|
||||
if (detumbleState == DetumbleState::IN_DETUMBLE and submode != acs::SafeSubmode::DETUMBLE) {
|
||||
detumbleState = DetumbleState::NO_DETUMBLE;
|
||||
}
|
||||
if (mode > acs::AcsMode::PTG_IDLE) {
|
||||
poolManager.changeCollectionInterval(ctrlValData.getSid(), 10);
|
||||
poolManager.changeCollectionInterval(actuatorCmdData.getSid(), 10);
|
||||
poolManager.changeCollectionInterval(fusedRotRateData.getSid(), 10);
|
||||
poolManager.changeCollectionInterval(attitudeEstimationData.getSid(), 10);
|
||||
} else {
|
||||
poolManager.changeCollectionInterval(ctrlValData.getSid(), 30);
|
||||
poolManager.changeCollectionInterval(actuatorCmdData.getSid(), 30);
|
||||
poolManager.changeCollectionInterval(fusedRotRateData.getSid(), 30);
|
||||
poolManager.changeCollectionInterval(attitudeEstimationData.getSid(), 30);
|
||||
}
|
||||
return ExtendedControllerBase::modeChanged(mode, submode);
|
||||
}
|
||||
|
||||
|
@ -271,9 +271,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
|
||||
|
||||
// Fused Rot Rate
|
||||
acsctrl::FusedRotRateData fusedRotRateData;
|
||||
PoolEntry<double> rotRateOrthogonal = PoolEntry<double>(3);
|
||||
PoolEntry<double> rotRateParallel = PoolEntry<double>(3);
|
||||
PoolEntry<double> rotRateTotal = PoolEntry<double>(3);
|
||||
PoolEntry<double> rotRateTotSusMgm = PoolEntry<double>(3);
|
||||
PoolEntry<double> rotRateTotSource = PoolEntry<double>(3);
|
||||
PoolEntry<uint8_t> rotRateSource = PoolEntry<uint8_t>();
|
||||
|
||||
// Fused Rot Rate Sources
|
||||
|
@ -38,6 +38,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
|
||||
case 0x5:
|
||||
parameterWrapper->set(onBoardParams.questFilterWeight);
|
||||
break;
|
||||
case 0x6:
|
||||
parameterWrapper->set(onBoardParams.questAngleLimit);
|
||||
break;
|
||||
default:
|
||||
return INVALID_IDENTIFIER_ID;
|
||||
}
|
||||
|
@ -26,6 +26,7 @@ class AcsParameters : public HasParametersIF {
|
||||
uint8_t fusedRateFromStr = true;
|
||||
uint8_t fusedRateFromQuest = true;
|
||||
double questFilterWeight = 0.9;
|
||||
double questAngleLimit = 5 * DEG2RAD;
|
||||
} onBoardParams;
|
||||
|
||||
struct InertiaEIVE {
|
||||
@ -941,7 +942,7 @@ class AcsParameters : public HasParametersIF {
|
||||
} sunModelParameters;
|
||||
|
||||
struct KalmanFilterParameters {
|
||||
double sensorNoiseStr = 0.1 * DEG2RAD;
|
||||
double sensorNoiseStr = 0.0028 * DEG2RAD;
|
||||
double sensorNoiseSus = 8. * DEG2RAD;
|
||||
double sensorNoiseMgm = 4. * DEG2RAD;
|
||||
double sensorNoiseGyr = 0.1 * DEG2RAD;
|
||||
@ -949,7 +950,7 @@ class AcsParameters : public HasParametersIF {
|
||||
double sensorNoiseGyrArw = 3. * 0.0043 / sqrt(10) * DEG2RAD; // Angular Random Walk
|
||||
double sensorNoiseGyrBs = 3. / 3600. * DEG2RAD; // Bias Stability
|
||||
|
||||
uint8_t allowStr = false;
|
||||
uint8_t allowStr = true;
|
||||
} kalmanFilterParameters;
|
||||
|
||||
struct MagnetorquerParameter {
|
||||
|
@ -29,6 +29,20 @@ void AttitudeEstimation::quest(acsctrl::SusDataProcessed *susData,
|
||||
VectorOperations<double>::normalize(mgmData->mgmVecTot.value, normMgmB, 3);
|
||||
VectorOperations<double>::normalize(mgmData->magIgrfModel.value, normMgmI, 3);
|
||||
|
||||
if ((std::acos(VectorOperations<double>::dot(normSusB, normMgmB)) <
|
||||
acsParameters->onBoardParams.questAngleLimit) or
|
||||
(std::acos(VectorOperations<double>::dot(normSusI, normMgmI)) <
|
||||
acsParameters->onBoardParams.questAngleLimit)) {
|
||||
{
|
||||
PoolReadGuard pg{attitudeEstimationData};
|
||||
if (pg.getReadResult() == returnvalue::OK) {
|
||||
std::memcpy(attitudeEstimationData->quatQuest.value, ZERO_VEC4, 4 * sizeof(double));
|
||||
attitudeEstimationData->quatQuest.setValid(false);
|
||||
}
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
// Create Helper Vectors
|
||||
double normHelperB[3] = {0, 0, 0}, normHelperI[3] = {0, 0, 0}, helperCross[3] = {0, 0, 0},
|
||||
helperSum[3] = {0, 0, 0};
|
||||
|
@ -19,13 +19,9 @@ void FusedRotationEstimation::estimateFusedRotationRate(
|
||||
acsParameters->onBoardParams.fusedRateFromStr)) {
|
||||
PoolReadGuard pg(fusedRotRateData);
|
||||
if (pg.getReadResult() == returnvalue::OK) {
|
||||
std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
|
||||
fusedRotRateData->rotRateOrthogonal.setValid(false);
|
||||
std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
|
||||
fusedRotRateData->rotRateParallel.setValid(false);
|
||||
std::memcpy(fusedRotRateData->rotRateTotal.value,
|
||||
std::memcpy(fusedRotRateData->rotRateTotalSource.value,
|
||||
fusedRotRateSourcesData->rotRateTotalStr.value, 3 * sizeof(double));
|
||||
fusedRotRateData->rotRateTotal.setValid(true);
|
||||
fusedRotRateData->rotRateTotalSource.setValid(true);
|
||||
fusedRotRateData->rotRateSource.value = acs::rotrate::Source::STR;
|
||||
fusedRotRateData->rotRateSource.setValid(true);
|
||||
}
|
||||
@ -34,41 +30,38 @@ void FusedRotationEstimation::estimateFusedRotationRate(
|
||||
acsParameters->onBoardParams.fusedRateFromQuest)) {
|
||||
PoolReadGuard pg(fusedRotRateData);
|
||||
if (pg.getReadResult() == returnvalue::OK) {
|
||||
std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
|
||||
fusedRotRateData->rotRateOrthogonal.setValid(false);
|
||||
std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
|
||||
fusedRotRateData->rotRateParallel.setValid(false);
|
||||
std::memcpy(fusedRotRateData->rotRateTotal.value,
|
||||
std::memcpy(fusedRotRateData->rotRateTotalSource.value,
|
||||
fusedRotRateSourcesData->rotRateTotalQuest.value, 3 * sizeof(double));
|
||||
fusedRotRateData->rotRateTotal.setValid(true);
|
||||
fusedRotRateData->rotRateTotalSource.setValid(true);
|
||||
fusedRotRateData->rotRateSource.value = acs::rotrate::Source::QUEST;
|
||||
fusedRotRateData->rotRateSource.setValid(true);
|
||||
}
|
||||
} else if (fusedRotRateSourcesData->rotRateTotalSusMgm.isValid()) {
|
||||
std::memcpy(fusedRotRateData->rotRateOrthogonal.value,
|
||||
fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, 3 * sizeof(double));
|
||||
fusedRotRateData->rotRateOrthogonal.setValid(
|
||||
fusedRotRateSourcesData->rotRateOrthogonalSusMgm.isValid());
|
||||
std::memcpy(fusedRotRateData->rotRateParallel.value,
|
||||
fusedRotRateSourcesData->rotRateParallelSusMgm.value, 3 * sizeof(double));
|
||||
fusedRotRateData->rotRateParallel.setValid(
|
||||
fusedRotRateSourcesData->rotRateParallelSusMgm.isValid());
|
||||
std::memcpy(fusedRotRateData->rotRateTotal.value,
|
||||
std::memcpy(fusedRotRateData->rotRateTotalSource.value,
|
||||
fusedRotRateSourcesData->rotRateTotalSusMgm.value, 3 * sizeof(double));
|
||||
fusedRotRateData->rotRateTotal.setValid(true);
|
||||
fusedRotRateData->rotRateTotalSource.setValid(true);
|
||||
fusedRotRateData->rotRateSource.value = acs::rotrate::Source::SUSMGM;
|
||||
fusedRotRateData->rotRateSource.setValid(true);
|
||||
} else {
|
||||
PoolReadGuard pg(fusedRotRateData);
|
||||
if (pg.getReadResult() == returnvalue::OK) {
|
||||
std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
|
||||
std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
|
||||
std::memcpy(fusedRotRateData->rotRateTotal.value, ZERO_VEC3, 3 * sizeof(double));
|
||||
fusedRotRateData->setValidity(false, true);
|
||||
std::memcpy(fusedRotRateData->rotRateTotalSource.value, ZERO_VEC3, 3 * sizeof(double));
|
||||
fusedRotRateData->rotRateTotalSource.setValid(false);
|
||||
fusedRotRateData->rotRateSource.value = acs::rotrate::Source::NONE;
|
||||
fusedRotRateData->rotRateSource.setValid(true);
|
||||
}
|
||||
}
|
||||
if (fusedRotRateSourcesData->rotRateTotalSusMgm.isValid()) {
|
||||
std::memcpy(fusedRotRateData->rotRateTotalSusMgm.value,
|
||||
fusedRotRateSourcesData->rotRateTotalSusMgm.value, 3 * sizeof(double));
|
||||
fusedRotRateData->rotRateTotalSusMgm.setValid(true);
|
||||
} else {
|
||||
PoolReadGuard pg(fusedRotRateData);
|
||||
if (pg.getReadResult() == returnvalue::OK) {
|
||||
std::memcpy(fusedRotRateData->rotRateTotalSusMgm.value, ZERO_VEC3, 3 * sizeof(double));
|
||||
fusedRotRateData->rotRateTotalSusMgm.setValid(false);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void FusedRotationEstimation::estimateFusedRotationRateStr(
|
||||
|
@ -232,6 +232,7 @@ void Guidance::targetRotationRate(const double timeDelta, double quatIX[4], doub
|
||||
}
|
||||
if (timeDelta != 0.0) {
|
||||
QuaternionOperations::rotationFromQuaternions(quatIX, quatIXprev, timeDelta, refSatRate);
|
||||
VectorOperations<double>::mulScalar(refSatRate, -1, refSatRate, 3);
|
||||
} else {
|
||||
std::memcpy(refSatRate, ZERO_VEC3, 3 * sizeof(double));
|
||||
}
|
||||
@ -315,9 +316,9 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
|
||||
|
||||
// Calculate error satellite rotational rate
|
||||
// Convert target rotational rate into body RF
|
||||
double errorQuatInv[4] = {0, 0, 0, 0}, targetSatRotRateB[3] = {0, 0, 0};
|
||||
QuaternionOperations::inverse(errorQuat, errorQuatInv);
|
||||
QuaternionOperations::multiplyVector(errorQuatInv, targetSatRotRate, targetSatRotRateB);
|
||||
double targetSatRotRateB[3] = {0, 0, 0};
|
||||
QuaternionOperations::multiplyVector(currentQuat, targetSatRotRate, targetSatRotRateB);
|
||||
VectorOperations<double>::copy(targetSatRotRateB, targetSatRotRate, 3);
|
||||
// Combine the target and reference satellite rotational rates
|
||||
double combinedRefSatRotRate[3] = {0, 0, 0};
|
||||
VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);
|
||||
|
@ -114,12 +114,13 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
|
||||
return result;
|
||||
}
|
||||
|
||||
double measSensMatrix[matrixDimensionFactor][6] = {{0}},
|
||||
measCovMatrix[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
|
||||
measVec[matrixDimensionFactor] = {0}, estVec[matrixDimensionFactor] = {0};
|
||||
double measSensMatrix[matrixDimensionFactor][6] = {},
|
||||
measCovMatrix[matrixDimensionFactor][matrixDimensionFactor] = {},
|
||||
measVec[matrixDimensionFactor] = {}, estVec[matrixDimensionFactor] = {};
|
||||
kfUpdate(susData, mgmData, *measSensMatrix, *measCovMatrix, measVec, estVec);
|
||||
|
||||
double kalmanGain[6][matrixDimensionFactor] = {{0}};
|
||||
double kalmanGain[6][matrixDimensionFactor];
|
||||
std::memset(kalmanGain, 0, sizeof(kalmanGain));
|
||||
result = kfGain(*measSensMatrix, *measCovMatrix, *kalmanGain, attitudeEstimationData);
|
||||
if (result != returnvalue::OK) {
|
||||
reset(attitudeEstimationData);
|
||||
@ -342,10 +343,11 @@ ReturnValue_t MultiplicativeKalmanFilter::kfGain(
|
||||
double *measSensMatrix, double *measCovMatrix, double *kalmanGain,
|
||||
acsctrl::AttitudeEstimationData *attitudeEstimationData) {
|
||||
// Kalman Gain: K = P * H' / (H * P * H' + R)
|
||||
double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
|
||||
invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
|
||||
residualCov[6][matrixDimensionFactor] = {{0}},
|
||||
measSensMatrixTransposed[6][matrixDimensionFactor] = {{0}};
|
||||
double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {},
|
||||
invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {};
|
||||
double residualCov[6][matrixDimensionFactor], measSensMatrixTransposed[6][matrixDimensionFactor];
|
||||
std::memset(residualCov, 0, sizeof(residualCov));
|
||||
std::memset(measSensMatrixTransposed, 0, sizeof(measSensMatrixTransposed));
|
||||
|
||||
MatrixOperations<double>::transpose(measSensMatrix, *measSensMatrixTransposed,
|
||||
matrixDimensionFactor, 6);
|
||||
@ -382,8 +384,7 @@ void MultiplicativeKalmanFilter::kfCovAposteriori(double *kalmanGain, double *me
|
||||
|
||||
void MultiplicativeKalmanFilter::kfStateAposteriori(double *kalmanGain, double *measVec,
|
||||
double *estVec) {
|
||||
double stateVecErr[6] = {0, 0, 0, 0, 0, 0};
|
||||
double plantOutputDiff[matrixDimensionFactor] = {0};
|
||||
double stateVecErr[6] = {0, 0, 0, 0, 0, 0}, plantOutputDiff[matrixDimensionFactor] = {};
|
||||
VectorOperations<double>::subtract(measVec, estVec, plantOutputDiff, matrixDimensionFactor);
|
||||
MatrixOperations<double>::multiply(kalmanGain, plantOutputDiff, stateVecErr, 6,
|
||||
matrixDimensionFactor, 1);
|
||||
|
@ -129,9 +129,8 @@ enum PoolIds : lp_id_t {
|
||||
RW_TARGET_SPEED,
|
||||
MTQ_TARGET_DIPOLE,
|
||||
// Fused Rotation Rate
|
||||
ROT_RATE_ORTHOGONAL,
|
||||
ROT_RATE_PARALLEL,
|
||||
ROT_RATE_TOTAL,
|
||||
ROT_RATE_TOT_SUSMGM,
|
||||
ROT_RATE_TOT_SOURCE,
|
||||
ROT_RATE_SOURCE,
|
||||
// Fused Rotation Rate Sources
|
||||
ROT_RATE_ORTHOGONAL_SUSMGM,
|
||||
@ -151,7 +150,7 @@ static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 6;
|
||||
static constexpr uint8_t ATTITUDE_ESTIMATION_SET_ENTRIES = 4;
|
||||
static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 5;
|
||||
static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
|
||||
static constexpr uint8_t FUSED_ROT_RATE_SET_ENTRIES = 4;
|
||||
static constexpr uint8_t FUSED_ROT_RATE_SET_ENTRIES = 3;
|
||||
static constexpr uint8_t FUSED_ROT_RATE_SOURCES_SET_ENTRIES = 5;
|
||||
|
||||
/**
|
||||
@ -318,10 +317,10 @@ class FusedRotRateData : public StaticLocalDataSet<FUSED_ROT_RATE_SET_ENTRIES> {
|
||||
FusedRotRateData(HasLocalDataPoolIF* hkOwner)
|
||||
: StaticLocalDataSet(hkOwner, FUSED_ROTATION_RATE_DATA) {}
|
||||
|
||||
lp_vec_t<double, 3> rotRateOrthogonal =
|
||||
lp_vec_t<double, 3>(sid.objectId, ROT_RATE_ORTHOGONAL, this);
|
||||
lp_vec_t<double, 3> rotRateParallel = lp_vec_t<double, 3>(sid.objectId, ROT_RATE_PARALLEL, this);
|
||||
lp_vec_t<double, 3> rotRateTotal = lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOTAL, this);
|
||||
lp_vec_t<double, 3> rotRateTotalSusMgm =
|
||||
lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOT_SUSMGM, this);
|
||||
lp_vec_t<double, 3> rotRateTotalSource =
|
||||
lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOT_SOURCE, this);
|
||||
lp_var_t<uint8_t> rotRateSource = lp_var_t<uint8_t>(sid.objectId, ROT_RATE_SOURCE, this);
|
||||
|
||||
private:
|
||||
|
@ -105,7 +105,7 @@ Subsystem& satsystem::acs::init() {
|
||||
};
|
||||
// Build TARGET PT transition 0
|
||||
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
|
||||
iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
|
||||
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
|
||||
iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
|
||||
@ -114,7 +114,7 @@ Subsystem& satsystem::acs::init() {
|
||||
ctxc);
|
||||
|
||||
// Build SUS board transition
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, SUS_BOARD_NML_TRANS.second, true);
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, SUS_BOARD_NML_TRANS.second, true);
|
||||
check(ACS_SUBSYSTEM.addTable(TableEntry(SUS_BOARD_NML_TRANS.first, &SUS_BOARD_NML_TRANS.second)),
|
||||
ctxc);
|
||||
|
||||
@ -200,14 +200,14 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
iht(objects::ACS_CONTROLLER, acs::AcsMode::SAFE, acs::SafeSubmode::DEFAULT,
|
||||
ACS_TABLE_SAFE_TGT.second, true);
|
||||
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TGT.second, true);
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TGT.second, true);
|
||||
iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TGT.second, true);
|
||||
check(ss.addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc);
|
||||
|
||||
// Build SAFE transition 0
|
||||
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
|
||||
iht(objects::STR_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
|
||||
iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
|
||||
check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
|
||||
@ -257,14 +257,14 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
|
||||
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
|
||||
iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TGT.second, true);
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TGT.second, true);
|
||||
iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TGT.second, true);
|
||||
ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);
|
||||
|
||||
// Build IDLE transition 0
|
||||
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
|
||||
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
|
||||
iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
|
||||
ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
|
||||
@ -307,7 +307,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
// Build TARGET PT table
|
||||
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET, 0, ACS_TABLE_PTG_TARGET_TGT.second);
|
||||
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_TGT.second, true);
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_TGT.second, true);
|
||||
iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_TGT.second, true);
|
||||
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
|
||||
iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
|
||||
@ -356,7 +356,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
// Build TARGET PT table
|
||||
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_NADIR, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
|
||||
iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
|
||||
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
@ -409,7 +409,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
// Build TARGET PT table
|
||||
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET_GS, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
||||
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
|
||||
iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
|
||||
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
||||
iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
||||
@ -462,7 +462,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_INERTIAL, 0,
|
||||
ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second,
|
||||
iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second,
|
||||
true);
|
||||
iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second,
|
||||
true);
|
||||
|
2
tmtc
2
tmtc
Submodule tmtc updated: 5e1b12fa52...9a06c64dfa
Reference in New Issue
Block a user