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150
CHANGELOG.md
150
CHANGELOG.md
@ -16,6 +16,156 @@ will consitute of a breaking change warranting a new major release:
|
||||
|
||||
# [unreleased]
|
||||
|
||||
# [v8.2.0] 2024-06-26
|
||||
|
||||
## Changed
|
||||
|
||||
- STR quaternions are now used by the `MEKF` by default
|
||||
- Changed nominal `SUS Assembly` side to `B Side`.
|
||||
- Changed source for state machine of detumbling to SUS and MGM only.
|
||||
- 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
|
||||
- `GPS Controller`: `GPS Set` to 60s
|
||||
- `MTQ Handler`: `HK with Torque`, `HK without Torque` to 60s
|
||||
- `RW Handler`: `Status Set` to 30s
|
||||
- `STR Handler`: `Solution Set` to 30s
|
||||
- `ACS Controller`: `MGM Sensor`, `MGM Processed`, `SUS Sensor`, `SUS Processed`, `GYR Sensor`,
|
||||
`GPS Processed` to 60s
|
||||
- `ACS Controller` at or below `IDLE`: `CTRL Values`, `ACT Commands`, `Attitude Estimation`,
|
||||
`Fused Rotation Rate` to 30s
|
||||
- `ACS Controller` above `IDLE`: `CTRL Values`, `ACT Commands`, `Attitude Estimation`,
|
||||
`Fused Rotation Rate` to 10s
|
||||
|
||||
## Fixed
|
||||
|
||||
- Added null termination for PLOC MPSoC image taking command which could possibly lead to
|
||||
default target filenames.
|
||||
|
||||
# [v8.1.1] 2024-06-05
|
||||
|
||||
## Added
|
||||
|
||||
- PLOC SUPV MPSoC update re-try logic for the `WRITE_MEMORY` command. These packets form > 98%
|
||||
of all packets required for a software update, but the update mechanism is not tolerant against
|
||||
occasional glitches on the RS485 communication to the PLOC SUPV. A simple re-try mechanism which
|
||||
tries to re-attempt packet handling up to three times for those packets is introduced.
|
||||
|
||||
# [v8.1.0] 2024-05-29
|
||||
|
||||
## Fixed
|
||||
|
||||
- Small fix for transition failure handling of the MPSoC when the `START_MPSOC` action command
|
||||
to the supervisor fails.
|
||||
- Fixed inits of arrays within the `MEKF` not being zeros.
|
||||
- Important bugfix for PLOC SUPV: The SUPV previously was able to steal packets from the special
|
||||
communication helper, for example during software updates.
|
||||
- Corrected sigma of STR for `MEKF`.
|
||||
|
||||
## Added
|
||||
|
||||
- Added new command to cancel the PLOC SUPV special communication helper.
|
||||
|
||||
# [v8.0.0] 2024-05-13
|
||||
|
||||
- `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
|
||||
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.
|
||||
- Commanding a submode the device is already in will not result in a completion failure
|
||||
anymore.
|
||||
|
||||
## Added
|
||||
|
||||
- Added `VERIFY_BOOT` command for MPSoC.
|
||||
- New command for MPSoC to store camera image in chunks.
|
||||
|
||||
# [v7.8.1] 2024-04-11
|
||||
|
||||
## Fixed
|
||||
|
||||
- Reverted fix for wrong order in quaternion multiplication for computation of the error quaternion.
|
||||
|
||||
# [v7.8.0] 2024-04-10
|
||||
|
||||
## Changed
|
||||
|
||||
- Reverted lower OP limit of `PLOC` to -10°C.
|
||||
- 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
|
||||
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.
|
||||
- A `GPS FIX HAS CHANGED` is now only triggered if no fix change has been detected within the past
|
||||
2min. This means, this event might be thrown with a 2min delay. It is instantly thrown, if the mode
|
||||
of the controller is changed. As arguments it now displays the new fix and the numer of fix changes
|
||||
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
|
||||
already invalid.
|
||||
|
||||
## Added
|
||||
|
||||
- PUS timeservice relative timeshift.
|
||||
|
||||
## Fixed
|
||||
|
||||
- Fixed wrong order in quaternion multiplication for computation of the error quaternion.
|
||||
- Re-worked some FDIR logic in the FSFW. The former logic prevented events with a severity
|
||||
higher than INFO if the device was in EXTERNAL CONTROL. The new logic will allow to trigger
|
||||
events but still inhibit FDIR reactions if the device is in EXTERNAL CONTROL.
|
||||
|
||||
# [v7.7.4] 2024-03-21
|
||||
|
||||
## Changed
|
||||
|
||||
- Rotational rate limit for the GS target pointing is now seperated from controller limit. It
|
||||
is also reduced to 0.75°/s now.
|
||||
|
||||
## Fixed
|
||||
|
||||
- Fixed wrong sign in calculation of total current within the `PWR Controller`.
|
||||
|
||||
# [v7.7.3] 2024-03-18
|
||||
|
||||
- Bumped `eive-fsfw`
|
||||
|
||||
## Added
|
||||
|
||||
- Added parameter to disable STR input for MEKF.
|
||||
|
||||
## Changed
|
||||
|
||||
- If a primary heater is set to `EXTERNAL CONTROL` and `ON`, the `TCS Controller` will no
|
||||
try to control the temperature of that object.
|
||||
- Set lower OP limit of `PLOC` to -5°C.
|
||||
|
||||
## Fixed
|
||||
|
||||
- Added prevention of sign jump for target quaternion of GS pointing, which would reduce the
|
||||
performance of the controller.
|
||||
- Heaters set to `EXTERNAL CONTROL` no longer can be switched off by the `TCS Controller`, if
|
||||
they violate the maximum burn duration of the controller.
|
||||
|
||||
# [v7.7.2] 2024-03-06
|
||||
|
||||
## Fixed
|
||||
|
||||
- Camera and E-band antenna now point towards the target instead of away from the target for the
|
||||
pointing target mode.
|
||||
|
||||
# [v7.7.1] 2024-03-06
|
||||
|
||||
- Bumped `eive-tmtc` to v6.1.1
|
||||
|
@ -9,9 +9,9 @@
|
||||
# ##############################################################################
|
||||
cmake_minimum_required(VERSION 3.13)
|
||||
|
||||
set(OBSW_VERSION_MAJOR 7)
|
||||
set(OBSW_VERSION_MINOR 7)
|
||||
set(OBSW_VERSION_REVISION 1)
|
||||
set(OBSW_VERSION_MAJOR 8)
|
||||
set(OBSW_VERSION_MINOR 2)
|
||||
set(OBSW_VERSION_REVISION 0)
|
||||
|
||||
# set(CMAKE_VERBOSE TRUE)
|
||||
|
||||
|
@ -2,15 +2,15 @@
|
||||
#include <linux/payload/PlocMpsocHandler.h>
|
||||
#include <linux/payload/plocSupvDefs.h>
|
||||
|
||||
#include <sstream>
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
#include "fsfw/datapool/PoolReadGuard.h"
|
||||
#include "fsfw/globalfunctions/CRC.h"
|
||||
#include "fsfw/ipc/QueueFactory.h"
|
||||
#include "fsfw/parameters/HasParametersIF.h"
|
||||
|
||||
PlocMpsocHandler::PlocMpsocHandler(object_id_t objectId, object_id_t uartComIFid,
|
||||
CookieIF* comCookie, PlocMpsocSpecialComHelper* plocMPSoCHelper,
|
||||
CookieIF* comCookie,
|
||||
PlocMpsocSpecialComHelperLegacy* plocMPSoCHelper,
|
||||
Gpio uartIsolatorSwitch, object_id_t supervisorHandler)
|
||||
: DeviceHandlerBase(objectId, uartComIFid, comCookie),
|
||||
hkReport(this),
|
||||
@ -54,24 +54,26 @@ ReturnValue_t PlocMpsocHandler::initialize() {
|
||||
return result;
|
||||
}
|
||||
result = manager->subscribeToEvent(
|
||||
eventQueue->getId(), event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_WRITE_FAILED));
|
||||
eventQueue->getId(),
|
||||
event::getEventId(PlocMpsocSpecialComHelperLegacy::MPSOC_FLASH_WRITE_FAILED));
|
||||
if (result != returnvalue::OK) {
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
result = manager->subscribeToEvent(
|
||||
eventQueue->getId(),
|
||||
event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_WRITE_SUCCESSFUL));
|
||||
event::getEventId(PlocMpsocSpecialComHelperLegacy::MPSOC_FLASH_WRITE_SUCCESSFUL));
|
||||
if (result != returnvalue::OK) {
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
result = manager->subscribeToEvent(
|
||||
eventQueue->getId(),
|
||||
event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_READ_SUCCESSFUL));
|
||||
event::getEventId(PlocMpsocSpecialComHelperLegacy::MPSOC_FLASH_READ_SUCCESSFUL));
|
||||
if (result != returnvalue::OK) {
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
result = manager->subscribeToEvent(
|
||||
eventQueue->getId(), event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_READ_FAILED));
|
||||
eventQueue->getId(),
|
||||
event::getEventId(PlocMpsocSpecialComHelperLegacy::MPSOC_FLASH_READ_FAILED));
|
||||
if (result != returnvalue::OK) {
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
@ -139,7 +141,7 @@ ReturnValue_t PlocMpsocHandler::executeAction(ActionId_t actionId, MessageQueueI
|
||||
}
|
||||
|
||||
if (specialComHelperExecuting) {
|
||||
return MPSoCReturnValuesIF::MPSOC_HELPER_EXECUTING;
|
||||
return mpsoc::MPSOC_HELPER_EXECUTING;
|
||||
}
|
||||
|
||||
switch (actionId) {
|
||||
@ -408,7 +410,7 @@ ReturnValue_t PlocMpsocHandler::scanForReply(const uint8_t* start, size_t remain
|
||||
sif::debug << "PlocMPSoCHandler::scanForReply: Reply has invalid APID 0x" << std::hex
|
||||
<< std::setfill('0') << std::setw(2) << apid << std::dec << std::endl;
|
||||
*foundLen = remainingSize;
|
||||
return MPSoCReturnValuesIF::INVALID_APID;
|
||||
return mpsoc::INVALID_APID;
|
||||
}
|
||||
}
|
||||
|
||||
@ -445,7 +447,7 @@ ReturnValue_t PlocMpsocHandler::interpretDeviceReply(DeviceCommandId_t id, const
|
||||
}
|
||||
case (mpsoc::TM_FLASH_DIRECTORY_CONTENT): {
|
||||
result = verifyPacket(packet, foundPacketLen);
|
||||
if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
|
||||
if (result == mpsoc::CRC_FAILURE) {
|
||||
sif::warning << "PLOC MPSoC: Flash directory content reply invalid CRC" << std::endl;
|
||||
}
|
||||
/** Send data to commanding queue */
|
||||
@ -557,7 +559,7 @@ ReturnValue_t PlocMpsocHandler::prepareTcMemRead(const uint8_t* commandData,
|
||||
ReturnValue_t PlocMpsocHandler::prepareTcFlashDelete(const uint8_t* commandData,
|
||||
size_t commandDataLen) {
|
||||
if (commandDataLen > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
|
||||
return MPSoCReturnValuesIF::NAME_TOO_LONG;
|
||||
return mpsoc::NAME_TOO_LONG;
|
||||
}
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
mpsoc::TcFlashDelete tcFlashDelete(spParams, sequenceCount);
|
||||
@ -718,7 +720,7 @@ ReturnValue_t PlocMpsocHandler::finishTcPrep(mpsoc::TcBase& tcBase) {
|
||||
|
||||
ReturnValue_t PlocMpsocHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
|
||||
if (CRC::crc16ccitt(start, foundLen) != 0) {
|
||||
return MPSoCReturnValuesIF::CRC_FAILURE;
|
||||
return mpsoc::CRC_FAILURE;
|
||||
}
|
||||
return returnvalue::OK;
|
||||
}
|
||||
@ -727,12 +729,12 @@ ReturnValue_t PlocMpsocHandler::handleAckReport(const uint8_t* data) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
|
||||
result = verifyPacket(data, mpsoc::SIZE_ACK_REPORT);
|
||||
if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
|
||||
if (result == mpsoc::CRC_FAILURE) {
|
||||
sif::warning << "PlocMPSoCHandler::handleAckReport: CRC failure" << std::endl;
|
||||
nextReplyId = mpsoc::NONE;
|
||||
replyRawReplyIfnotWiretapped(data, mpsoc::SIZE_ACK_REPORT);
|
||||
triggerEvent(MPSOC_HANDLER_CRC_FAILURE);
|
||||
sendFailureReport(mpsoc::ACK_REPORT, MPSoCReturnValuesIF::CRC_FAILURE);
|
||||
sendFailureReport(mpsoc::ACK_REPORT, mpsoc::CRC_FAILURE);
|
||||
disableAllReplies();
|
||||
return IGNORE_REPLY_DATA;
|
||||
}
|
||||
@ -771,7 +773,7 @@ ReturnValue_t PlocMpsocHandler::handleExecutionReport(const uint8_t* data) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
|
||||
result = verifyPacket(data, mpsoc::SIZE_EXE_REPORT);
|
||||
if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
|
||||
if (result == mpsoc::CRC_FAILURE) {
|
||||
sif::warning << "PlocMPSoCHandler::handleExecutionReport: CRC failure" << std::endl;
|
||||
nextReplyId = mpsoc::NONE;
|
||||
return result;
|
||||
@ -792,9 +794,9 @@ ReturnValue_t PlocMpsocHandler::handleExecutionReport(const uint8_t* data) {
|
||||
uint16_t status = mpsoc::getStatusFromRawData(data);
|
||||
sif::warning << "MPSoC EXE Failure: " << mpsoc::getStatusString(status) << std::endl;
|
||||
triggerEvent(EXE_FAILURE, commandId, status);
|
||||
sendFailureReport(mpsoc::EXE_REPORT, MPSoCReturnValuesIF::RECEIVED_EXE_FAILURE);
|
||||
sendFailureReport(mpsoc::EXE_REPORT, mpsoc::RECEIVED_EXE_FAILURE);
|
||||
result = IGNORE_REPLY_DATA;
|
||||
cmdDoneHandler(false, MPSoCReturnValuesIF::RECEIVED_EXE_FAILURE);
|
||||
cmdDoneHandler(false, mpsoc::RECEIVED_EXE_FAILURE);
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
@ -810,7 +812,7 @@ ReturnValue_t PlocMpsocHandler::handleExecutionReport(const uint8_t* data) {
|
||||
ReturnValue_t PlocMpsocHandler::handleMemoryReadReport(const uint8_t* data) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
result = verifyPacket(data, tmMemReadReport.rememberRequestedSize);
|
||||
if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
|
||||
if (result == mpsoc::CRC_FAILURE) {
|
||||
sif::warning << "PlocMPSoCHandler::handleMemoryReadReport: Memory read report has invalid crc"
|
||||
<< std::endl;
|
||||
}
|
||||
@ -1004,7 +1006,7 @@ ReturnValue_t PlocMpsocHandler::handleGetHkReport(const uint8_t* data) {
|
||||
|
||||
ReturnValue_t PlocMpsocHandler::handleCamCmdRpt(const uint8_t* data) {
|
||||
ReturnValue_t result = verifyPacket(data, foundPacketLen);
|
||||
if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
|
||||
if (result == mpsoc::CRC_FAILURE) {
|
||||
sif::warning << "PlocMPSoCHandler::handleCamCmdRpt: CRC failure" << std::endl;
|
||||
}
|
||||
SpacePacketReader packetReader(data, foundPacketLen);
|
@ -1,23 +1,19 @@
|
||||
#ifndef BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
|
||||
#define BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
|
||||
|
||||
#include <linux/payload/PlocMpsocSpecialComHelper.h>
|
||||
#include <linux/payload/mpsocRetvals.h>
|
||||
#include <linux/payload/PlocMpsocSpecialComHelperLegacy.h>
|
||||
#include <linux/payload/plocMpsocHelpers.h>
|
||||
#include <linux/payload/plocSupvDefs.h>
|
||||
#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
|
||||
|
||||
#include <string>
|
||||
|
||||
#include "fsfw/action/CommandActionHelper.h"
|
||||
#include "fsfw/action/CommandsActionsIF.h"
|
||||
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
|
||||
#include "fsfw/ipc/QueueFactory.h"
|
||||
#include "fsfw/tmtcservices/SourceSequenceCounter.h"
|
||||
#include "fsfw_hal/linux/gpio/Gpio.h"
|
||||
#include "fsfw_hal/linux/serial/SerialComIF.h"
|
||||
|
||||
static constexpr bool DEBUG_MPSOC_COMMUNICATION = false;
|
||||
static constexpr bool DEBUG_MPSOC_COMMUNICATION = true;
|
||||
|
||||
/**
|
||||
* @brief This is the device handler for the MPSoC of the payload computer.
|
||||
@ -48,7 +44,7 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
|
||||
* @param supervisorHandler Object ID of the supervisor handler
|
||||
*/
|
||||
PlocMpsocHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
|
||||
PlocMpsocSpecialComHelper* plocMPSoCHelper, Gpio uartIsolatorSwitch,
|
||||
PlocMpsocSpecialComHelperLegacy* plocMPSoCHelper, Gpio uartIsolatorSwitch,
|
||||
object_id_t supervisorHandler);
|
||||
virtual ~PlocMpsocHandler();
|
||||
virtual ReturnValue_t initialize() override;
|
||||
@ -171,7 +167,7 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
|
||||
|
||||
SerialComIF* uartComIf = nullptr;
|
||||
|
||||
PlocMpsocSpecialComHelper* specialComHelper = nullptr;
|
||||
PlocMpsocSpecialComHelperLegacy* specialComHelper = nullptr;
|
||||
Gpio uartIsolatorSwitch;
|
||||
object_id_t supervisorHandler = 0;
|
||||
CommandActionHelper commandActionHelper;
|
||||
@ -186,7 +182,7 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
|
||||
};
|
||||
|
||||
TmMemReadReport tmMemReadReport;
|
||||
Countdown cmdCountdown = Countdown(10000);
|
||||
Countdown cmdCountdown = Countdown(15000);
|
||||
|
||||
struct TelemetryBuffer {
|
||||
uint16_t length = 0;
|
545
archive/PlocMpsocSpecialComHelperLegacy.cpp
Normal file
545
archive/PlocMpsocSpecialComHelperLegacy.cpp
Normal file
@ -0,0 +1,545 @@
|
||||
#include <fsfw/globalfunctions/arrayprinter.h>
|
||||
#include <fsfw/tasks/TaskFactory.h>
|
||||
#include <linux/payload/PlocMpsocSpecialComHelperLegacy.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <filesystem>
|
||||
#include <fstream>
|
||||
|
||||
#ifdef XIPHOS_Q7S
|
||||
#include "bsp_q7s/fs/FilesystemHelper.h"
|
||||
#endif
|
||||
|
||||
#include "mission/utility/Timestamp.h"
|
||||
|
||||
using namespace ploc;
|
||||
|
||||
PlocMpsocSpecialComHelperLegacy::PlocMpsocSpecialComHelperLegacy(object_id_t objectId)
|
||||
: SystemObject(objectId) {
|
||||
spParams.buf = commandBuffer;
|
||||
spParams.maxSize = sizeof(commandBuffer);
|
||||
}
|
||||
|
||||
PlocMpsocSpecialComHelperLegacy::~PlocMpsocSpecialComHelperLegacy() {}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::initialize() {
|
||||
#ifdef XIPHOS_Q7S
|
||||
sdcMan = SdCardManager::instance();
|
||||
if (sdcMan == nullptr) {
|
||||
sif::warning << "PlocMPSoCHelper::initialize: Invalid SD Card Manager" << std::endl;
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
#endif
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::performOperation(uint8_t operationCode) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
semaphore.acquire();
|
||||
while (true) {
|
||||
#if OBSW_THREAD_TRACING == 1
|
||||
trace::threadTrace(opCounter, "PLOC MPSOC Helper");
|
||||
#endif
|
||||
switch (internalState) {
|
||||
case InternalState::IDLE: {
|
||||
semaphore.acquire();
|
||||
break;
|
||||
}
|
||||
case InternalState::FLASH_WRITE: {
|
||||
result = performFlashWrite();
|
||||
if (result == returnvalue::OK) {
|
||||
triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, sequenceCount->get());
|
||||
} else {
|
||||
triggerEvent(MPSOC_FLASH_WRITE_FAILED, sequenceCount->get());
|
||||
}
|
||||
internalState = InternalState::IDLE;
|
||||
break;
|
||||
}
|
||||
case InternalState::FLASH_READ: {
|
||||
result = performFlashRead();
|
||||
if (result == returnvalue::OK) {
|
||||
triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, sequenceCount->get());
|
||||
} else {
|
||||
triggerEvent(MPSOC_FLASH_READ_FAILED, sequenceCount->get());
|
||||
}
|
||||
internalState = InternalState::IDLE;
|
||||
break;
|
||||
}
|
||||
default:
|
||||
sif::debug << "PlocMPSoCHelper::performOperation: Invalid state" << std::endl;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::setComIF(
|
||||
DeviceCommunicationIF* communicationInterface_) {
|
||||
uartComIF = dynamic_cast<SerialComIF*>(communicationInterface_);
|
||||
if (uartComIF == nullptr) {
|
||||
sif::warning << "PlocMPSoCHelper::initialize: Invalid uart com if" << std::endl;
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
void PlocMpsocSpecialComHelperLegacy::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
|
||||
|
||||
void PlocMpsocSpecialComHelperLegacy::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
|
||||
sequenceCount = sequenceCount_;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::startFlashWrite(std::string obcFile,
|
||||
std::string mpsocFile) {
|
||||
if (internalState != InternalState::IDLE) {
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
ReturnValue_t result = startFlashReadOrWriteBase(std::move(obcFile), std::move(mpsocFile));
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
internalState = InternalState::FLASH_WRITE;
|
||||
return semaphore.release();
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::startFlashRead(std::string obcFile,
|
||||
std::string mpsocFile,
|
||||
size_t readFileSize) {
|
||||
if (internalState != InternalState::IDLE) {
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
ReturnValue_t result = startFlashReadOrWriteBase(std::move(obcFile), std::move(mpsocFile));
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
flashReadAndWrite.totalReadSize = readFileSize;
|
||||
internalState = InternalState::FLASH_READ;
|
||||
return semaphore.release();
|
||||
}
|
||||
|
||||
void PlocMpsocSpecialComHelperLegacy::resetHelper() {
|
||||
spParams.buf = commandBuffer;
|
||||
terminate = false;
|
||||
uartComIF->flushUartRxBuffer(comCookie);
|
||||
}
|
||||
|
||||
void PlocMpsocSpecialComHelperLegacy::stopProcess() { terminate = true; }
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::performFlashWrite() {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
std::ifstream file(flashReadAndWrite.obcFile, std::ifstream::binary);
|
||||
if (file.bad()) {
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
result = flashfopen(mpsoc::FileAccessModes::WRITE | mpsoc::FileAccessModes::OPEN_ALWAYS);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
// Set position of next character to end of file input stream
|
||||
file.seekg(0, file.end);
|
||||
// tellg returns position of character in input stream
|
||||
size_t remainingSize = file.tellg();
|
||||
size_t dataLength = 0;
|
||||
size_t bytesRead = 0;
|
||||
while (remainingSize > 0) {
|
||||
if (terminate) {
|
||||
return returnvalue::OK;
|
||||
}
|
||||
// The minus 4 is necessary for unknown reasons. Maybe some bug in the ILH software?
|
||||
if (remainingSize > mpsoc::MAX_FLASH_WRITE_DATA_SIZE - 4) {
|
||||
dataLength = mpsoc::MAX_FLASH_WRITE_DATA_SIZE - 4;
|
||||
} else {
|
||||
dataLength = remainingSize;
|
||||
}
|
||||
if (file.bad() or not file.is_open()) {
|
||||
return FILE_WRITE_ERROR;
|
||||
}
|
||||
file.seekg(bytesRead, file.beg);
|
||||
file.read(reinterpret_cast<char*>(fileBuf.data()), dataLength);
|
||||
bytesRead += dataLength;
|
||||
remainingSize -= dataLength;
|
||||
mpsoc::TcFlashWrite tc(spParams, *sequenceCount);
|
||||
result = tc.setPayload(fileBuf.data(), dataLength);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
result = tc.finishPacket();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
(*sequenceCount)++;
|
||||
result = handlePacketTransmissionNoReply(tc);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
}
|
||||
result = flashfclose();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::performFlashRead() {
|
||||
std::error_code e;
|
||||
std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::trunc | std::ios::binary);
|
||||
if (ofile.bad()) {
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
ReturnValue_t result = flashfopen(mpsoc::FileAccessModes::READ);
|
||||
if (result != returnvalue::OK) {
|
||||
std::filesystem::remove(flashReadAndWrite.obcFile, e);
|
||||
return result;
|
||||
}
|
||||
size_t readSoFar = 0;
|
||||
size_t nextReadSize = mpsoc::MAX_FLASH_READ_DATA_SIZE;
|
||||
while (readSoFar < flashReadAndWrite.totalReadSize) {
|
||||
if (terminate) {
|
||||
std::filesystem::remove(flashReadAndWrite.obcFile, e);
|
||||
return returnvalue::OK;
|
||||
}
|
||||
nextReadSize = mpsoc::MAX_FLASH_READ_DATA_SIZE;
|
||||
if (flashReadAndWrite.totalReadSize - readSoFar < mpsoc::MAX_FLASH_READ_DATA_SIZE) {
|
||||
nextReadSize = flashReadAndWrite.totalReadSize - readSoFar;
|
||||
}
|
||||
if (ofile.bad() or not ofile.is_open()) {
|
||||
std::filesystem::remove(flashReadAndWrite.obcFile, e);
|
||||
return FILE_READ_ERROR;
|
||||
}
|
||||
mpsoc::TcFlashRead flashReadRequest(spParams, *sequenceCount);
|
||||
result = flashReadRequest.setPayload(nextReadSize);
|
||||
if (result != returnvalue::OK) {
|
||||
std::filesystem::remove(flashReadAndWrite.obcFile, e);
|
||||
return result;
|
||||
}
|
||||
result = flashReadRequest.finishPacket();
|
||||
if (result != returnvalue::OK) {
|
||||
std::filesystem::remove(flashReadAndWrite.obcFile, e);
|
||||
return result;
|
||||
}
|
||||
(*sequenceCount)++;
|
||||
result = handlePacketTransmissionFlashRead(flashReadRequest, ofile, nextReadSize);
|
||||
if (result != returnvalue::OK) {
|
||||
std::filesystem::remove(flashReadAndWrite.obcFile, e);
|
||||
return result;
|
||||
}
|
||||
readSoFar += nextReadSize;
|
||||
}
|
||||
result = flashfclose();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::flashfopen(uint8_t mode) {
|
||||
spParams.buf = commandBuffer;
|
||||
mpsoc::FlashFopen flashFopen(spParams, *sequenceCount);
|
||||
ReturnValue_t result = flashFopen.setPayload(flashReadAndWrite.mpsocFile, mode);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
result = flashFopen.finishPacket();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
(*sequenceCount)++;
|
||||
result = handlePacketTransmissionNoReply(flashFopen);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::flashfclose() {
|
||||
spParams.buf = commandBuffer;
|
||||
mpsoc::FlashFclose flashFclose(spParams, *sequenceCount);
|
||||
ReturnValue_t result = flashFclose.finishPacket();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
(*sequenceCount)++;
|
||||
result = handlePacketTransmissionNoReply(flashFclose);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::handlePacketTransmissionFlashRead(
|
||||
mpsoc::TcFlashRead& tc, std::ofstream& ofile, size_t expectedReadLen) {
|
||||
ReturnValue_t result = sendCommand(tc);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
result = handleAck();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
result = handleTmReception();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
// We have the nominal case where the flash read report appears first, or the case where we
|
||||
// get an EXE failure immediately.
|
||||
if (spReader.getApid() == mpsoc::apid::TM_FLASH_READ_REPORT) {
|
||||
result = handleFlashReadReply(ofile, expectedReadLen);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
return handleExe();
|
||||
} else if (spReader.getApid() == mpsoc::apid::EXE_FAILURE) {
|
||||
handleExeFailure();
|
||||
} else {
|
||||
triggerEvent(MPSOC_EXE_INVALID_APID, spReader.getApid(), static_cast<uint32_t>(internalState));
|
||||
sif::warning << "PLOC MPSoC: Expected execution report "
|
||||
<< "but received space packet with apid " << std::hex << spReader.getApid()
|
||||
<< std::endl;
|
||||
}
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::handlePacketTransmissionNoReply(ploc::SpTcBase& tc) {
|
||||
ReturnValue_t result = sendCommand(tc);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
result = handleAck();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
return handleExe();
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::sendCommand(ploc::SpTcBase& tc) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
result = uartComIF->sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen());
|
||||
if (result != returnvalue::OK) {
|
||||
sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
|
||||
triggerEvent(MPSOC_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
|
||||
return result;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::handleAck() {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
result = handleTmReception();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
result = checkReceivedTm();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
uint16_t apid = spReader.getApid();
|
||||
if (apid != mpsoc::apid::ACK_SUCCESS) {
|
||||
handleAckApidFailure(spReader);
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
void PlocMpsocSpecialComHelperLegacy::handleAckApidFailure(const ploc::SpTmReader& reader) {
|
||||
uint16_t apid = reader.getApid();
|
||||
if (apid == mpsoc::apid::ACK_FAILURE) {
|
||||
uint16_t status = mpsoc::getStatusFromRawData(reader.getFullData());
|
||||
sif::warning << "PLOC MPSoC ACK Failure: " << mpsoc::getStatusString(status) << std::endl;
|
||||
triggerEvent(MPSOC_ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState), status);
|
||||
} else {
|
||||
triggerEvent(MPSOC_ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
|
||||
sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected acknowledgement report "
|
||||
<< "but received space packet with apid " << std::hex << apid << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::handleExe() {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
|
||||
result = handleTmReception();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
result = checkReceivedTm();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
uint16_t apid = spReader.getApid();
|
||||
if (apid == mpsoc::apid::EXE_FAILURE) {
|
||||
handleExeFailure();
|
||||
return returnvalue::FAILED;
|
||||
} else if (apid != mpsoc::apid::EXE_SUCCESS) {
|
||||
triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
|
||||
sif::warning << "PLOC MPSoC: Expected execution report "
|
||||
<< "but received space packet with apid " << std::hex << apid << std::endl;
|
||||
}
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
void PlocMpsocSpecialComHelperLegacy::handleExeFailure() {
|
||||
uint16_t status = mpsoc::getStatusFromRawData(spReader.getFullData());
|
||||
sif::warning << "PLOC MPSoC EXE Failure: " << mpsoc::getStatusString(status) << std::endl;
|
||||
triggerEvent(MPSOC_EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::handleTmReception() {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
tmCountdown.resetTimer();
|
||||
size_t readBytes = 0;
|
||||
size_t currentBytes = 0;
|
||||
uint32_t usleepDelay = 5;
|
||||
size_t fullPacketLen = 0;
|
||||
while (true) {
|
||||
if (tmCountdown.hasTimedOut()) {
|
||||
triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
result = receive(tmBuf.data() + readBytes, 6, ¤tBytes);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
spReader.setReadOnlyData(tmBuf.data(), tmBuf.size());
|
||||
fullPacketLen = spReader.getFullPacketLen();
|
||||
readBytes += currentBytes;
|
||||
if (readBytes == 6) {
|
||||
break;
|
||||
}
|
||||
usleep(usleepDelay);
|
||||
if (usleepDelay < 200000) {
|
||||
usleepDelay *= 4;
|
||||
}
|
||||
}
|
||||
while (true) {
|
||||
if (tmCountdown.hasTimedOut()) {
|
||||
triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
result = receive(tmBuf.data() + readBytes, fullPacketLen - readBytes, ¤tBytes);
|
||||
readBytes += currentBytes;
|
||||
if (fullPacketLen == readBytes) {
|
||||
break;
|
||||
}
|
||||
usleep(usleepDelay);
|
||||
if (usleepDelay < 200000) {
|
||||
usleepDelay *= 4;
|
||||
}
|
||||
}
|
||||
// arrayprinter::print(tmBuf.data(), readBytes);
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::handleFlashReadReply(std::ofstream& ofile,
|
||||
size_t expectedReadLen) {
|
||||
ReturnValue_t result = checkReceivedTm();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
uint16_t apid = spReader.getApid();
|
||||
if (apid != mpsoc::apid::TM_FLASH_READ_REPORT) {
|
||||
triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_APID_ERROR);
|
||||
sif::warning << "PLOC MPSoC Flash Read: Unexpected APID" << std::endl;
|
||||
return result;
|
||||
}
|
||||
const uint8_t* packetData = spReader.getPacketData();
|
||||
size_t deserDummy = spReader.getPacketDataLen() - mpsoc::CRC_SIZE;
|
||||
uint32_t receivedReadLen = 0;
|
||||
// I think this is buggy, weird stuff in the short name field.
|
||||
// std::string receivedShortName = std::string(reinterpret_cast<const char*>(packetData), 12);
|
||||
// if (receivedShortName != flashReadAndWrite.mpsocFile.substr(0, 11)) {
|
||||
// sif::warning << "PLOC MPSoC Flash Read: Missmatch between request file name and "
|
||||
// "received file name"
|
||||
// << std::endl;
|
||||
// triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_FILENAME_ERROR);
|
||||
// return returnvalue::FAILED;
|
||||
// }
|
||||
packetData += 12;
|
||||
result = SerializeAdapter::deSerialize(&receivedReadLen, &packetData, &deserDummy,
|
||||
SerializeIF::Endianness::NETWORK);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
if (receivedReadLen != expectedReadLen) {
|
||||
sif::warning << "PLOC MPSoC Flash Read: Missmatch between request read length and "
|
||||
"received read length"
|
||||
<< std::endl;
|
||||
triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_READLEN_ERROR);
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
ofile.write(reinterpret_cast<const char*>(packetData), receivedReadLen);
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::fileCheck(std::string obcFile) {
|
||||
#ifdef XIPHOS_Q7S
|
||||
ReturnValue_t result = FilesystemHelper::checkPath(obcFile);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
#elif defined(TE0720_1CFA)
|
||||
if (not std::filesystem::exists(obcFile)) {
|
||||
sif::warning << "PlocMPSoCHelper::startFlashWrite: File " << obcFile << "does not exist"
|
||||
<< std::endl;
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
#endif
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::startFlashReadOrWriteBase(std::string obcFile,
|
||||
std::string mpsocFile) {
|
||||
ReturnValue_t result = fileCheck(obcFile);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
flashReadAndWrite.obcFile = std::move(obcFile);
|
||||
flashReadAndWrite.mpsocFile = std::move(mpsocFile);
|
||||
resetHelper();
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::checkReceivedTm() {
|
||||
ReturnValue_t result = spReader.checkSize();
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "PLOC MPSoC: Size check on received TM failed" << std::endl;
|
||||
triggerEvent(MPSOC_TM_SIZE_ERROR);
|
||||
return result;
|
||||
}
|
||||
result = spReader.checkCrc();
|
||||
if (result != returnvalue::OK) {
|
||||
sif::warning << "PLOC MPSoC: CRC check failed" << std::endl;
|
||||
triggerEvent(MPSOC_TM_CRC_MISSMATCH, *sequenceCount);
|
||||
return result;
|
||||
}
|
||||
uint16_t recvSeqCnt = spReader.getSequenceCount();
|
||||
if (recvSeqCnt != *sequenceCount) {
|
||||
triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
|
||||
*sequenceCount = recvSeqCnt;
|
||||
}
|
||||
// This sequence count ping pong does not make any sense but it is how the MPSoC expects it.
|
||||
(*sequenceCount)++;
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::receive(uint8_t* data, size_t requestBytes,
|
||||
size_t* readBytes) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
uint8_t* buffer = nullptr;
|
||||
result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::warning << "PlocMPSoCHelper::receive: Failed to request reply" << std::endl;
|
||||
triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
|
||||
static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::warning << "PlocMPSoCHelper::receive: Failed to read received message" << std::endl;
|
||||
triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
if (*readBytes > 0) {
|
||||
std::memcpy(data, buffer, *readBytes);
|
||||
}
|
||||
return result;
|
||||
}
|
200
archive/PlocMpsocSpecialComHelperLegacy.h
Normal file
200
archive/PlocMpsocSpecialComHelperLegacy.h
Normal file
@ -0,0 +1,200 @@
|
||||
#ifndef BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_
|
||||
#define BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_
|
||||
|
||||
#include <linux/payload/plocMpsocHelpers.h>
|
||||
#include <mission/utility/trace.h>
|
||||
|
||||
#include <string>
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
#include "fsfw/devicehandlers/CookieIF.h"
|
||||
#include "fsfw/objectmanager/SystemObject.h"
|
||||
#include "fsfw/osal/linux/BinarySemaphore.h"
|
||||
#include "fsfw/returnvalues/returnvalue.h"
|
||||
#include "fsfw/tasks/ExecutableObjectIF.h"
|
||||
#include "fsfw/tmtcservices/SourceSequenceCounter.h"
|
||||
#include "fsfw_hal/linux/serial/SerialComIF.h"
|
||||
#ifdef XIPHOS_Q7S
|
||||
#include "bsp_q7s/fs/SdCardManager.h"
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Helper class for MPSoC of PLOC intended to accelerate large data transfers between
|
||||
* MPSoC and OBC.
|
||||
* @author J. Meier
|
||||
*/
|
||||
class PlocMpsocSpecialComHelperLegacy : public SystemObject, public ExecutableObjectIF {
|
||||
public:
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HELPER;
|
||||
|
||||
//! [EXPORT] : [COMMENT] Flash write fails
|
||||
static const Event MPSOC_FLASH_WRITE_FAILED = MAKE_EVENT(0, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Flash write successful
|
||||
static const Event MPSOC_FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(1, severity::INFO);
|
||||
//! [EXPORT] : [COMMENT] Communication interface returned failure when trying to send the command
|
||||
//! to the MPSoC
|
||||
//! P1: Return value returned by the communication interface sendMessage function
|
||||
//! P2: Internal state of MPSoC helper
|
||||
static const Event MPSOC_SENDING_COMMAND_FAILED = MAKE_EVENT(2, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Request receive message of communication interface failed
|
||||
//! P1: Return value returned by the communication interface requestReceiveMessage function
|
||||
//! P2: Internal state of MPSoC helper
|
||||
static const Event MPSOC_HELPER_REQUESTING_REPLY_FAILED = MAKE_EVENT(3, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Reading receive message of communication interface failed
|
||||
//! P1: Return value returned by the communication interface readingReceivedMessage function
|
||||
//! P2: Internal state of MPSoC helper
|
||||
static const Event MPSOC_HELPER_READING_REPLY_FAILED = MAKE_EVENT(4, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Did not receive acknowledgment report
|
||||
//! P1: Number of bytes missing
|
||||
//! P2: Internal state of MPSoC helper
|
||||
static const Event MPSOC_MISSING_ACK = MAKE_EVENT(5, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Did not receive execution report
|
||||
//! P1: Number of bytes missing
|
||||
//! P2: Internal state of MPSoC helper
|
||||
static const Event MPSOC_MISSING_EXE = MAKE_EVENT(6, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Received acknowledgment failure report
|
||||
//! P1: Internal state of MPSoC
|
||||
static const Event MPSOC_ACK_FAILURE_REPORT = MAKE_EVENT(7, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Received execution failure report
|
||||
//! P1: Internal state of MPSoC
|
||||
static const Event MPSOC_EXE_FAILURE_REPORT = MAKE_EVENT(8, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Expected acknowledgment report but received space packet with other apid
|
||||
//! P1: Apid of received space packet
|
||||
//! P2: Internal state of MPSoC
|
||||
static const Event MPSOC_ACK_INVALID_APID = MAKE_EVENT(9, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Expected execution report but received space packet with other apid
|
||||
//! P1: Apid of received space packet
|
||||
//! P2: Internal state of MPSoC
|
||||
static const Event MPSOC_EXE_INVALID_APID = MAKE_EVENT(10, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Received sequence count does not match expected sequence count
|
||||
//! P1: Expected sequence count
|
||||
//! P2: Received sequence count
|
||||
static const Event MPSOC_HELPER_SEQ_CNT_MISMATCH = MAKE_EVENT(11, severity::LOW);
|
||||
static const Event MPSOC_TM_SIZE_ERROR = MAKE_EVENT(12, severity::LOW);
|
||||
static const Event MPSOC_TM_CRC_MISSMATCH = MAKE_EVENT(13, severity::LOW);
|
||||
static const Event MPSOC_FLASH_READ_PACKET_ERROR = MAKE_EVENT(14, severity::LOW);
|
||||
static const Event MPSOC_FLASH_READ_FAILED = MAKE_EVENT(15, severity::LOW);
|
||||
static const Event MPSOC_FLASH_READ_SUCCESSFUL = MAKE_EVENT(16, severity::INFO);
|
||||
static const Event MPSOC_READ_TIMEOUT = MAKE_EVENT(17, severity::LOW);
|
||||
|
||||
enum FlashReadErrorType : uint32_t {
|
||||
FLASH_READ_APID_ERROR = 0,
|
||||
FLASH_READ_FILENAME_ERROR = 1,
|
||||
FLASH_READ_READLEN_ERROR = 2
|
||||
};
|
||||
|
||||
PlocMpsocSpecialComHelperLegacy(object_id_t objectId);
|
||||
virtual ~PlocMpsocSpecialComHelperLegacy();
|
||||
|
||||
ReturnValue_t initialize() override;
|
||||
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
|
||||
|
||||
ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_);
|
||||
void setComCookie(CookieIF* comCookie_);
|
||||
|
||||
/**
|
||||
* @brief Starts flash write sequence
|
||||
*
|
||||
* @param obcFile File where to read from the data
|
||||
* @param mpsocFile The file of the MPSoC where should be written to
|
||||
*
|
||||
* @return returnvalue::OK if successful, otherwise error return value
|
||||
*/
|
||||
ReturnValue_t startFlashWrite(std::string obcFile, std::string mpsocFile);
|
||||
/**
|
||||
*
|
||||
* @param obcFile Full target file name on OBC
|
||||
* @param mpsocFile The file on the MPSoC which should be copied ot the OBC
|
||||
* @param readFileSize The size of the file on the MPSoC.
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t startFlashRead(std::string obcFile, std::string mpsocFile, size_t readFileSize);
|
||||
|
||||
/**
|
||||
* @brief Can be used to interrupt a running data transfer.
|
||||
*/
|
||||
void stopProcess();
|
||||
|
||||
/**
|
||||
* @brief Sets the sequence count object responsible for the sequence count handling
|
||||
*/
|
||||
void setSequenceCount(SourceSequenceCounter* sequenceCount_);
|
||||
|
||||
private:
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HELPER;
|
||||
|
||||
//! [EXPORT] : [COMMENT] File error occured for file transfers from OBC to the MPSoC.
|
||||
static const ReturnValue_t FILE_WRITE_ERROR = MAKE_RETURN_CODE(0xA0);
|
||||
//! [EXPORT] : [COMMENT] File error occured for file transfers from MPSoC to OBC.
|
||||
static const ReturnValue_t FILE_READ_ERROR = MAKE_RETURN_CODE(0xA1);
|
||||
|
||||
// Maximum number of times the communication interface retries polling data from the reply
|
||||
// buffer
|
||||
static const int RETRIES = 10000;
|
||||
|
||||
struct FlashInfo {
|
||||
std::string obcFile;
|
||||
std::string mpsocFile;
|
||||
};
|
||||
|
||||
struct FlashRead : public FlashInfo {
|
||||
size_t totalReadSize = 0;
|
||||
};
|
||||
|
||||
struct FlashRead flashReadAndWrite;
|
||||
#if OBSW_THREAD_TRACING == 1
|
||||
uint32_t opCounter = 0;
|
||||
#endif
|
||||
|
||||
enum class InternalState { IDLE, FLASH_WRITE, FLASH_READ };
|
||||
|
||||
InternalState internalState = InternalState::IDLE;
|
||||
|
||||
BinarySemaphore semaphore;
|
||||
#ifdef XIPHOS_Q7S
|
||||
SdCardManager* sdcMan = nullptr;
|
||||
#endif
|
||||
uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
|
||||
SpacePacketCreator creator;
|
||||
ploc::SpTcParams spParams = ploc::SpTcParams(creator);
|
||||
|
||||
Countdown tmCountdown = Countdown(5000);
|
||||
|
||||
std::array<uint8_t, mpsoc::SP_MAX_DATA_SIZE> fileBuf{};
|
||||
std::array<uint8_t, mpsoc::MAX_REPLY_SIZE> tmBuf{};
|
||||
|
||||
bool terminate = false;
|
||||
|
||||
/**
|
||||
* Communication interface of MPSoC responsible for low level access. Must be set by the
|
||||
* MPSoC Handler.
|
||||
*/
|
||||
SerialComIF* uartComIF = nullptr;
|
||||
// Communication cookie. Must be set by the MPSoC Handler
|
||||
CookieIF* comCookie = nullptr;
|
||||
// Sequence count, must be set by Ploc MPSoC Handler
|
||||
SourceSequenceCounter* sequenceCount = nullptr;
|
||||
ploc::SpTmReader spReader;
|
||||
|
||||
void resetHelper();
|
||||
ReturnValue_t performFlashWrite();
|
||||
ReturnValue_t performFlashRead();
|
||||
ReturnValue_t flashfopen(uint8_t accessMode);
|
||||
ReturnValue_t flashfclose();
|
||||
ReturnValue_t handlePacketTransmissionNoReply(ploc::SpTcBase& tc);
|
||||
ReturnValue_t handlePacketTransmissionFlashRead(mpsoc::TcFlashRead& tc, std::ofstream& ofile,
|
||||
size_t expectedReadLen);
|
||||
ReturnValue_t handleFlashReadReply(std::ofstream& ofile, size_t expectedReadLen);
|
||||
ReturnValue_t sendCommand(ploc::SpTcBase& tc);
|
||||
ReturnValue_t receive(uint8_t* data, size_t requestBytes, size_t* readBytes);
|
||||
ReturnValue_t handleAck();
|
||||
ReturnValue_t handleExe();
|
||||
ReturnValue_t startFlashReadOrWriteBase(std::string obcFile, std::string mpsocFile);
|
||||
ReturnValue_t fileCheck(std::string obcFile);
|
||||
void handleAckApidFailure(const ploc::SpTmReader& reader);
|
||||
void handleExeFailure();
|
||||
ReturnValue_t handleTmReception();
|
||||
ReturnValue_t checkReceivedTm();
|
||||
};
|
||||
|
||||
#endif /* BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_ */
|
@ -48,6 +48,7 @@
|
||||
#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1
|
||||
#define OBSW_PRINT_MISSED_DEADLINES 1
|
||||
|
||||
#define OBSW_MPSOC_JTAG_BOOT 0
|
||||
#define OBSW_SYRLINKS_SIMULATED 1
|
||||
#define OBSW_ADD_TEST_CODE 0
|
||||
#define OBSW_ADD_TEST_TASK 0
|
||||
|
@ -1,7 +1,7 @@
|
||||
/**
|
||||
* @brief Auto-generated event translation file. Contains 320 translations.
|
||||
* @brief Auto-generated event translation file. Contains 325 translations.
|
||||
* @details
|
||||
* Generated on: 2024-02-29 13:15:00
|
||||
* Generated on: 2024-05-06 13:47:38
|
||||
*/
|
||||
#include "translateEvents.h"
|
||||
|
||||
@ -82,8 +82,11 @@ 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_DUMP_LEGACY_STRING = "CLOCK_DUMP_LEGACY";
|
||||
const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
|
||||
const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
|
||||
const char *CLOCK_DUMP_BEFORE_SETTING_TIME_STRING = "CLOCK_DUMP_BEFORE_SETTING_TIME";
|
||||
const char *CLOCK_DUMP_AFTER_SETTING_TIME_STRING = "CLOCK_DUMP_AFTER_SETTING_TIME";
|
||||
const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
|
||||
const char *TEST_STRING = "TEST";
|
||||
const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
|
||||
@ -139,6 +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";
|
||||
@ -241,6 +245,7 @@ const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING = "SIDE_SWITCH_TRANS
|
||||
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 *RESET_FAIL_STRING = "RESET_FAIL";
|
||||
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";
|
||||
@ -483,9 +488,15 @@ const char *translateEvents(Event event) {
|
||||
case (8900):
|
||||
return CLOCK_SET_STRING;
|
||||
case (8901):
|
||||
return CLOCK_DUMP_STRING;
|
||||
return CLOCK_DUMP_LEGACY_STRING;
|
||||
case (8902):
|
||||
return CLOCK_SET_FAILURE_STRING;
|
||||
case (8903):
|
||||
return CLOCK_DUMP_STRING;
|
||||
case (8904):
|
||||
return CLOCK_DUMP_BEFORE_SETTING_TIME_STRING;
|
||||
case (8905):
|
||||
return CLOCK_DUMP_AFTER_SETTING_TIME_STRING;
|
||||
case (9100):
|
||||
return TC_DELETION_FAILED_STRING;
|
||||
case (9700):
|
||||
@ -596,6 +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):
|
||||
@ -800,6 +813,8 @@ const char *translateEvents(Event event) {
|
||||
return GPS_FIX_CHANGE_STRING;
|
||||
case (13101):
|
||||
return CANT_GET_FIX_STRING;
|
||||
case (13102):
|
||||
return RESET_FAIL_STRING;
|
||||
case (13200):
|
||||
return P60_BOOT_COUNT_STRING;
|
||||
case (13201):
|
||||
|
@ -1,8 +1,8 @@
|
||||
/**
|
||||
* @brief Auto-generated object translation file.
|
||||
* @details
|
||||
* Contains 175 translations.
|
||||
* Generated on: 2024-02-29 13:15:00
|
||||
* Contains 176 translations.
|
||||
* Generated on: 2024-05-06 13:47:38
|
||||
*/
|
||||
#include "translateObjects.h"
|
||||
|
||||
@ -65,6 +65,7 @@ const char *PTME_VC3_CFDP_TM_STRING = "PTME_VC3_CFDP_TM";
|
||||
const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
|
||||
const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
|
||||
const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
|
||||
const char *PLOC_MPSOC_COMMUNICATION_STRING = "PLOC_MPSOC_COMMUNICATION";
|
||||
const char *SCEX_STRING = "SCEX";
|
||||
const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
|
||||
const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
|
||||
@ -302,6 +303,8 @@ const char *translateObject(object_id_t object) {
|
||||
return PLOC_SUPERVISOR_HANDLER_STRING;
|
||||
case 0x44330017:
|
||||
return PLOC_SUPERVISOR_HELPER_STRING;
|
||||
case 0x44330018:
|
||||
return PLOC_MPSOC_COMMUNICATION_STRING;
|
||||
case 0x44330032:
|
||||
return SCEX_STRING;
|
||||
case 0x444100A2:
|
||||
|
@ -39,8 +39,6 @@
|
||||
#include "devices/gpioIds.h"
|
||||
#include "fsfw_hal/linux/gpio/Gpio.h"
|
||||
#include "linux/payload/FreshSupvHandler.h"
|
||||
#include "linux/payload/PlocMpsocHandler.h"
|
||||
#include "linux/payload/PlocMpsocSpecialComHelper.h"
|
||||
#include "linux/payload/PlocSupvUartMan.h"
|
||||
#include "test/gpio/DummyGpioIF.h"
|
||||
#endif
|
||||
@ -79,7 +77,10 @@ void ObjectFactory::produce(void* args) {
|
||||
switcherList.emplace_back(initVal);
|
||||
}
|
||||
dummySwitcher->setInitialSwitcherList(switcherList);
|
||||
|
||||
#ifdef PLATFORM_UNIX
|
||||
// Obsolete dev handler..
|
||||
/*
|
||||
new SerialComIF(objects::UART_COM_IF);
|
||||
#if OBSW_ADD_PLOC_MPSOC == 1
|
||||
std::string mpscoDev = "";
|
||||
@ -90,7 +91,8 @@ void ObjectFactory::produce(void* args) {
|
||||
new PlocMpsocHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
|
||||
plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, dummyGpioIF),
|
||||
objects::PLOC_SUPERVISOR_HANDLER);
|
||||
#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
|
||||
#endif // OBSW_ADD_PLOC_MPSOC == 1
|
||||
*/
|
||||
#if OBSW_ADD_PLOC_SUPERVISOR == 1
|
||||
std::string plocSupvString = "/dev/ploc_supv";
|
||||
auto supervisorCookie =
|
||||
|
@ -2150,8 +2150,7 @@ ReturnValue_t CoreController::initClockFromTimeFile() {
|
||||
std::string fileName = currMntPrefix + BACKUP_TIME_FILE;
|
||||
std::error_code e;
|
||||
if (sdcMan->isSdCardUsable(std::nullopt) and std::filesystem::exists(fileName, e) and
|
||||
((gpsFix == FixMode::UNKNOWN or gpsFix == FixMode::NOT_SEEN) or
|
||||
not utility::timeSanityCheck())) {
|
||||
((gpsFix == FixMode::NOT_SEEN) or not utility::timeSanityCheck())) {
|
||||
ifstream timeFile(fileName);
|
||||
string nextWord;
|
||||
getline(timeFile, nextWord);
|
||||
|
@ -9,7 +9,7 @@
|
||||
#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
|
||||
#include <fsfw_hal/linux/uio/UioMapper.h>
|
||||
#include <libxiphos.h>
|
||||
#include <mission/acs/archive/GPSDefinitions.h>
|
||||
#include <linux/acs/GPSDefinitions.h>
|
||||
#include <mission/utility/trace.h>
|
||||
|
||||
#include <atomic>
|
||||
@ -211,7 +211,7 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
|
||||
static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
|
||||
static constexpr uint32_t MUTEX_TIMEOUT = 20;
|
||||
bool enableHkSet = false;
|
||||
GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::UNKNOWN;
|
||||
GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::NOT_SEEN;
|
||||
|
||||
// States for SD state machine, which is used in non-blocking mode
|
||||
enum class SdStates {
|
||||
|
@ -10,8 +10,9 @@
|
||||
#include <linux/acs/RwPollingTask.h>
|
||||
#include <linux/acs/StrComHandler.h>
|
||||
#include <linux/com/SyrlinksComHandler.h>
|
||||
#include <linux/payload/FreshMpsocHandler.h>
|
||||
#include <linux/payload/MpsocCommunication.h>
|
||||
#include <linux/payload/PlocMemoryDumper.h>
|
||||
#include <linux/payload/PlocMpsocHandler.h>
|
||||
#include <linux/payload/PlocMpsocSpecialComHelper.h>
|
||||
#include <linux/payload/ScexUartReader.h>
|
||||
#include <linux/payload/plocMpsocHelpers.h>
|
||||
@ -47,6 +48,7 @@
|
||||
#include "devices/gpioIds.h"
|
||||
#include "devices/powerSwitcherList.h"
|
||||
#include "eive/definitions.h"
|
||||
#include "eive/objects.h"
|
||||
#include "fsfw/ipc/QueueFactory.h"
|
||||
#include "linux/ObjectFactory.h"
|
||||
#include "linux/boardtest/I2cTestClass.h"
|
||||
@ -59,7 +61,11 @@
|
||||
#include "linux/ipcore/Ptme.h"
|
||||
#include "linux/ipcore/PtmeConfig.h"
|
||||
#include "linux/payload/FreshSupvHandler.h"
|
||||
#include "linux/payload/MpsocCommunication.h"
|
||||
#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"
|
||||
@ -67,7 +73,7 @@
|
||||
#include "mission/system/acs/acsModeTree.h"
|
||||
#include "mission/system/com/SyrlinksFdir.h"
|
||||
#include "mission/system/com/comModeTree.h"
|
||||
#include "mission/system/payloadModeTree.h"
|
||||
#include "mission/system/payload/payloadModeTree.h"
|
||||
#include "mission/system/power/GomspacePowerFdir.h"
|
||||
#include "mission/system/tcs/RtdFdir.h"
|
||||
#include "mission/system/tcs/TcsBoardAssembly.h"
|
||||
@ -510,7 +516,7 @@ void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF*
|
||||
debugGps = true;
|
||||
#endif
|
||||
RESET_ARGS_GNSS.gpioComIF = gpioComIF;
|
||||
RESET_ARGS_GNSS.waitPeriodMs = 5;
|
||||
RESET_ARGS_GNSS.waitPeriodMs = 10 * 1e3;
|
||||
auto gpsCtrl = new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT,
|
||||
enableHkSets, debugGps);
|
||||
gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
|
||||
@ -624,14 +630,15 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
|
||||
auto mpsocGpioCookie = new GpioCookie;
|
||||
mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
|
||||
gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC");
|
||||
auto mpsocCookie =
|
||||
new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV,
|
||||
serial::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
|
||||
mpsocCookie->setNoFixedSizeReply();
|
||||
auto plocMpsocHelper = new PlocMpsocSpecialComHelper(objects::PLOC_MPSOC_HELPER);
|
||||
auto* mpsocHandler = new PlocMpsocHandler(
|
||||
objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie, plocMpsocHelper,
|
||||
Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF), objects::PLOC_SUPERVISOR_HANDLER);
|
||||
SerialConfig serialCfg(q7s::UART_PLOC_MPSOC_DEV, serial::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE,
|
||||
UartModes::NON_CANONICAL);
|
||||
auto mpsocCommunication = new MpsocCommunication(objects::PLOC_MPSOC_COMMUNICATION, serialCfg);
|
||||
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, pwrSwitcher, power::PDU2_CH8_PAYLOAD_CAMERA);
|
||||
mpsocHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
|
||||
#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
|
||||
#if OBSW_ADD_PLOC_SUPERVISOR == 1
|
||||
@ -650,7 +657,7 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
|
||||
supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
|
||||
supervisorCookie->setNoFixedSizeReply();
|
||||
new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
|
||||
DhbConfig dhbConf(objects::PLOC_SUPERVISOR_HANDLER);
|
||||
dhbConf = DhbConfig(objects::PLOC_SUPERVISOR_HANDLER);
|
||||
auto* supvHandler =
|
||||
new FreshSupvHandler(dhbConf, supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
|
||||
pwrSwitcher, power::PDU1_CH6_PLOC_12V);
|
||||
|
@ -77,6 +77,7 @@ enum commonObjects : uint32_t {
|
||||
PLOC_MPSOC_HANDLER = 0x44330015,
|
||||
PLOC_SUPERVISOR_HANDLER = 0x44330016,
|
||||
PLOC_SUPERVISOR_HELPER = 0x44330017,
|
||||
PLOC_MPSOC_COMMUNICATION = 0x44330018,
|
||||
SCEX = 0x44330032,
|
||||
SOLAR_ARRAY_DEPL_HANDLER = 0x444100A2,
|
||||
HEATER_HANDLER = 0x444100A4,
|
||||
|
@ -42,6 +42,7 @@ enum commonClassIds : uint8_t {
|
||||
PERSISTENT_TM_STORE, // PTM
|
||||
TM_SINK, // TMS
|
||||
VIRTUAL_CHANNEL, // VCS
|
||||
PLOC_MPSOC_COM, // PLMPCOM
|
||||
COMMON_CLASS_ID_END // [EXPORT] : [END]
|
||||
};
|
||||
}
|
||||
|
@ -2,7 +2,7 @@
|
||||
#define DUMMIES_GPSCTRLDUMMY_H_
|
||||
|
||||
#include <fsfw/controller/ExtendedControllerBase.h>
|
||||
#include <mission/acs/archive/GPSDefinitions.h>
|
||||
#include <linux/acs/GPSDefinitions.h>
|
||||
|
||||
class GpsCtrlDummy : public ExtendedControllerBase {
|
||||
public:
|
||||
|
@ -1,5 +1,5 @@
|
||||
#include <dummies/GpsDhbDummy.h>
|
||||
#include <mission/acs/archive/GPSDefinitions.h>
|
||||
#include <linux/acs/GPSDefinitions.h>
|
||||
|
||||
GpsDhbDummy::GpsDhbDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
|
||||
: DeviceHandlerBase(objectId, comif, comCookie) {}
|
||||
|
@ -40,7 +40,7 @@
|
||||
#include "mission/genericFactory.h"
|
||||
#include "mission/system/acs/acsModeTree.h"
|
||||
#include "mission/system/com/comModeTree.h"
|
||||
#include "mission/system/payloadModeTree.h"
|
||||
#include "mission/system/payload/payloadModeTree.h"
|
||||
#include "mission/system/tcs/tcsModeTree.h"
|
||||
#include "mission/tcs/defs.h"
|
||||
|
||||
|
2
fsfw
2
fsfw
@ -1 +1 @@
|
||||
Subproject commit 47b21caf5fa2a27c7ace89f960141b3f24c329ee
|
||||
Subproject commit 42867ad0cba088ab1cb6cb672d001f991f7e4a60
|
@ -75,9 +75,12 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
|
||||
7902;0x1ede;BIT_LOCK;INFO;A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
|
||||
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;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8901;0x22c5;CLOCK_DUMP;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8902;0x22c6;CLOCK_SET_FAILURE;LOW;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8900;0x22c4;CLOCK_SET;INFO;Clock has been set. P1: old timeval seconds. P2: new timeval seconds.;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8901;0x22c5;CLOCK_DUMP_LEGACY;INFO;Clock dump event. P1: timeval seconds P2: timeval milliseconds.;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8902;0x22c6;CLOCK_SET_FAILURE;LOW;Clock could not be set. P1: Returncode.;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8903;0x22c7;CLOCK_DUMP;INFO;Clock dump event. P1: timeval seconds P2: timeval microseconds.;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8904;0x22c8;CLOCK_DUMP_BEFORE_SETTING_TIME;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8905;0x22c9;CLOCK_DUMP_AFTER_SETTING_TIME;INFO;No description;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;No description;fsfw/src/fsfw/pus/Service17Test.h
|
||||
10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;No description;fsfw/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
|
||||
@ -125,14 +128,15 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
|
||||
11506;0x2cf2;DEPL_SA1_GPIO_SWTICH_OFF_FAILED;HIGH;No description;mission/SolarArrayDeploymentHandler.h
|
||||
11507;0x2cf3;DEPL_SA2_GPIO_SWTICH_OFF_FAILED;HIGH;No description;mission/SolarArrayDeploymentHandler.h
|
||||
11508;0x2cf4;AUTONOMOUS_DEPLOYMENT_COMPLETED;INFO;No description;mission/SolarArrayDeploymentHandler.h
|
||||
11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/payload/PlocMpsocHandler.h
|
||||
11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/PlocMpsocHandler.h
|
||||
11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/PlocMpsocHandler.h
|
||||
11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/payload/PlocMpsocHandler.h
|
||||
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/PlocMpsocHandler.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/PlocMpsocHandler.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/PlocMpsocHandler.h
|
||||
11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/PlocMpsocHandler.h
|
||||
11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/payload/plocMpsocHelpers.h
|
||||
11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/plocMpsocHelpers.h
|
||||
11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/plocMpsocHelpers.h
|
||||
11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/payload/plocMpsocHelpers.h
|
||||
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;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
|
||||
@ -233,8 +237,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
|
||||
12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;No description;mission/system/acs/SusAssembly.h
|
||||
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/acs/SusAssembly.h
|
||||
13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;No description;mission/system/tcs/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/acs/archive/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/acs/archive/GPSDefinitions.h
|
||||
13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: New fix. P2: Missed fix changes 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;linux/acs/GPSDefinitions.h
|
||||
13101;0x332d;CANT_GET_FIX;MEDIUM;Could not get fix in maximum allowed time. Trying to reset both GNSS devices. P1: Maximum allowed time to get a fix after the GPS was switched on.;linux/acs/GPSDefinitions.h
|
||||
13102;0x332e;RESET_FAIL;HIGH;Failed to reset an GNNS Device. P1: Board-Side.;linux/acs/GPSDefinitions.h
|
||||
13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission/power/P60DockHandler.h
|
||||
13201;0x3391;BATT_MODE;INFO;Battery mode is broadcasted at startup. P1: Mode;mission/power/P60DockHandler.h
|
||||
13202;0x3392;BATT_MODE_CHANGED;MEDIUM;Battery mode has changed. P1: Old mode. P2: New mode;mission/power/P60DockHandler.h
|
||||
|
|
@ -57,6 +57,7 @@
|
||||
0x44330015;PLOC_MPSOC_HANDLER
|
||||
0x44330016;PLOC_SUPERVISOR_HANDLER
|
||||
0x44330017;PLOC_SUPERVISOR_HELPER
|
||||
0x44330018;PLOC_MPSOC_COMMUNICATION
|
||||
0x44330032;SCEX
|
||||
0x444100A2;SOLAR_ARRAY_DEPL_HANDLER
|
||||
0x444100A4;HEATER_HANDLER
|
||||
|
|
@ -75,9 +75,12 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
|
||||
7902;0x1ede;BIT_LOCK;INFO;A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
|
||||
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;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8901;0x22c5;CLOCK_DUMP;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8902;0x22c6;CLOCK_SET_FAILURE;LOW;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8900;0x22c4;CLOCK_SET;INFO;Clock has been set. P1: old timeval seconds. P2: new timeval seconds.;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8901;0x22c5;CLOCK_DUMP_LEGACY;INFO;Clock dump event. P1: timeval seconds P2: timeval milliseconds.;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8902;0x22c6;CLOCK_SET_FAILURE;LOW;Clock could not be set. P1: Returncode.;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8903;0x22c7;CLOCK_DUMP;INFO;Clock dump event. P1: timeval seconds P2: timeval microseconds.;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8904;0x22c8;CLOCK_DUMP_BEFORE_SETTING_TIME;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
|
||||
8905;0x22c9;CLOCK_DUMP_AFTER_SETTING_TIME;INFO;No description;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;No description;fsfw/src/fsfw/pus/Service17Test.h
|
||||
10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;No description;fsfw/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
|
||||
@ -125,14 +128,15 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
|
||||
11506;0x2cf2;DEPL_SA1_GPIO_SWTICH_OFF_FAILED;HIGH;No description;mission/SolarArrayDeploymentHandler.h
|
||||
11507;0x2cf3;DEPL_SA2_GPIO_SWTICH_OFF_FAILED;HIGH;No description;mission/SolarArrayDeploymentHandler.h
|
||||
11508;0x2cf4;AUTONOMOUS_DEPLOYMENT_COMPLETED;INFO;No description;mission/SolarArrayDeploymentHandler.h
|
||||
11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/payload/PlocMpsocHandler.h
|
||||
11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/PlocMpsocHandler.h
|
||||
11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/PlocMpsocHandler.h
|
||||
11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/payload/PlocMpsocHandler.h
|
||||
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/PlocMpsocHandler.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/PlocMpsocHandler.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/PlocMpsocHandler.h
|
||||
11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/PlocMpsocHandler.h
|
||||
11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/payload/plocMpsocHelpers.h
|
||||
11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/plocMpsocHelpers.h
|
||||
11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/plocMpsocHelpers.h
|
||||
11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/payload/plocMpsocHelpers.h
|
||||
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;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
|
||||
@ -233,8 +237,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
|
||||
12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;No description;mission/system/acs/SusAssembly.h
|
||||
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/acs/SusAssembly.h
|
||||
13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;No description;mission/system/tcs/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/acs/archive/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/acs/archive/GPSDefinitions.h
|
||||
13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: New fix. P2: Missed fix changes 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;linux/acs/GPSDefinitions.h
|
||||
13101;0x332d;CANT_GET_FIX;MEDIUM;Could not get fix in maximum allowed time. Trying to reset both GNSS devices. P1: Maximum allowed time to get a fix after the GPS was switched on.;linux/acs/GPSDefinitions.h
|
||||
13102;0x332e;RESET_FAIL;HIGH;Failed to reset an GNNS Device. P1: Board-Side.;linux/acs/GPSDefinitions.h
|
||||
13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission/power/P60DockHandler.h
|
||||
13201;0x3391;BATT_MODE;INFO;Battery mode is broadcasted at startup. P1: Mode;mission/power/P60DockHandler.h
|
||||
13202;0x3392;BATT_MODE_CHANGED;MEDIUM;Battery mode has changed. P1: Old mode. P2: New mode;mission/power/P60DockHandler.h
|
||||
|
|
@ -56,6 +56,7 @@
|
||||
0x44330015;PLOC_MPSOC_HANDLER
|
||||
0x44330016;PLOC_SUPERVISOR_HANDLER
|
||||
0x44330017;PLOC_SUPERVISOR_HELPER
|
||||
0x44330018;PLOC_MPSOC_COMMUNICATION
|
||||
0x44330032;SCEX
|
||||
0x444100A2;SOLAR_ARRAY_DEPL_HANDLER
|
||||
0x444100A4;HEATER_HANDLER
|
||||
|
|
@ -561,16 +561,17 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
|
||||
0x67a2;SADPL_MainSwitchTimeoutFailure;No description;162;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
|
||||
0x67a3;SADPL_SwitchingDeplSa1Failed;No description;163;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
|
||||
0x67a4;SADPL_SwitchingDeplSa2Failed;No description;164;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
|
||||
0x68a0;MPSOCRTVIF_CrcFailure;Space Packet received from PLOC has invalid CRC;160;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
|
||||
0x68a1;MPSOCRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC;161;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
|
||||
0x68a2;MPSOCRTVIF_ReceivedExeFailure;Received execution failure reply from PLOC;162;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
|
||||
0x68a3;MPSOCRTVIF_InvalidApid;Received space packet with invalid APID from PLOC;163;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
|
||||
0x68a4;MPSOCRTVIF_InvalidLength;Received command with invalid length;164;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
|
||||
0x68a5;MPSOCRTVIF_FilenameTooLong;Filename of file in OBC filesystem is too long;165;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
|
||||
0x68a6;MPSOCRTVIF_MpsocHelperExecuting;MPSoC helper is currently executing a command;166;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
|
||||
0x68a7;MPSOCRTVIF_MpsocFilenameTooLong;Filename of MPSoC file is to long (max. 256 bytes);167;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
|
||||
0x68a8;MPSOCRTVIF_InvalidParameter;Command has invalid parameter;168;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
|
||||
0x68a9;MPSOCRTVIF_NameTooLong;Received command has file string with invalid length;169;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
|
||||
0x6810;MPSOCRTVIF_CommandTimeout;Command has timed out.;16;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
|
||||
0x68a0;MPSOCRTVIF_CrcFailure;Space Packet received from PLOC has invalid CRC;160;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
|
||||
0x68a1;MPSOCRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC;161;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
|
||||
0x68a2;MPSOCRTVIF_ReceivedExeFailure;Received execution failure reply from PLOC;162;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
|
||||
0x68a3;MPSOCRTVIF_InvalidApid;Received space packet with invalid APID from PLOC;163;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
|
||||
0x68a4;MPSOCRTVIF_InvalidLength;Received command with invalid length;164;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
|
||||
0x68a5;MPSOCRTVIF_FilenameTooLong;Filename of file in OBC filesystem is too long;165;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
|
||||
0x68a6;MPSOCRTVIF_MpsocHelperExecuting;MPSoC helper is currently executing a command;166;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
|
||||
0x68a7;MPSOCRTVIF_MpsocFilenameTooLong;Filename of MPSoC file is to long (max. 256 bytes);167;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
|
||||
0x68a8;MPSOCRTVIF_InvalidParameter;Command has invalid parameter;168;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
|
||||
0x68a9;MPSOCRTVIF_NameTooLong;Received command has file string with invalid length;169;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
|
||||
0x69a0;SPVRTVIF_CrcFailure;Space Packet received from PLOC supervisor has invalid CRC;160;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
|
||||
0x69a1;SPVRTVIF_InvalidServiceId;No description;161;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
|
||||
0x69a2;SPVRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC supervisor;162;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
|
||||
@ -626,4 +627,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
|
||||
0x6f02;TMS_NoWriteActive;No description;2;TM_SINK;mission/tmtc/DirectTmSinkIF.h
|
||||
0x6f03;TMS_Timeout;No description;3;TM_SINK;mission/tmtc/DirectTmSinkIF.h
|
||||
0x7000;VCS_ChannelDoesNotExist;No description;0;VIRTUAL_CHANNEL;mission/com/VirtualChannel.h
|
||||
0x7200;SCBU_KeyNotFound;No description;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h
|
||||
0x7100;PLMPCOM_PacketReceived;No description;0;PLOC_MPSOC_COM;linux/payload/MpsocCommunication.h
|
||||
0x7101;PLMPCOM_FaultyPacketSize;No description;1;PLOC_MPSOC_COM;linux/payload/MpsocCommunication.h
|
||||
0x7102;PLMPCOM_CrcCheckFailed;No description;2;PLOC_MPSOC_COM;linux/payload/MpsocCommunication.h
|
||||
0x7300;SCBU_KeyNotFound;No description;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h
|
||||
|
|
@ -1,7 +1,7 @@
|
||||
/**
|
||||
* @brief Auto-generated event translation file. Contains 320 translations.
|
||||
* @brief Auto-generated event translation file. Contains 325 translations.
|
||||
* @details
|
||||
* Generated on: 2024-02-29 13:15:00
|
||||
* Generated on: 2024-05-06 13:47:38
|
||||
*/
|
||||
#include "translateEvents.h"
|
||||
|
||||
@ -82,8 +82,11 @@ 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_DUMP_LEGACY_STRING = "CLOCK_DUMP_LEGACY";
|
||||
const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
|
||||
const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
|
||||
const char *CLOCK_DUMP_BEFORE_SETTING_TIME_STRING = "CLOCK_DUMP_BEFORE_SETTING_TIME";
|
||||
const char *CLOCK_DUMP_AFTER_SETTING_TIME_STRING = "CLOCK_DUMP_AFTER_SETTING_TIME";
|
||||
const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
|
||||
const char *TEST_STRING = "TEST";
|
||||
const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
|
||||
@ -139,6 +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";
|
||||
@ -241,6 +245,7 @@ const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING = "SIDE_SWITCH_TRANS
|
||||
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 *RESET_FAIL_STRING = "RESET_FAIL";
|
||||
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";
|
||||
@ -483,9 +488,15 @@ const char *translateEvents(Event event) {
|
||||
case (8900):
|
||||
return CLOCK_SET_STRING;
|
||||
case (8901):
|
||||
return CLOCK_DUMP_STRING;
|
||||
return CLOCK_DUMP_LEGACY_STRING;
|
||||
case (8902):
|
||||
return CLOCK_SET_FAILURE_STRING;
|
||||
case (8903):
|
||||
return CLOCK_DUMP_STRING;
|
||||
case (8904):
|
||||
return CLOCK_DUMP_BEFORE_SETTING_TIME_STRING;
|
||||
case (8905):
|
||||
return CLOCK_DUMP_AFTER_SETTING_TIME_STRING;
|
||||
case (9100):
|
||||
return TC_DELETION_FAILED_STRING;
|
||||
case (9700):
|
||||
@ -596,6 +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):
|
||||
@ -800,6 +813,8 @@ const char *translateEvents(Event event) {
|
||||
return GPS_FIX_CHANGE_STRING;
|
||||
case (13101):
|
||||
return CANT_GET_FIX_STRING;
|
||||
case (13102):
|
||||
return RESET_FAIL_STRING;
|
||||
case (13200):
|
||||
return P60_BOOT_COUNT_STRING;
|
||||
case (13201):
|
||||
|
@ -1,8 +1,8 @@
|
||||
/**
|
||||
* @brief Auto-generated object translation file.
|
||||
* @details
|
||||
* Contains 179 translations.
|
||||
* Generated on: 2024-02-29 13:15:00
|
||||
* Contains 180 translations.
|
||||
* Generated on: 2024-05-06 13:47:38
|
||||
*/
|
||||
#include "translateObjects.h"
|
||||
|
||||
@ -64,6 +64,7 @@ const char *PTME_VC3_CFDP_TM_STRING = "PTME_VC3_CFDP_TM";
|
||||
const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
|
||||
const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
|
||||
const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
|
||||
const char *PLOC_MPSOC_COMMUNICATION_STRING = "PLOC_MPSOC_COMMUNICATION";
|
||||
const char *SCEX_STRING = "SCEX";
|
||||
const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
|
||||
const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
|
||||
@ -304,6 +305,8 @@ const char *translateObject(object_id_t object) {
|
||||
return PLOC_SUPERVISOR_HANDLER_STRING;
|
||||
case 0x44330017:
|
||||
return PLOC_SUPERVISOR_HELPER_STRING;
|
||||
case 0x44330018:
|
||||
return PLOC_MPSOC_COMMUNICATION_STRING;
|
||||
case 0x44330032:
|
||||
return SCEX_STRING;
|
||||
case 0x444100A2:
|
||||
|
@ -26,7 +26,7 @@
|
||||
#include "devConf.h"
|
||||
#include "devices/gpioIds.h"
|
||||
#include "mission/system/acs/acsModeTree.h"
|
||||
#include "mission/system/payloadModeTree.h"
|
||||
#include "mission/system/payload/payloadModeTree.h"
|
||||
#include "mission/system/power/epsModeTree.h"
|
||||
|
||||
void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
|
||||
|
@ -7,15 +7,19 @@
|
||||
|
||||
namespace GpsHyperion {
|
||||
|
||||
enum class FixMode : uint8_t { NOT_SEEN = 0, NO_FIX = 1, FIX_2D = 2, FIX_3D = 3, UNKNOWN = 4 };
|
||||
enum FixMode : uint8_t { NOT_SEEN = 0, NO_FIX = 1, FIX_2D = 2, FIX_3D = 3 };
|
||||
|
||||
enum GnssChip : uint8_t { A_SIDE = 0, B_SIDE = 1 };
|
||||
|
||||
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::GPS_HANDLER;
|
||||
//! [EXPORT] : [COMMENT] Fix has changed. P1: Old fix. P2: New fix
|
||||
//! [EXPORT] : [COMMENT] Fix has changed. P1: New fix. P2: Missed fix changes
|
||||
//! 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix
|
||||
static constexpr Event GPS_FIX_CHANGE = event::makeEvent(SUBSYSTEM_ID, 0, severity::INFO);
|
||||
//! [EXPORT] : [COMMENT] Could not get fix in maximum allowed time. P1: Maximum allowed time
|
||||
//! to get a fix after the GPS was switched on.
|
||||
static constexpr Event CANT_GET_FIX = event::makeEvent(SUBSYSTEM_ID, 1, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Could not get fix in maximum allowed time. Trying to reset both GNSS
|
||||
//! devices. P1: Maximum allowed time to get a fix after the GPS was switched on.
|
||||
static constexpr Event CANT_GET_FIX = event::makeEvent(SUBSYSTEM_ID, 1, severity::MEDIUM);
|
||||
//! [EXPORT] : [COMMENT] Failed to reset an GNNS Device. P1: Board-Side.
|
||||
static constexpr Event RESET_FAIL = event::makeEvent(SUBSYSTEM_ID, 2, severity::HIGH);
|
||||
|
||||
static constexpr DeviceCommandId_t GPS_REPLY = 0;
|
||||
static constexpr DeviceCommandId_t TRIGGER_RESET_PIN_GNSS = 5;
|
||||
@ -53,8 +57,6 @@ static constexpr uint8_t SKYVIEW_ENTRIES = 6;
|
||||
|
||||
static constexpr uint8_t MAX_SATELLITES = 30;
|
||||
|
||||
enum GpsFixModes : uint8_t { INVALID = 0, NO_FIX = 1, FIX_2D = 2, FIX_3D = 3 };
|
||||
|
||||
} // namespace GpsHyperion
|
||||
|
||||
class GpsPrimaryDataset : public StaticLocalDataSet<GpsHyperion::CORE_DATASET_ENTRIES> {
|
@ -44,24 +44,21 @@ LocalPoolDataSetBase *GpsHyperionLinuxController::getDataSetHandle(sid_t sid) {
|
||||
|
||||
ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
|
||||
uint32_t *msToReachTheMode) {
|
||||
if (not modeCommanded) {
|
||||
if (mode == MODE_ON or mode == MODE_OFF) {
|
||||
// 5h time to reach fix
|
||||
*msToReachTheMode = MAX_SECONDS_TO_REACH_FIX;
|
||||
if (mode == MODE_ON) {
|
||||
maxTimeToReachFix.resetTimer();
|
||||
modeCommanded = true;
|
||||
gainedNewFix.timeOut();
|
||||
} else if (mode == MODE_NORMAL) {
|
||||
return HasModesIF::INVALID_MODE;
|
||||
}
|
||||
}
|
||||
if (mode == MODE_OFF) {
|
||||
maxTimeToReachFix.timeOut();
|
||||
gainedNewFix.timeOut();
|
||||
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);
|
||||
gpsSet.fixMode.value = 0;
|
||||
// The ctrl is off, so it cannot detect the data from the devices.
|
||||
handleFixChangedEvent(GpsHyperion::FixMode::NOT_SEEN);
|
||||
gpsSet.fixMode.value = GpsHyperion::FixMode::NOT_SEEN;
|
||||
oneShotSwitches.reset();
|
||||
modeCommanded = false;
|
||||
}
|
||||
return returnvalue::OK;
|
||||
}
|
||||
@ -75,13 +72,16 @@ ReturnValue_t GpsHyperionLinuxController::executeAction(ActionId_t actionId,
|
||||
PoolReadGuard pg(&gpsSet);
|
||||
// Set HK entries invalid
|
||||
gpsSet.setValidity(false, true);
|
||||
resetCallback(data, size, resetCallbackArgs);
|
||||
ReturnValue_t result = resetCallback(data, size, resetCallbackArgs);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
return HasActionsIF::EXECUTION_FINISHED;
|
||||
}
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
}
|
||||
return returnvalue::OK;
|
||||
return HasActionsIF::INVALID_ACTION_ID;
|
||||
}
|
||||
|
||||
ReturnValue_t GpsHyperionLinuxController::initializeLocalDataPool(
|
||||
@ -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>());
|
||||
@ -216,15 +216,9 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
|
||||
bool modeIsSet = true;
|
||||
if (MODE_SET != (MODE_SET & gps.set)) {
|
||||
if (mode != MODE_OFF) {
|
||||
if (maxTimeToReachFix.hasTimedOut() and oneShotSwitches.cantGetFixSwitch) {
|
||||
sif::warning << "GpsHyperionLinuxController: No mode could be set in allowed "
|
||||
<< maxTimeToReachFix.getTimeoutMs() / 1000 << " seconds" << std::endl;
|
||||
triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.getTimeoutMs());
|
||||
oneShotSwitches.cantGetFixSwitch = false;
|
||||
}
|
||||
modeIsSet = false;
|
||||
} else {
|
||||
// GPS device is off anyway, so do other handling
|
||||
// GPS ctrl is off anyway, so do other handling
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
}
|
||||
@ -249,27 +243,44 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
|
||||
uint8_t newFix = 0;
|
||||
if (modeIsSet) {
|
||||
// 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
|
||||
if (gps.fix.mode == 2 or gps.fix.mode == 3) {
|
||||
if (gps.fix.mode == GpsHyperion::FixMode::FIX_2D or
|
||||
gps.fix.mode == GpsHyperion::FixMode::FIX_3D) {
|
||||
validFix = true;
|
||||
maxTimeToReachFix.resetTimer();
|
||||
}
|
||||
newFix = gps.fix.mode;
|
||||
if (newFix == 0 or newFix == 1) {
|
||||
if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
|
||||
// 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;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (gpsSet.fixMode.value != newFix) {
|
||||
#if OBSW_Q7S_EM != 1
|
||||
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFix);
|
||||
#endif
|
||||
handleFixChangedEvent(newFix);
|
||||
}
|
||||
gpsSet.fixMode = newFix;
|
||||
gpsSet.fixMode.setValid(modeIsSet);
|
||||
// We are supposed to be on and functioning, but no fix was found
|
||||
if (not validFix) {
|
||||
if (maxTimeToReachFix.hasTimedOut()) {
|
||||
// Set HK entries invalid
|
||||
gpsSet.setValidity(false, true);
|
||||
if (oneShotSwitches.cantGetFixSwitch) {
|
||||
sif::warning << "GpsHyperionLinuxController: No fix detected in allowed "
|
||||
<< maxTimeToReachFix.getTimeoutMs() / 1000 << " seconds" << std::endl;
|
||||
triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.getTimeoutMs());
|
||||
oneShotSwitches.cantGetFixSwitch = false;
|
||||
// Try resetting the devices
|
||||
if (resetCallback != nullptr) {
|
||||
uint8_t chip = GpsHyperion::GnssChip::A_SIDE;
|
||||
ReturnValue_t result = resetCallback(&chip, 1, resetCallbackArgs);
|
||||
if (result != returnvalue::OK) {
|
||||
triggerEvent(GpsHyperion::RESET_FAIL, chip);
|
||||
}
|
||||
chip = GpsHyperion::GnssChip::B_SIDE;
|
||||
result = resetCallback(&chip, 1, resetCallbackArgs);
|
||||
if (result != returnvalue::OK) {
|
||||
triggerEvent(GpsHyperion::RESET_FAIL, chip);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Only set on specific messages, so only set a valid flag to invalid
|
||||
// if not set for more than a full message set (10 messages here)
|
||||
@ -282,9 +293,12 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
|
||||
}
|
||||
satNotSetCounter = 0;
|
||||
} else {
|
||||
if (satNotSetCounter < 10) {
|
||||
satNotSetCounter++;
|
||||
if (gpsSet.satInUse.isValid() and satNotSetCounter >= 10) {
|
||||
} else {
|
||||
gpsSet.satInUse.value = 0;
|
||||
gpsSet.satInUse.setValid(false);
|
||||
gpsSet.satInView.value = 0;
|
||||
gpsSet.satInView.setValid(false);
|
||||
}
|
||||
}
|
||||
@ -292,12 +306,13 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
|
||||
// LATLON is set for every message, no need for a counter
|
||||
bool latValid = false;
|
||||
bool longValid = false;
|
||||
if (modeIsSet) {
|
||||
if (LATLON_SET == (LATLON_SET & gps.set)) {
|
||||
if (std::isfinite(gps.fix.latitude)) {
|
||||
// Negative latitude -> South direction
|
||||
gpsSet.latitude.value = gps.fix.latitude;
|
||||
// As specified in gps.h: Only valid if mode >= 2
|
||||
if (gps.fix.mode >= 2) {
|
||||
if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
|
||||
latValid = true;
|
||||
}
|
||||
}
|
||||
@ -306,31 +321,36 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
|
||||
// Negative longitude -> West direction
|
||||
gpsSet.longitude.value = gps.fix.longitude;
|
||||
// As specified in gps.h: Only valid if mode >= 2
|
||||
if (gps.fix.mode >= 2) {
|
||||
if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
|
||||
longValid = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
gpsSet.latitude.setValid(latValid);
|
||||
gpsSet.longitude.setValid(longValid);
|
||||
|
||||
// ALTITUDE is set for every message, no need for a counter
|
||||
bool altitudeValid = false;
|
||||
if (modeIsSet) {
|
||||
if (ALTITUDE_SET == (ALTITUDE_SET & gps.set) && std::isfinite(gps.fix.altitude)) {
|
||||
gpsSet.altitude.value = gps.fix.altitude;
|
||||
// As specified in gps.h: Only valid if mode == 3
|
||||
if (gps.fix.mode == 3) {
|
||||
if (gps.fix.mode == GpsHyperion::FixMode::FIX_3D) {
|
||||
altitudeValid = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
gpsSet.altitude.setValid(altitudeValid);
|
||||
|
||||
// SPEED is set for every message, no need for a counter
|
||||
bool speedValid = false;
|
||||
if (modeIsSet) {
|
||||
if (SPEED_SET == (SPEED_SET & gps.set) && std::isfinite(gps.fix.speed)) {
|
||||
gpsSet.speed.value = gps.fix.speed;
|
||||
speedValid = true;
|
||||
}
|
||||
}
|
||||
gpsSet.speed.setValid(speedValid);
|
||||
|
||||
// TIME is set for every message, no need for a counter
|
||||
@ -430,3 +450,14 @@ void GpsHyperionLinuxController::overwriteTimeIfNotSane(timeval time, bool valid
|
||||
timeInit = true;
|
||||
}
|
||||
}
|
||||
|
||||
void GpsHyperionLinuxController::handleFixChangedEvent(uint8_t newFix) {
|
||||
if (gainedNewFix.hasTimedOut()) {
|
||||
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, newFix, fixChangeCounter);
|
||||
fixChangeCounter = 0;
|
||||
gainedNewFix.resetTimer();
|
||||
return;
|
||||
}
|
||||
fixChangeCounter++;
|
||||
gainedNewFix.resetTimer();
|
||||
}
|
||||
|
@ -1,14 +1,13 @@
|
||||
#ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
|
||||
#define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
|
||||
|
||||
#include <mission/acs/archive/GPSDefinitions.h>
|
||||
#include <common/config/eive/eventSubsystemIds.h>
|
||||
#include <fsfw/FSFW.h>
|
||||
#include <fsfw/controller/ExtendedControllerBase.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include <linux/acs/GPSDefinitions.h>
|
||||
#include <mission/utility/trace.h>
|
||||
|
||||
#include "eive/eventSubsystemIds.h"
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "fsfw/controller/ExtendedControllerBase.h"
|
||||
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
|
||||
|
||||
#ifdef FSFW_OSAL_LINUX
|
||||
#include <gps.h>
|
||||
#include <libgpsmm.h>
|
||||
@ -24,8 +23,8 @@
|
||||
*/
|
||||
class GpsHyperionLinuxController : public ExtendedControllerBase {
|
||||
public:
|
||||
// 30 minutes
|
||||
static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 30;
|
||||
// 15 minutes
|
||||
static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 15;
|
||||
|
||||
enum ReadModes { SHM = 0, SOCKET = 1 };
|
||||
|
||||
@ -65,7 +64,8 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
|
||||
const char* currentClientBuf = nullptr;
|
||||
ReadModes readMode = ReadModes::SOCKET;
|
||||
Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
|
||||
bool modeCommanded = false;
|
||||
Countdown gainedNewFix = Countdown(60 * 2 * 1000);
|
||||
uint32_t fixChangeCounter = 0;
|
||||
bool timeInit = false;
|
||||
uint8_t satNotSetCounter = 0;
|
||||
|
||||
@ -92,6 +92,8 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
|
||||
// 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);
|
||||
|
||||
void handleFixChangedEvent(uint8_t newFix);
|
||||
};
|
||||
|
||||
#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */
|
||||
|
@ -1,7 +1,7 @@
|
||||
/**
|
||||
* @brief Auto-generated event translation file. Contains 320 translations.
|
||||
* @brief Auto-generated event translation file. Contains 325 translations.
|
||||
* @details
|
||||
* Generated on: 2024-02-29 13:15:00
|
||||
* Generated on: 2024-05-06 13:47:38
|
||||
*/
|
||||
#include "translateEvents.h"
|
||||
|
||||
@ -82,8 +82,11 @@ 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_DUMP_LEGACY_STRING = "CLOCK_DUMP_LEGACY";
|
||||
const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
|
||||
const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
|
||||
const char *CLOCK_DUMP_BEFORE_SETTING_TIME_STRING = "CLOCK_DUMP_BEFORE_SETTING_TIME";
|
||||
const char *CLOCK_DUMP_AFTER_SETTING_TIME_STRING = "CLOCK_DUMP_AFTER_SETTING_TIME";
|
||||
const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
|
||||
const char *TEST_STRING = "TEST";
|
||||
const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
|
||||
@ -139,6 +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";
|
||||
@ -241,6 +245,7 @@ const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING = "SIDE_SWITCH_TRANS
|
||||
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 *RESET_FAIL_STRING = "RESET_FAIL";
|
||||
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";
|
||||
@ -483,9 +488,15 @@ const char *translateEvents(Event event) {
|
||||
case (8900):
|
||||
return CLOCK_SET_STRING;
|
||||
case (8901):
|
||||
return CLOCK_DUMP_STRING;
|
||||
return CLOCK_DUMP_LEGACY_STRING;
|
||||
case (8902):
|
||||
return CLOCK_SET_FAILURE_STRING;
|
||||
case (8903):
|
||||
return CLOCK_DUMP_STRING;
|
||||
case (8904):
|
||||
return CLOCK_DUMP_BEFORE_SETTING_TIME_STRING;
|
||||
case (8905):
|
||||
return CLOCK_DUMP_AFTER_SETTING_TIME_STRING;
|
||||
case (9100):
|
||||
return TC_DELETION_FAILED_STRING;
|
||||
case (9700):
|
||||
@ -596,6 +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):
|
||||
@ -800,6 +813,8 @@ const char *translateEvents(Event event) {
|
||||
return GPS_FIX_CHANGE_STRING;
|
||||
case (13101):
|
||||
return CANT_GET_FIX_STRING;
|
||||
case (13102):
|
||||
return RESET_FAIL_STRING;
|
||||
case (13200):
|
||||
return P60_BOOT_COUNT_STRING;
|
||||
case (13201):
|
||||
|
@ -1,8 +1,8 @@
|
||||
/**
|
||||
* @brief Auto-generated object translation file.
|
||||
* @details
|
||||
* Contains 179 translations.
|
||||
* Generated on: 2024-02-29 13:15:00
|
||||
* Contains 180 translations.
|
||||
* Generated on: 2024-05-06 13:47:38
|
||||
*/
|
||||
#include "translateObjects.h"
|
||||
|
||||
@ -64,6 +64,7 @@ const char *PTME_VC3_CFDP_TM_STRING = "PTME_VC3_CFDP_TM";
|
||||
const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
|
||||
const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
|
||||
const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
|
||||
const char *PLOC_MPSOC_COMMUNICATION_STRING = "PLOC_MPSOC_COMMUNICATION";
|
||||
const char *SCEX_STRING = "SCEX";
|
||||
const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
|
||||
const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
|
||||
@ -304,6 +305,8 @@ const char *translateObject(object_id_t object) {
|
||||
return PLOC_SUPERVISOR_HANDLER_STRING;
|
||||
case 0x44330017:
|
||||
return PLOC_SUPERVISOR_HELPER_STRING;
|
||||
case 0x44330018:
|
||||
return PLOC_MPSOC_COMMUNICATION_STRING;
|
||||
case 0x44330032:
|
||||
return SCEX_STRING;
|
||||
case 0x444100A2:
|
||||
|
@ -1,7 +1,9 @@
|
||||
target_sources(
|
||||
${OBSW_NAME}
|
||||
PUBLIC PlocMemoryDumper.cpp
|
||||
PlocMpsocHandler.cpp
|
||||
MpsocCommunication.cpp
|
||||
SerialCommunicationHelper.cpp
|
||||
FreshMpsocHandler.cpp
|
||||
FreshSupvHandler.cpp
|
||||
PlocMpsocSpecialComHelper.cpp
|
||||
plocMpsocHelpers.cpp
|
||||
|
1288
linux/payload/FreshMpsocHandler.cpp
Normal file
1288
linux/payload/FreshMpsocHandler.cpp
Normal file
File diff suppressed because it is too large
Load Diff
212
linux/payload/FreshMpsocHandler.h
Normal file
212
linux/payload/FreshMpsocHandler.h
Normal file
@ -0,0 +1,212 @@
|
||||
#include "fsfw/action/ActionMessage.h"
|
||||
#include "fsfw/action/CommandsActionsIF.h"
|
||||
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
|
||||
#include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
|
||||
#include "fsfw/ipc/MessageQueueIF.h"
|
||||
#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"
|
||||
#include "linux/payload/PlocMpsocSpecialComHelper.h"
|
||||
#include "linux/payload/plocMpsocHelpers.h"
|
||||
|
||||
class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsIF {
|
||||
public:
|
||||
enum OpCode { DEFAULT_OPERATION = 0, PARSE_TM = 1 };
|
||||
static constexpr uint32_t MPSOC_MODE_CMD_TIMEOUT_MS = 120000;
|
||||
|
||||
FreshMpsocHandler(DhbConfig cfg, MpsocCommunication& comInterface,
|
||||
PlocMpsocSpecialComHelper& specialComHelper, Gpio uartIsolatorSwitch,
|
||||
object_id_t supervisorHandler, PowerSwitchIF& powerSwitcher,
|
||||
power::Switch_t camSwitchId);
|
||||
|
||||
/**
|
||||
* Periodic helper executed function, implemented by child class.
|
||||
*/
|
||||
void performDeviceOperation(uint8_t opCode) override;
|
||||
|
||||
void performDefaultDeviceOperation();
|
||||
|
||||
/**
|
||||
* Implemented by child class. Handle all command messages which are
|
||||
* not health, mode, action or housekeeping messages.
|
||||
* @param message
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
|
||||
|
||||
ReturnValue_t initialize() override;
|
||||
|
||||
private:
|
||||
enum class StartupState { IDLE, HW_INIT, DONE } startupState = StartupState::IDLE;
|
||||
enum class PowerState { IDLE, PENDING_STARTUP, PENDING_SHUTDOWN, SUPV_FAILED, DONE };
|
||||
|
||||
enum TransitionState { NONE, TO_ON, TO_OFF, SUBMODE } transitionState = TransitionState::NONE;
|
||||
MpsocCommunication& comInterface;
|
||||
PlocMpsocSpecialComHelper& specialComHelper;
|
||||
MessageQueueIF* eventQueue = nullptr;
|
||||
SourceSequenceCounter commandSequenceCount = SourceSequenceCounter(0);
|
||||
MessageQueueIF* commandActionHelperQueue = nullptr;
|
||||
CommandActionHelper commandActionHelper;
|
||||
Gpio uartIsolatorSwitch;
|
||||
mpsoc::HkReport hkReport;
|
||||
object_id_t supervisorHandler;
|
||||
|
||||
Countdown mpsocBootTransitionCd = Countdown(6500);
|
||||
Countdown supvTransitionCd = Countdown(3000);
|
||||
|
||||
PoolEntry<uint32_t> peStatus = PoolEntry<uint32_t>();
|
||||
PoolEntry<uint8_t> peMode = PoolEntry<uint8_t>();
|
||||
PoolEntry<uint8_t> peDownlinkPwrOn = PoolEntry<uint8_t>();
|
||||
PoolEntry<uint8_t> peDownlinkReplyActive = PoolEntry<uint8_t>();
|
||||
PoolEntry<uint8_t> peDownlinkJesdSyncStatus = PoolEntry<uint8_t>();
|
||||
PoolEntry<uint8_t> peDownlinkDacStatus = PoolEntry<uint8_t>();
|
||||
PoolEntry<uint8_t> peCameraStatus = PoolEntry<uint8_t>();
|
||||
PoolEntry<uint8_t> peCameraSdiStatus = PoolEntry<uint8_t>();
|
||||
PoolEntry<float> peCameraFpgaTemp = PoolEntry<float>();
|
||||
PoolEntry<float> peCameraSocTemp = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonTemp = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVccInt = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVccAux = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVccBram = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVccPaux = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVccPint = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVccPdro = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonMb12V = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonMb3V3 = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonMb1V8 = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVcc12V = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVcc5V = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVcc3V3 = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVcc3V3VA = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVcc2V5DDR = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVcc1V2DDR = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVcc0V9 = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVcc0V6VTT = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonSafeCotsCur = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonNvm4XoCur = PoolEntry<float>();
|
||||
PoolEntry<uint16_t> peSemUncorrectableErrs = PoolEntry<uint16_t>();
|
||||
PoolEntry<uint16_t> peSemCorrectableErrs = PoolEntry<uint16_t>();
|
||||
PoolEntry<uint8_t> peSemStatus = PoolEntry<uint8_t>();
|
||||
PoolEntry<uint8_t> peRebootMpsocRequired = PoolEntry<uint8_t>();
|
||||
|
||||
PowerState powerState;
|
||||
bool specialComHelperExecuting = false;
|
||||
|
||||
struct ActionCommandInfo {
|
||||
Countdown cmdCountdown = Countdown(mpsoc::DEFAULT_CMD_TIMEOUT_MS);
|
||||
bool pending = false;
|
||||
MessageQueueId_t commandedBy = MessageQueueIF::NO_QUEUE;
|
||||
DeviceCommandId_t pendingCmd = DeviceHandlerIF::NO_COMMAND_ID;
|
||||
uint16_t pendingCmdMpsocApid = 0;
|
||||
|
||||
void reset() {
|
||||
pending = false;
|
||||
commandedBy = MessageQueueIF::NO_QUEUE;
|
||||
pendingCmd = DeviceHandlerIF::NO_COMMAND_ID;
|
||||
}
|
||||
|
||||
void start(DeviceCommandId_t commandId, MessageQueueId_t commandedBy) {
|
||||
pending = true;
|
||||
cmdCountdown.resetTimer();
|
||||
pendingCmd = commandId;
|
||||
this->commandedBy = commandedBy;
|
||||
}
|
||||
} activeCmdInfo;
|
||||
|
||||
uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
|
||||
SpacePacketCreator creator;
|
||||
ploc::SpTcParams spParams = ploc::SpTcParams(creator);
|
||||
Mode_t targetMode = HasModesIF::MODE_UNDEFINED;
|
||||
Submode_t targetSubmode = 0;
|
||||
|
||||
struct TmMemReadReport {
|
||||
static const uint8_t FIX_SIZE = 14;
|
||||
size_t rememberRequestedSize = 0;
|
||||
};
|
||||
|
||||
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;
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||
LocalDataPoolManager& poolManager) override;
|
||||
|
||||
// Mode abstract functions
|
||||
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
|
||||
uint32_t* msToReachTheMode) override;
|
||||
// Action override. Forward to user.
|
||||
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
|
||||
const uint8_t* data, size_t size) override;
|
||||
|
||||
/**
|
||||
* @overload
|
||||
* @param submode
|
||||
*/
|
||||
void startTransition(Mode_t newMode, Submode_t submode) override;
|
||||
|
||||
ReturnValue_t performDeviceOperationPreQueueHandling(uint8_t opCode) override;
|
||||
|
||||
// CommandsActionsIF overrides.
|
||||
MessageQueueIF* getCommandQueuePtr() override;
|
||||
|
||||
void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
|
||||
void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
|
||||
void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
|
||||
void completionSuccessfulReceived(ActionId_t actionId) override;
|
||||
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
|
||||
ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
|
||||
const ParameterWrapper* newValues, uint16_t startAtIndex) override;
|
||||
|
||||
void handleActionCommandFailure(ActionId_t actionId, ReturnValue_t returnCode);
|
||||
ReturnValue_t executeRegularCmd(ActionId_t actionId, MessageQueueId_t commandedBy,
|
||||
const uint8_t* data, size_t dataLen);
|
||||
void handleTransitionToOn();
|
||||
void handleTransitionToOff();
|
||||
|
||||
ReturnValue_t commandTcModeReplay();
|
||||
ReturnValue_t commandTcMemWrite(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t commandTcMemRead(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t commandTcFlashDelete(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t commandTcReplayStart(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t commandTcReplayStop();
|
||||
ReturnValue_t commandTcDownlinkPwrOn(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t commandTcDownlinkPwrOff();
|
||||
ReturnValue_t commandTcGetHkReport();
|
||||
ReturnValue_t commandTcGetDirContent(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t commandTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t commandTcCamCmdSend(const uint8_t* commandData, size_t commandDataLen);
|
||||
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 commandTcSplitFile(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t commandTcDownlinkDataModulate(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t commandTcModeSnapshot();
|
||||
|
||||
ReturnValue_t finishAndSendTc(DeviceCommandId_t cmdId, mpsoc::TcBase& tcBase,
|
||||
uint32_t cmdCountdown = mpsoc::DEFAULT_CMD_TIMEOUT_MS);
|
||||
void handleEvent(EventMessage* eventMessage);
|
||||
void cmdDoneHandler(bool success, ReturnValue_t result);
|
||||
ReturnValue_t handleDeviceReply();
|
||||
ReturnValue_t handleAckReport();
|
||||
ReturnValue_t handleExecutionReport();
|
||||
void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
|
||||
ReturnValue_t reportReplyData(DeviceCommandId_t tmId);
|
||||
ReturnValue_t handleGetHkReport();
|
||||
bool handleHwStartup();
|
||||
bool handleHwShutdown();
|
||||
|
||||
void stopSpecialComHelper();
|
||||
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);
|
||||
@ -1299,7 +1307,7 @@ void FreshSupvHandler::handleExecutionFailureReport(ActiveCmdInfo& info, Executi
|
||||
triggerEvent(SUPV_EXE_FAILURE, info.commandId, static_cast<uint32_t>(report.getStatusCode()));
|
||||
}
|
||||
if (info.commandedBy) {
|
||||
actionHelper.finish(false, info.commandedBy, info.commandId, report.getStatusCode());
|
||||
actionHelper.finish(false, info.commandedBy, info.commandId, result::RECEIVED_EXE_FAILURE);
|
||||
}
|
||||
info.isPending = false;
|
||||
}
|
||||
|
75
linux/payload/MpsocCommunication.cpp
Normal file
75
linux/payload/MpsocCommunication.cpp
Normal file
@ -0,0 +1,75 @@
|
||||
#include "MpsocCommunication.h"
|
||||
|
||||
#include "fsfw/globalfunctions/CRC.h"
|
||||
#include "fsfw/returnvalues/returnvalue.h"
|
||||
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
|
||||
#include "fsfw/tmtcpacket/ccsds/header.h"
|
||||
#include "linux/payload/plocMpsocHelpers.h"
|
||||
#include "unistd.h"
|
||||
|
||||
MpsocCommunication::MpsocCommunication(object_id_t objectId, SerialConfig cfg)
|
||||
: SystemObject(objectId), readRingBuf(4096, true), helper(cfg) {}
|
||||
|
||||
ReturnValue_t MpsocCommunication::initialize() { return helper.initialize(); }
|
||||
|
||||
ReturnValue_t MpsocCommunication::send(const uint8_t* data, size_t dataLen) {
|
||||
if (MPSOC_LOW_LEVEL_TX_WIRETAPPING) {
|
||||
sif::debug << "SEND MPSOC packet with size " << dataLen << std::endl;
|
||||
}
|
||||
return helper.send(data, dataLen);
|
||||
}
|
||||
|
||||
ReturnValue_t MpsocCommunication::parseAndRetrieveNextPacket() {
|
||||
// We do not have a data link layer, so this whole thing is a mess in any case..
|
||||
// But basically, we try to parse space packets from the internal ring buffer and trasnfer
|
||||
// them to the higher level device handler. The CRC check is performed here as well, with
|
||||
// few other ways to detect if we even have a valid packet.
|
||||
size_t availableReadData = readRingBuf.getAvailableReadData();
|
||||
// Minimum valid size for a space packet header.
|
||||
if (availableReadData < ccsds::HEADER_LEN + 1) {
|
||||
return returnvalue::OK;
|
||||
}
|
||||
readRingBuf.readData(readBuf, availableReadData);
|
||||
spReader.setReadOnlyData(readBuf, sizeof(readBuf));
|
||||
auto res = spReader.checkSize();
|
||||
if (res != returnvalue::OK) {
|
||||
return res;
|
||||
}
|
||||
// The packet might be garbage, with no way to recover without a data link layer.
|
||||
if (spReader.getFullPacketLen() > 4096) {
|
||||
readRingBuf.clear();
|
||||
// TODO: Maybe we should also clear the serial input buffer in Linux?
|
||||
return FAULTY_PACKET_SIZE;
|
||||
}
|
||||
if (availableReadData < spReader.getFullPacketLen()) {
|
||||
// Might be split packet where the rest still has to be read.
|
||||
return returnvalue::OK;
|
||||
}
|
||||
if (CRC::crc16ccitt(readBuf, spReader.getFullPacketLen()) != 0) {
|
||||
// Possibly invalid packet. We can not even trust the detected packet length.
|
||||
// Just clear the whole read buffer as well.
|
||||
readRingBuf.clear();
|
||||
triggerEvent(mpsoc::CRC_FAILURE);
|
||||
return CRC_CHECK_FAILED;
|
||||
}
|
||||
readRingBuf.deleteData(spReader.getFullPacketLen());
|
||||
return PACKET_RECEIVED;
|
||||
}
|
||||
|
||||
ReturnValue_t MpsocCommunication::readSerialInterface() {
|
||||
int bytesRead = read(helper.rawFd(), readBuf, sizeof(readBuf));
|
||||
if (bytesRead < 0) {
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
if (bytesRead > 0) {
|
||||
if (MPSOC_LOW_LEVEL_RX_WIRETAPPING) {
|
||||
sif::debug << "Read " << bytesRead << " bytes on the MPSoC interface" << std::endl;
|
||||
}
|
||||
return readRingBuf.writeData(readBuf, bytesRead);
|
||||
}
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
const SpacePacketReader& MpsocCommunication::getSpReader() const { return spReader; }
|
||||
|
||||
SerialCommunicationHelper& MpsocCommunication::getComHelper() { return helper; }
|
44
linux/payload/MpsocCommunication.h
Normal file
44
linux/payload/MpsocCommunication.h
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <fsfw/objectmanager/SystemObject.h>
|
||||
|
||||
#include "eive/resultClassIds.h"
|
||||
#include "fsfw/container/SimpleRingBuffer.h"
|
||||
#include "fsfw/returnvalues/returnvalue.h"
|
||||
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
|
||||
#include "linux/payload/SerialCommunicationHelper.h"
|
||||
|
||||
static constexpr bool MPSOC_LOW_LEVEL_TX_WIRETAPPING = false;
|
||||
static constexpr bool MPSOC_LOW_LEVEL_RX_WIRETAPPING = false;
|
||||
|
||||
class MpsocCommunication : public SystemObject {
|
||||
public:
|
||||
static const uint8_t CLASS_ID = CLASS_ID::PLOC_MPSOC_COM;
|
||||
static constexpr ReturnValue_t PACKET_RECEIVED = returnvalue::makeCode(CLASS_ID, 0);
|
||||
static constexpr ReturnValue_t FAULTY_PACKET_SIZE = returnvalue::makeCode(CLASS_ID, 1);
|
||||
static constexpr ReturnValue_t CRC_CHECK_FAILED = returnvalue::makeCode(CLASS_ID, 2);
|
||||
|
||||
MpsocCommunication(object_id_t objectId, SerialConfig cfg);
|
||||
ReturnValue_t initialize() override;
|
||||
|
||||
ReturnValue_t send(const uint8_t* data, size_t dataLen);
|
||||
|
||||
// Should be called periodically to transfer the received data from the MPSoC from the Linux
|
||||
// buffer to the internal ring buffer for further processing.
|
||||
ReturnValue_t readSerialInterface();
|
||||
|
||||
// Parses the internal ring buffer for packets and checks whether a packet was received.
|
||||
ReturnValue_t parseAndRetrieveNextPacket();
|
||||
|
||||
// Can be used to read the parse packet, if one was received.
|
||||
const SpacePacketReader& getSpReader() const;
|
||||
|
||||
SerialCommunicationHelper& getComHelper();
|
||||
|
||||
private:
|
||||
SpacePacketReader spReader;
|
||||
uint8_t readBuf[4096];
|
||||
SimpleRingBuffer readRingBuf;
|
||||
SerialCommunicationHelper helper;
|
||||
};
|
@ -6,16 +6,21 @@
|
||||
#include <filesystem>
|
||||
#include <fstream>
|
||||
|
||||
#include "fsfw/serviceinterface/ServiceInterfacePrinter.h"
|
||||
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
|
||||
#include "linux/payload/MpsocCommunication.h"
|
||||
#include "linux/payload/plocMpsocHelpers.h"
|
||||
|
||||
#ifdef XIPHOS_Q7S
|
||||
#include "bsp_q7s/fs/FilesystemHelper.h"
|
||||
#endif
|
||||
|
||||
#include "mission/utility/Timestamp.h"
|
||||
|
||||
using namespace ploc;
|
||||
|
||||
PlocMpsocSpecialComHelper::PlocMpsocSpecialComHelper(object_id_t objectId)
|
||||
: SystemObject(objectId) {
|
||||
PlocMpsocSpecialComHelper::PlocMpsocSpecialComHelper(object_id_t objectId,
|
||||
MpsocCommunication& comInterface)
|
||||
: SystemObject(objectId), comInterface(comInterface) {
|
||||
spParams.buf = commandBuffer;
|
||||
spParams.maxSize = sizeof(commandBuffer);
|
||||
}
|
||||
@ -48,9 +53,9 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
|
||||
case InternalState::FLASH_WRITE: {
|
||||
result = performFlashWrite();
|
||||
if (result == returnvalue::OK) {
|
||||
triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, sequenceCount->get());
|
||||
triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, txSequenceCount.get());
|
||||
} else {
|
||||
triggerEvent(MPSOC_FLASH_WRITE_FAILED, sequenceCount->get());
|
||||
triggerEvent(MPSOC_FLASH_WRITE_FAILED, txSequenceCount.get());
|
||||
}
|
||||
internalState = InternalState::IDLE;
|
||||
break;
|
||||
@ -58,9 +63,10 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
|
||||
case InternalState::FLASH_READ: {
|
||||
result = performFlashRead();
|
||||
if (result == returnvalue::OK) {
|
||||
triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, sequenceCount->get());
|
||||
triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, txSequenceCount.get());
|
||||
} else {
|
||||
triggerEvent(MPSOC_FLASH_READ_FAILED, sequenceCount->get());
|
||||
sif::printWarning("PLOC MPSoC Helper: Flash read failed with code %04x\n", result);
|
||||
triggerEvent(MPSOC_FLASH_READ_FAILED, txSequenceCount.get(), result);
|
||||
}
|
||||
internalState = InternalState::IDLE;
|
||||
break;
|
||||
@ -72,19 +78,12 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
|
||||
uartComIF = dynamic_cast<SerialComIF*>(communicationInterface_);
|
||||
if (uartComIF == nullptr) {
|
||||
sif::warning << "PlocMPSoCHelper::initialize: Invalid uart com if" << std::endl;
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
return returnvalue::OK;
|
||||
void PlocMpsocSpecialComHelper::setCommandSequenceCount(uint16_t sequenceCount_) {
|
||||
txSequenceCount.set(sequenceCount_);
|
||||
}
|
||||
|
||||
void PlocMpsocSpecialComHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
|
||||
|
||||
void PlocMpsocSpecialComHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
|
||||
sequenceCount = sequenceCount_;
|
||||
uint16_t PlocMpsocSpecialComHelper::getCommandSequenceCount() const {
|
||||
return txSequenceCount.get();
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelper::startFlashWrite(std::string obcFile,
|
||||
@ -117,7 +116,8 @@ ReturnValue_t PlocMpsocSpecialComHelper::startFlashRead(std::string obcFile, std
|
||||
void PlocMpsocSpecialComHelper::resetHelper() {
|
||||
spParams.buf = commandBuffer;
|
||||
terminate = false;
|
||||
uartComIF->flushUartRxBuffer(comCookie);
|
||||
auto& helper = comInterface.getComHelper();
|
||||
helper.flushUartRxBuffer();
|
||||
}
|
||||
|
||||
void PlocMpsocSpecialComHelper::stopProcess() { terminate = true; }
|
||||
@ -155,7 +155,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
|
||||
file.read(reinterpret_cast<char*>(fileBuf.data()), dataLength);
|
||||
bytesRead += dataLength;
|
||||
remainingSize -= dataLength;
|
||||
mpsoc::TcFlashWrite tc(spParams, *sequenceCount);
|
||||
mpsoc::TcFlashWrite tc(spParams, txSequenceCount);
|
||||
result = tc.setPayload(fileBuf.data(), dataLength);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
@ -164,7 +164,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
(*sequenceCount)++;
|
||||
txSequenceCount.increment();
|
||||
result = handlePacketTransmissionNoReply(tc);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
@ -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);
|
||||
@ -203,7 +207,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
|
||||
std::filesystem::remove(flashReadAndWrite.obcFile, e);
|
||||
return FILE_READ_ERROR;
|
||||
}
|
||||
mpsoc::TcFlashRead flashReadRequest(spParams, *sequenceCount);
|
||||
mpsoc::TcFlashRead flashReadRequest(spParams, txSequenceCount);
|
||||
result = flashReadRequest.setPayload(nextReadSize);
|
||||
if (result != returnvalue::OK) {
|
||||
std::filesystem::remove(flashReadAndWrite.obcFile, e);
|
||||
@ -214,7 +218,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
|
||||
std::filesystem::remove(flashReadAndWrite.obcFile, e);
|
||||
return result;
|
||||
}
|
||||
(*sequenceCount)++;
|
||||
txSequenceCount.increment();
|
||||
result = handlePacketTransmissionFlashRead(flashReadRequest, ofile, nextReadSize);
|
||||
if (result != returnvalue::OK) {
|
||||
std::filesystem::remove(flashReadAndWrite.obcFile, e);
|
||||
@ -231,7 +235,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
|
||||
spParams.buf = commandBuffer;
|
||||
mpsoc::FlashFopen flashFopen(spParams, *sequenceCount);
|
||||
mpsoc::TcFlashFopen flashFopen(spParams, txSequenceCount);
|
||||
ReturnValue_t result = flashFopen.setPayload(flashReadAndWrite.mpsocFile, mode);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
@ -240,7 +244,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
(*sequenceCount)++;
|
||||
txSequenceCount.increment();
|
||||
result = handlePacketTransmissionNoReply(flashFopen);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
@ -250,12 +254,12 @@ ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelper::flashfclose() {
|
||||
spParams.buf = commandBuffer;
|
||||
mpsoc::FlashFclose flashFclose(spParams, *sequenceCount);
|
||||
mpsoc::TcFlashFclose flashFclose(spParams, txSequenceCount);
|
||||
ReturnValue_t result = flashFclose.finishPacket();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
(*sequenceCount)++;
|
||||
txSequenceCount.increment();
|
||||
result = handlePacketTransmissionNoReply(flashFclose);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
@ -278,6 +282,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionFlashRead(mpsoc
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
auto& spReader = comInterface.getSpReader();
|
||||
|
||||
// We have the nominal case where the flash read report appears first, or the case where we
|
||||
// get an EXE failure immediately.
|
||||
@ -288,7 +293,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionFlashRead(mpsoc
|
||||
}
|
||||
return handleExe();
|
||||
} else if (spReader.getApid() == mpsoc::apid::EXE_FAILURE) {
|
||||
handleExeFailure();
|
||||
handleExeFailure(spReader);
|
||||
} else {
|
||||
triggerEvent(MPSOC_EXE_INVALID_APID, spReader.getApid(), static_cast<uint32_t>(internalState));
|
||||
sif::warning << "PLOC MPSoC: Expected execution report "
|
||||
@ -311,8 +316,8 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionNoReply(ploc::S
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelper::sendCommand(ploc::SpTcBase& tc) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
result = uartComIF->sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen());
|
||||
ReturnValue_t result = comInterface.send(tc.getFullPacket(), tc.getFullPacketLen());
|
||||
mpsoc::printTxPacket(tc);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
|
||||
triggerEvent(MPSOC_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
|
||||
@ -331,6 +336,8 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleAck() {
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
const auto& spReader = comInterface.getSpReader();
|
||||
|
||||
uint16_t apid = spReader.getApid();
|
||||
if (apid != mpsoc::apid::ACK_SUCCESS) {
|
||||
handleAckApidFailure(spReader);
|
||||
@ -339,7 +346,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleAck() {
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
void PlocMpsocSpecialComHelper::handleAckApidFailure(const ploc::SpTmReader& reader) {
|
||||
void PlocMpsocSpecialComHelper::handleAckApidFailure(const SpacePacketReader& reader) {
|
||||
uint16_t apid = reader.getApid();
|
||||
if (apid == mpsoc::apid::ACK_FAILURE) {
|
||||
uint16_t status = mpsoc::getStatusFromRawData(reader.getFullData());
|
||||
@ -363,9 +370,10 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleExe() {
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
const auto& spReader = comInterface.getSpReader();
|
||||
uint16_t apid = spReader.getApid();
|
||||
if (apid == mpsoc::apid::EXE_FAILURE) {
|
||||
handleExeFailure();
|
||||
handleExeFailure(spReader);
|
||||
return returnvalue::FAILED;
|
||||
} else if (apid != mpsoc::apid::EXE_SUCCESS) {
|
||||
triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
|
||||
@ -375,7 +383,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleExe() {
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
void PlocMpsocSpecialComHelper::handleExeFailure() {
|
||||
void PlocMpsocSpecialComHelper::handleExeFailure(const SpacePacketReader& spReader) {
|
||||
uint16_t status = mpsoc::getStatusFromRawData(spReader.getFullData());
|
||||
sif::warning << "PLOC MPSoC EXE Failure: " << mpsoc::getStatusString(status) << std::endl;
|
||||
triggerEvent(MPSOC_EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
|
||||
@ -384,46 +392,32 @@ void PlocMpsocSpecialComHelper::handleExeFailure() {
|
||||
ReturnValue_t PlocMpsocSpecialComHelper::handleTmReception() {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
tmCountdown.resetTimer();
|
||||
size_t readBytes = 0;
|
||||
size_t currentBytes = 0;
|
||||
uint32_t usleepDelay = 5;
|
||||
size_t fullPacketLen = 0;
|
||||
while (true) {
|
||||
if (tmCountdown.hasTimedOut()) {
|
||||
triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
result = receive(tmBuf.data() + readBytes, 6, ¤tBytes);
|
||||
result = tryReceiveNextReply();
|
||||
if (result == MpsocCommunication::PACKET_RECEIVED) {
|
||||
// Need to convert this, we are faking a synchronous API here.
|
||||
result = returnvalue::OK;
|
||||
break;
|
||||
}
|
||||
if (result != returnvalue::OK) {
|
||||
if (result == MpsocCommunication::FAULTY_PACKET_SIZE) {
|
||||
sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed: faulty packet size\n");
|
||||
} else if (result == MpsocCommunication::CRC_CHECK_FAILED) {
|
||||
sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed: CRC check failed\n");
|
||||
}
|
||||
sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed with code %d\n", result);
|
||||
return result;
|
||||
}
|
||||
spReader.setReadOnlyData(tmBuf.data(), tmBuf.size());
|
||||
fullPacketLen = spReader.getFullPacketLen();
|
||||
readBytes += currentBytes;
|
||||
if (readBytes == 6) {
|
||||
break;
|
||||
}
|
||||
usleep(usleepDelay);
|
||||
if (usleepDelay < 200000) {
|
||||
usleepDelay *= 4;
|
||||
}
|
||||
}
|
||||
while (true) {
|
||||
if (tmCountdown.hasTimedOut()) {
|
||||
triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
result = receive(tmBuf.data() + readBytes, fullPacketLen - readBytes, ¤tBytes);
|
||||
readBytes += currentBytes;
|
||||
if (fullPacketLen == readBytes) {
|
||||
break;
|
||||
}
|
||||
usleep(usleepDelay);
|
||||
if (usleepDelay < 200000) {
|
||||
usleepDelay *= 4;
|
||||
}
|
||||
}
|
||||
// arrayprinter::print(tmBuf.data(), readBytes);
|
||||
return result;
|
||||
}
|
||||
|
||||
@ -433,6 +427,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleFlashReadReply(std::ofstream& ofi
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
auto& spReader = comInterface.getSpReader();
|
||||
uint16_t apid = spReader.getApid();
|
||||
if (apid != mpsoc::apid::TM_FLASH_READ_REPORT) {
|
||||
triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_APID_ERROR);
|
||||
@ -498,47 +493,25 @@ ReturnValue_t PlocMpsocSpecialComHelper::startFlashReadOrWriteBase(std::string o
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelper::checkReceivedTm() {
|
||||
const auto& spReader = comInterface.getSpReader();
|
||||
ReturnValue_t result = spReader.checkSize();
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "PLOC MPSoC: Size check on received TM failed" << std::endl;
|
||||
triggerEvent(MPSOC_TM_SIZE_ERROR);
|
||||
return result;
|
||||
}
|
||||
result = spReader.checkCrc();
|
||||
if (result != returnvalue::OK) {
|
||||
sif::warning << "PLOC MPSoC: CRC check failed" << std::endl;
|
||||
triggerEvent(MPSOC_TM_CRC_MISSMATCH, *sequenceCount);
|
||||
return result;
|
||||
}
|
||||
uint16_t recvSeqCnt = spReader.getSequenceCount();
|
||||
if (recvSeqCnt != *sequenceCount) {
|
||||
triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
|
||||
*sequenceCount = recvSeqCnt;
|
||||
}
|
||||
// This sequence count ping pong does not make any sense but it is how the MPSoC expects it.
|
||||
(*sequenceCount)++;
|
||||
rxSequenceCount = spReader.getSequenceCount();
|
||||
mpsoc::printRxPacket(spReader);
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelper::receive(uint8_t* data, size_t requestBytes,
|
||||
size_t* readBytes) {
|
||||
ReturnValue_t PlocMpsocSpecialComHelper::tryReceiveNextReply() {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
uint8_t* buffer = nullptr;
|
||||
result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
|
||||
result = comInterface.readSerialInterface();
|
||||
if (result != returnvalue::OK) {
|
||||
sif::warning << "PlocMPSoCHelper::receive: Failed to request reply" << std::endl;
|
||||
triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
|
||||
static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::warning << "PlocMPSoCHelper::receive: Failed to read received message" << std::endl;
|
||||
triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
if (*readBytes > 0) {
|
||||
std::memcpy(data, buffer, *readBytes);
|
||||
}
|
||||
return result;
|
||||
return comInterface.parseAndRetrieveNextPacket();
|
||||
}
|
||||
|
@ -6,14 +6,13 @@
|
||||
|
||||
#include <string>
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
#include "fsfw/devicehandlers/CookieIF.h"
|
||||
#include "fsfw/objectmanager/SystemObject.h"
|
||||
#include "fsfw/osal/linux/BinarySemaphore.h"
|
||||
#include "fsfw/returnvalues/returnvalue.h"
|
||||
#include "fsfw/tasks/ExecutableObjectIF.h"
|
||||
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
|
||||
#include "fsfw/tmtcservices/SourceSequenceCounter.h"
|
||||
#include "fsfw_hal/linux/serial/SerialComIF.h"
|
||||
#include "linux/payload/MpsocCommunication.h"
|
||||
#ifdef XIPHOS_Q7S
|
||||
#include "bsp_q7s/fs/SdCardManager.h"
|
||||
#endif
|
||||
@ -83,15 +82,12 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
|
||||
FLASH_READ_READLEN_ERROR = 2
|
||||
};
|
||||
|
||||
PlocMpsocSpecialComHelper(object_id_t objectId);
|
||||
PlocMpsocSpecialComHelper(object_id_t objectId, MpsocCommunication& comInterface);
|
||||
virtual ~PlocMpsocSpecialComHelper();
|
||||
|
||||
ReturnValue_t initialize() override;
|
||||
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
|
||||
|
||||
ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_);
|
||||
void setComCookie(CookieIF* comCookie_);
|
||||
|
||||
/**
|
||||
* @brief Starts flash write sequence
|
||||
*
|
||||
@ -118,7 +114,8 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
|
||||
/**
|
||||
* @brief Sets the sequence count object responsible for the sequence count handling
|
||||
*/
|
||||
void setSequenceCount(SourceSequenceCounter* sequenceCount_);
|
||||
void setCommandSequenceCount(uint16_t sequenceCount_);
|
||||
uint16_t getCommandSequenceCount() const;
|
||||
|
||||
private:
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HELPER;
|
||||
@ -169,12 +166,14 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
|
||||
* Communication interface of MPSoC responsible for low level access. Must be set by the
|
||||
* MPSoC Handler.
|
||||
*/
|
||||
SerialComIF* uartComIF = nullptr;
|
||||
// SerialComIF* uartComIF = nullptr;
|
||||
// Communication cookie. Must be set by the MPSoC Handler
|
||||
CookieIF* comCookie = nullptr;
|
||||
// CookieIF* comCookie = nullptr;
|
||||
MpsocCommunication& comInterface;
|
||||
// Sequence count, must be set by Ploc MPSoC Handler
|
||||
SourceSequenceCounter* sequenceCount = nullptr;
|
||||
ploc::SpTmReader spReader;
|
||||
// ploc::SpTmReader spReader;
|
||||
uint16_t rxSequenceCount = 0;
|
||||
SourceSequenceCounter txSequenceCount = 0;
|
||||
|
||||
void resetHelper();
|
||||
ReturnValue_t performFlashWrite();
|
||||
@ -186,13 +185,13 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
|
||||
size_t expectedReadLen);
|
||||
ReturnValue_t handleFlashReadReply(std::ofstream& ofile, size_t expectedReadLen);
|
||||
ReturnValue_t sendCommand(ploc::SpTcBase& tc);
|
||||
ReturnValue_t receive(uint8_t* data, size_t requestBytes, size_t* readBytes);
|
||||
ReturnValue_t tryReceiveNextReply();
|
||||
ReturnValue_t handleAck();
|
||||
ReturnValue_t handleExe();
|
||||
ReturnValue_t startFlashReadOrWriteBase(std::string obcFile, std::string mpsocFile);
|
||||
ReturnValue_t fileCheck(std::string obcFile);
|
||||
void handleAckApidFailure(const ploc::SpTmReader& reader);
|
||||
void handleExeFailure();
|
||||
void handleAckApidFailure(const SpacePacketReader& reader);
|
||||
void handleExeFailure(const SpacePacketReader& reader);
|
||||
ReturnValue_t handleTmReception();
|
||||
ReturnValue_t checkReceivedTm();
|
||||
};
|
||||
|
@ -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) {
|
||||
@ -437,6 +426,8 @@ ReturnValue_t PlocSupvUartManager::writeUpdatePackets() {
|
||||
// Useful to allow restarting the update
|
||||
triggerEvent(SUPV_UPDATE_PROGRESS, buildProgParams1(progPercent, update.sequenceCount),
|
||||
update.bytesWritten);
|
||||
sif::info << "PLOC SUPV update progress " << (int)progPercent << " % at "
|
||||
<< update.bytesWritten << " bytes" << std::endl;
|
||||
}
|
||||
}
|
||||
supv::WriteMemory packet(spParams);
|
||||
@ -447,10 +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;
|
||||
}
|
||||
|
||||
@ -461,7 +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;
|
||||
}
|
||||
@ -570,7 +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);
|
||||
@ -613,7 +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);
|
||||
};
|
||||
|
126
linux/payload/SerialCommunicationHelper.cpp
Normal file
126
linux/payload/SerialCommunicationHelper.cpp
Normal file
@ -0,0 +1,126 @@
|
||||
#include "SerialCommunicationHelper.h"
|
||||
|
||||
#include <errno.h>
|
||||
#include <fcntl.h>
|
||||
#include <termios.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <cstring>
|
||||
|
||||
#include "fsfw/returnvalues/returnvalue.h"
|
||||
#include "fsfw_hal/linux/serial/helper.h"
|
||||
|
||||
SerialCommunicationHelper::SerialCommunicationHelper(SerialConfig cfg) : cfg(cfg) {}
|
||||
|
||||
ReturnValue_t SerialCommunicationHelper::initialize() {
|
||||
fd = configureUartPort();
|
||||
if (fd < 0) {
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
int SerialCommunicationHelper::rawFd() const { return fd; }
|
||||
|
||||
ReturnValue_t SerialCommunicationHelper::send(const uint8_t* data, size_t dataLen) {
|
||||
if (write(fd, data, dataLen) != static_cast<int>(dataLen)) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
|
||||
<< ": Error description: " << strerror(errno) << std::endl;
|
||||
#endif
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
int SerialCommunicationHelper::configureUartPort() {
|
||||
struct termios options = {};
|
||||
|
||||
int flags = O_RDWR;
|
||||
if (cfg.getUartMode() == UartModes::CANONICAL) {
|
||||
// In non-canonical mode, don't specify O_NONBLOCK because these properties will be
|
||||
// controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
|
||||
flags |= O_NONBLOCK;
|
||||
}
|
||||
int fd = open(cfg.getDeviceFile().c_str(), flags);
|
||||
|
||||
if (fd < 0) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "UartComIF::configureUartPort: Failed to open uart "
|
||||
<< cfg.getDeviceFile().c_str()
|
||||
|
||||
<< "with error code " << errno << strerror(errno) << std::endl;
|
||||
#endif
|
||||
return fd;
|
||||
}
|
||||
|
||||
/* Read in existing settings */
|
||||
if (tcgetattr(fd, &options) != 0) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "UartComIF::configureUartPort: Error " << errno
|
||||
<< "from tcgetattr: " << strerror(errno) << std::endl;
|
||||
#endif
|
||||
return fd;
|
||||
}
|
||||
|
||||
serial::setParity(options, cfg.getParity());
|
||||
serial::setStopbits(options, cfg.getStopBits());
|
||||
serial::setBitsPerWord(options, cfg.getBitsPerWord());
|
||||
setFixedOptions(&options);
|
||||
serial::setMode(options, cfg.getUartMode());
|
||||
tcflush(fd, TCIFLUSH);
|
||||
|
||||
/* Sets uart to non-blocking mode. Read returns immediately when there are no data available */
|
||||
options.c_cc[VTIME] = 0;
|
||||
options.c_cc[VMIN] = 0;
|
||||
|
||||
serial::setBaudrate(options, cfg.getBaudrate());
|
||||
|
||||
/* Save option settings */
|
||||
if (tcsetattr(fd, TCSANOW, &options) != 0) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << errno
|
||||
<< ": " << strerror(errno);
|
||||
#endif
|
||||
return fd;
|
||||
}
|
||||
return fd;
|
||||
}
|
||||
|
||||
void SerialCommunicationHelper::setFixedOptions(struct termios* options) {
|
||||
/* Disable RTS/CTS hardware flow control */
|
||||
options->c_cflag &= ~CRTSCTS;
|
||||
/* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
|
||||
options->c_cflag |= CREAD | CLOCAL;
|
||||
/* Disable echo */
|
||||
options->c_lflag &= ~ECHO;
|
||||
/* Disable erasure */
|
||||
options->c_lflag &= ~ECHOE;
|
||||
/* Disable new-line echo */
|
||||
options->c_lflag &= ~ECHONL;
|
||||
/* Disable interpretation of INTR, QUIT and SUSP */
|
||||
options->c_lflag &= ~ISIG;
|
||||
/* Turn off s/w flow ctrl */
|
||||
options->c_iflag &= ~(IXON | IXOFF | IXANY);
|
||||
/* Disable any special handling of received bytes */
|
||||
options->c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL);
|
||||
/* Prevent special interpretation of output bytes (e.g. newline chars) */
|
||||
options->c_oflag &= ~OPOST;
|
||||
/* Prevent conversion of newline to carriage return/line feed */
|
||||
options->c_oflag &= ~ONLCR;
|
||||
}
|
||||
|
||||
ReturnValue_t SerialCommunicationHelper::flushUartRxBuffer() {
|
||||
serial::flushRxBuf(fd);
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t SerialCommunicationHelper::flushUartTxBuffer() {
|
||||
serial::flushTxBuf(fd);
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t SerialCommunicationHelper::flushUartTxAndRxBuf() {
|
||||
serial::flushTxRxBuf(fd);
|
||||
return returnvalue::OK;
|
||||
}
|
69
linux/payload/SerialCommunicationHelper.h
Normal file
69
linux/payload/SerialCommunicationHelper.h
Normal file
@ -0,0 +1,69 @@
|
||||
#pragma once
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
|
||||
#include <fsfw/objectmanager/SystemObject.h>
|
||||
#include <fsfw_hal/linux/serial/SerialCookie.h>
|
||||
#include <fsfw_hal/linux/serial/helper.h>
|
||||
|
||||
#include "SerialConfig.h"
|
||||
#include "fsfw/returnvalues/returnvalue.h"
|
||||
|
||||
/**
|
||||
* @brief This is the communication interface to access serial ports on linux based operating
|
||||
* systems.
|
||||
*
|
||||
* @details The implementation follows the instructions from https://blog.mbedded.ninja/programming/
|
||||
* operating-systems/linux/linux-serial-ports-using-c-cpp/#disabling-canonical-mode
|
||||
*
|
||||
* @author J. Meier
|
||||
*/
|
||||
class SerialCommunicationHelper {
|
||||
public:
|
||||
SerialCommunicationHelper(SerialConfig serialCfg);
|
||||
|
||||
ReturnValue_t send(const uint8_t* data, size_t dataLen);
|
||||
|
||||
int rawFd() const;
|
||||
|
||||
ReturnValue_t initialize();
|
||||
|
||||
/**
|
||||
* @brief This function discards all data received but not read in the UART buffer.
|
||||
*/
|
||||
ReturnValue_t flushUartRxBuffer();
|
||||
|
||||
/**
|
||||
* @brief This function discards all data in the transmit buffer of the UART driver.
|
||||
*/
|
||||
ReturnValue_t flushUartTxBuffer();
|
||||
|
||||
/**
|
||||
* @brief This function discards both data in the transmit and receive buffer of the UART.
|
||||
*/
|
||||
ReturnValue_t flushUartTxAndRxBuf();
|
||||
|
||||
private:
|
||||
SerialConfig cfg;
|
||||
int fd = 0;
|
||||
|
||||
/**
|
||||
* @brief This function opens and configures a uart device by using the information stored
|
||||
* in the uart cookie.
|
||||
* @param uartCookie Pointer to uart cookie with information about the uart. Contains the
|
||||
* uart device file, baudrate, parity, stopbits etc.
|
||||
* @return The file descriptor of the configured uart.
|
||||
*/
|
||||
int configureUartPort();
|
||||
|
||||
void setStopBitOptions(struct termios* options);
|
||||
|
||||
/**
|
||||
* @brief This function sets options which are not configurable by the uartCookie.
|
||||
*/
|
||||
void setFixedOptions(struct termios* options);
|
||||
|
||||
/**
|
||||
* @brief With this function the datasize settings are added to the termios options struct.
|
||||
*/
|
||||
void setDatasizeOptions(struct termios* options);
|
||||
};
|
70
linux/payload/SerialConfig.h
Normal file
70
linux/payload/SerialConfig.h
Normal file
@ -0,0 +1,70 @@
|
||||
#pragma once
|
||||
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
#include <fsfw/objectmanager/SystemObjectIF.h>
|
||||
#include <fsfw_hal/linux/serial/helper.h>
|
||||
|
||||
#include <string>
|
||||
|
||||
/**
|
||||
* @brief Cookie for the UartComIF. There are many options available to configure the UART driver.
|
||||
* The constructor only requests for common options like the baudrate. Other options can
|
||||
* be set by member functions.
|
||||
*
|
||||
* @author J. Meier
|
||||
*/
|
||||
class SerialConfig : public CookieIF {
|
||||
public:
|
||||
/**
|
||||
* @brief Constructor for the uart cookie.
|
||||
* @param deviceFile The device file specifying the uart to use, e.g. "/dev/ttyPS1"
|
||||
* @param uartMode Specify the UART mode. The canonical mode should be used if the
|
||||
* messages are separated by a delimited character like '\n'. See the
|
||||
* termios documentation for more information
|
||||
* @param baudrate The baudrate to use for input and output.
|
||||
* @param maxReplyLen The maximum size an object using this cookie expects
|
||||
* @details
|
||||
* Default configuration: No parity
|
||||
* 8 databits (number of bits transfered with one uart frame)
|
||||
* One stop bit
|
||||
*/
|
||||
SerialConfig(std::string deviceFile, UartBaudRate baudrate, size_t maxReplyLen,
|
||||
UartModes uartMode = UartModes::NON_CANONICAL)
|
||||
: deviceFile(deviceFile), baudrate(baudrate), maxReplyLen(maxReplyLen), uartMode(uartMode) {}
|
||||
|
||||
virtual ~SerialConfig() = default;
|
||||
|
||||
UartBaudRate getBaudrate() const { return baudrate; }
|
||||
size_t getMaxReplyLen() const { return maxReplyLen; }
|
||||
std::string getDeviceFile() const { return deviceFile; }
|
||||
Parity getParity() const { return parity; }
|
||||
BitsPerWord getBitsPerWord() const { return bitsPerWord; }
|
||||
StopBits getStopBits() const { return stopBits; }
|
||||
UartModes getUartMode() const { return uartMode; }
|
||||
|
||||
/**
|
||||
* Functions two enable parity checking.
|
||||
*/
|
||||
void setParityOdd() { parity = Parity::ODD; }
|
||||
void setParityEven() { parity = Parity::EVEN; }
|
||||
|
||||
/**
|
||||
* Function two set number of bits per UART frame.
|
||||
*/
|
||||
void setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
|
||||
|
||||
/**
|
||||
* Function to specify the number of stopbits.
|
||||
*/
|
||||
void setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
|
||||
void setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
|
||||
|
||||
private:
|
||||
std::string deviceFile;
|
||||
UartBaudRate baudrate;
|
||||
size_t maxReplyLen = 0;
|
||||
const UartModes uartMode;
|
||||
Parity parity = Parity::NONE;
|
||||
BitsPerWord bitsPerWord = BitsPerWord::BITS_8;
|
||||
StopBits stopBits = StopBits::ONE_STOP_BIT;
|
||||
};
|
@ -1,33 +0,0 @@
|
||||
#ifndef MPSOC_RETURN_VALUES_IF_H_
|
||||
#define MPSOC_RETURN_VALUES_IF_H_
|
||||
|
||||
#include "eive/resultClassIds.h"
|
||||
#include "fsfw/returnvalues/returnvalue.h"
|
||||
|
||||
class MPSoCReturnValuesIF {
|
||||
public:
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::MPSOC_RETURN_VALUES_IF;
|
||||
|
||||
//! [EXPORT] : [COMMENT] Space Packet received from PLOC has invalid CRC
|
||||
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
|
||||
//! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC
|
||||
static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
|
||||
//! [EXPORT] : [COMMENT] Received execution failure reply from PLOC
|
||||
static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
|
||||
//! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC
|
||||
static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
|
||||
//! [EXPORT] : [COMMENT] Received command with invalid length
|
||||
static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xA4);
|
||||
//! [EXPORT] : [COMMENT] Filename of file in OBC filesystem is too long
|
||||
static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA5);
|
||||
//! [EXPORT] : [COMMENT] MPSoC helper is currently executing a command
|
||||
static const ReturnValue_t MPSOC_HELPER_EXECUTING = MAKE_RETURN_CODE(0xA6);
|
||||
//! [EXPORT] : [COMMENT] Filename of MPSoC file is to long (max. 256 bytes)
|
||||
static const ReturnValue_t MPSOC_FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA7);
|
||||
//! [EXPORT] : [COMMENT] Command has invalid parameter
|
||||
static const ReturnValue_t INVALID_PARAMETER = MAKE_RETURN_CODE(0xA8);
|
||||
//! [EXPORT] : [COMMENT] Received command has file string with invalid length
|
||||
static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA9);
|
||||
};
|
||||
|
||||
#endif /* MPSOC_RETURN_VALUES_IF_H_ */
|
@ -1,87 +1,94 @@
|
||||
#include "plocMpsocHelpers.h"
|
||||
|
||||
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
|
||||
#include "mission/payload/plocSpBase.h"
|
||||
|
||||
uint16_t mpsoc::getStatusFromRawData(const uint8_t* data) {
|
||||
return (*(data + STATUS_OFFSET) << 8) | *(data + STATUS_OFFSET + 1);
|
||||
}
|
||||
std::string mpsoc::getStatusString(uint16_t status) {
|
||||
switch (status) {
|
||||
case (mpsoc::status_code::UNKNOWN_APID): {
|
||||
case (mpsoc::statusCode::UNKNOWN_APID): {
|
||||
return "Unknown APID";
|
||||
break;
|
||||
}
|
||||
case (mpsoc::status_code::INCORRECT_LENGTH): {
|
||||
case (mpsoc::statusCode::INCORRECT_LENGTH): {
|
||||
return "Incorrect length";
|
||||
break;
|
||||
}
|
||||
case (mpsoc::status_code::INCORRECT_CRC): {
|
||||
case (mpsoc::statusCode::FLASH_DRIVE_ERROR): {
|
||||
return "flash drive error";
|
||||
break;
|
||||
}
|
||||
case (mpsoc::statusCode::INCORRECT_CRC): {
|
||||
return "Incorrect crc";
|
||||
break;
|
||||
}
|
||||
case (mpsoc::status_code::INCORRECT_PKT_SEQ_CNT): {
|
||||
case (mpsoc::statusCode::INCORRECT_PKT_SEQ_CNT): {
|
||||
return "Incorrect packet sequence count";
|
||||
break;
|
||||
}
|
||||
case (mpsoc::status_code::TC_NOT_ALLOWED_IN_MODE): {
|
||||
case (mpsoc::statusCode::TC_NOT_ALLOWED_IN_MODE): {
|
||||
return "TC not allowed in this mode";
|
||||
break;
|
||||
}
|
||||
case (mpsoc::status_code::TC_EXEUTION_DISABLED): {
|
||||
case (mpsoc::statusCode::TC_EXEUTION_DISABLED): {
|
||||
return "TC execution disabled";
|
||||
break;
|
||||
}
|
||||
case (mpsoc::status_code::FLASH_MOUNT_FAILED): {
|
||||
case (mpsoc::statusCode::FLASH_MOUNT_FAILED): {
|
||||
return "Flash mount failed";
|
||||
break;
|
||||
}
|
||||
case (mpsoc::status_code::FLASH_FILE_ALREADY_OPEN): {
|
||||
case (mpsoc::statusCode::FLASH_FILE_ALREADY_OPEN): {
|
||||
return "Flash file already open";
|
||||
break;
|
||||
}
|
||||
case (mpsoc::status_code::FLASH_FILE_ALREADY_CLOSED): {
|
||||
case (mpsoc::statusCode::FLASH_FILE_ALREADY_CLOSED): {
|
||||
return "Flash file already closed";
|
||||
break;
|
||||
}
|
||||
case (mpsoc::status_code::FLASH_FILE_OPEN_FAILED): {
|
||||
case (mpsoc::statusCode::FLASH_FILE_OPEN_FAILED): {
|
||||
return "Flash file open failed";
|
||||
break;
|
||||
}
|
||||
case (mpsoc::status_code::FLASH_FILE_NOT_OPEN): {
|
||||
case (mpsoc::statusCode::FLASH_FILE_NOT_OPEN): {
|
||||
return "Flash file not open";
|
||||
break;
|
||||
}
|
||||
case (mpsoc::status_code::FLASH_UNMOUNT_FAILED): {
|
||||
case (mpsoc::statusCode::FLASH_UNMOUNT_FAILED): {
|
||||
return "Flash unmount failed";
|
||||
break;
|
||||
}
|
||||
case (mpsoc::status_code::HEAP_ALLOCATION_FAILED): {
|
||||
case (mpsoc::statusCode::HEAP_ALLOCATION_FAILED): {
|
||||
return "Heap allocation failed";
|
||||
break;
|
||||
}
|
||||
case (mpsoc::status_code::INVALID_PARAMETER): {
|
||||
case (mpsoc::statusCode::INVALID_PARAMETER): {
|
||||
return "Invalid parameter";
|
||||
break;
|
||||
}
|
||||
case (mpsoc::status_code::NOT_INITIALIZED): {
|
||||
case (mpsoc::statusCode::NOT_INITIALIZED): {
|
||||
return "Not initialized";
|
||||
break;
|
||||
}
|
||||
case (mpsoc::status_code::REBOOT_IMMINENT): {
|
||||
case (mpsoc::statusCode::REBOOT_IMMINENT): {
|
||||
return "Reboot imminent";
|
||||
break;
|
||||
}
|
||||
case (mpsoc::status_code::CORRUPT_DATA): {
|
||||
case (mpsoc::statusCode::CORRUPT_DATA): {
|
||||
return "Corrupt data";
|
||||
break;
|
||||
}
|
||||
case (mpsoc::status_code::FLASH_CORRECTABLE_MISMATCH): {
|
||||
case (mpsoc::statusCode::FLASH_CORRECTABLE_MISMATCH): {
|
||||
return "Flash correctable mismatch";
|
||||
break;
|
||||
}
|
||||
case (mpsoc::status_code::FLASH_UNCORRECTABLE_MISMATCH): {
|
||||
case (mpsoc::statusCode::FLASH_UNCORRECTABLE_MISMATCH): {
|
||||
return "Flash uncorrectable mismatch";
|
||||
break;
|
||||
}
|
||||
case (mpsoc::status_code::DEFAULT_ERROR_CODE): {
|
||||
case (mpsoc::statusCode::DEFAULT_ERROR_CODE): {
|
||||
return "Default error code";
|
||||
break;
|
||||
}
|
||||
@ -93,3 +100,19 @@ std::string mpsoc::getStatusString(uint16_t status) {
|
||||
}
|
||||
return "";
|
||||
}
|
||||
|
||||
void mpsoc::printRxPacket(const SpacePacketReader& spReader) {
|
||||
if (mpsoc::MPSOC_RX_WIRETAPPING) {
|
||||
sif::debug << "RECV MPSOC packet. APID 0x" << std::hex << std::setw(3) << spReader.getApid()
|
||||
<< std::dec << " Size " << spReader.getFullPacketLen() << " SSC "
|
||||
<< spReader.getSequenceCount() << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
void mpsoc::printTxPacket(const ploc::SpTcBase& tcBase) {
|
||||
if (mpsoc::MPSOC_TX_WIRETAPPING) {
|
||||
sif::debug << "SEND MPSOC packet. APID 0x" << std::hex << std::setw(3) << tcBase.getApid()
|
||||
<< " Size " << std::dec << tcBase.getFullPacketLen() << " SSC "
|
||||
<< tcBase.getSeqCount() << std::endl;
|
||||
}
|
||||
}
|
||||
|
@ -3,16 +3,122 @@
|
||||
|
||||
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <linux/payload/mpsocRetvals.h>
|
||||
#include <mission/payload/plocSpBase.h>
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
#include "eive/definitions.h"
|
||||
#include "fsfw/globalfunctions/CRC.h"
|
||||
#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;
|
||||
|
||||
/**
|
||||
* @brief Abstract base class for TC space packet of MPSoC.
|
||||
*/
|
||||
class TcBase : public ploc::SpTcBase {
|
||||
public:
|
||||
virtual ~TcBase() = default;
|
||||
|
||||
// Initial length field of space packet. Will always be updated when packet is created.
|
||||
static const uint16_t INIT_LENGTH = CRC_SIZE;
|
||||
|
||||
/**
|
||||
* @brief Constructor
|
||||
*
|
||||
* @param sequenceCount Sequence count of space packet which will be incremented with each
|
||||
* sent and received packets.
|
||||
*/
|
||||
TcBase(ploc::SpTcParams params, uint16_t apid, uint16_t sequenceCount)
|
||||
: ploc::SpTcBase(params, apid, 0, sequenceCount) {
|
||||
payloadStart = spParams.buf + ccsds::HEADER_LEN;
|
||||
spParams.setFullPayloadLen(INIT_LENGTH);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Function to finsh and write the space packet. It is expected that the user has
|
||||
* set the payload fields in the child class*
|
||||
* @return returnvalue::OK if packet creation was successful, otherwise error return value
|
||||
*/
|
||||
ReturnValue_t finishPacket() {
|
||||
updateSpFields();
|
||||
ReturnValue_t res = checkSizeAndSerializeHeader();
|
||||
if (res != returnvalue::OK) {
|
||||
return res;
|
||||
}
|
||||
return calcAndSetCrc();
|
||||
}
|
||||
};
|
||||
|
||||
void printRxPacket(const SpacePacketReader& spReader);
|
||||
void printTxPacket(const ploc::SpTcBase& tcBase);
|
||||
|
||||
static constexpr uint32_t DEFAULT_CMD_TIMEOUT_MS = 5000;
|
||||
static constexpr uint32_t CMD_TIMEOUT_MKFS = 15000;
|
||||
|
||||
enum FlashId : uint8_t { FLASH_0 = 0, FLASH_1 = 1 };
|
||||
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::MPSOC_RETURN_VALUES_IF;
|
||||
|
||||
//! [EXPORT] : [COMMENT] Space Packet received from PLOC has invalid CRC
|
||||
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
|
||||
//! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC
|
||||
static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
|
||||
//! [EXPORT] : [COMMENT] Received execution failure reply from PLOC
|
||||
static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
|
||||
//! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC
|
||||
static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
|
||||
//! [EXPORT] : [COMMENT] Received command with invalid length
|
||||
static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xA4);
|
||||
//! [EXPORT] : [COMMENT] Filename of file in OBC filesystem is too long
|
||||
static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA5);
|
||||
//! [EXPORT] : [COMMENT] MPSoC helper is currently executing a command
|
||||
static const ReturnValue_t MPSOC_HELPER_EXECUTING = MAKE_RETURN_CODE(0xA6);
|
||||
//! [EXPORT] : [COMMENT] Filename of MPSoC file is to long (max. 256 bytes)
|
||||
static const ReturnValue_t MPSOC_FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA7);
|
||||
//! [EXPORT] : [COMMENT] Command has invalid parameter
|
||||
static const ReturnValue_t INVALID_PARAMETER = MAKE_RETURN_CODE(0xA8);
|
||||
//! [EXPORT] : [COMMENT] Received command has file string with invalid length
|
||||
static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA9);
|
||||
//! [EXPORT] : [COMMENT] Command has timed out.
|
||||
static const ReturnValue_t COMMAND_TIMEOUT = MAKE_RETURN_CODE(0x10);
|
||||
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER;
|
||||
|
||||
//! [EXPORT] : [COMMENT] PLOC crc failure in telemetry packet
|
||||
static const Event MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] PLOC receive acknowledgment failure report
|
||||
//! P1: Command Id which leads the acknowledgment failure report
|
||||
//! P2: The status field inserted by the MPSoC into the data field
|
||||
static const Event ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] PLOC receive execution failure report
|
||||
//! P1: Command Id which leads the execution failure report
|
||||
//! P2: The status field inserted by the MPSoC into the data field
|
||||
static const Event EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] PLOC reply has invalid crc
|
||||
static const Event MPSOC_HANDLER_CRC_FAILURE = MAKE_EVENT(4, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Packet sequence count in received space packet does not match expected
|
||||
//! count P1: Expected sequence count P2: Received sequence count
|
||||
static const Event MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH = MAKE_EVENT(5, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and
|
||||
//! thus also to shutdown the supervisor.
|
||||
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 };
|
||||
|
||||
enum FileAccessModes : uint8_t {
|
||||
@ -30,6 +136,8 @@ enum FileAccessModes : uint8_t {
|
||||
};
|
||||
|
||||
static constexpr uint32_t HK_SET_ID = 0;
|
||||
static constexpr uint32_t DEADBEEF_ADDR = 0x40000004;
|
||||
static constexpr uint32_t DEADBEEF_VALUE = 0xdeadbeef;
|
||||
|
||||
namespace poolid {
|
||||
enum {
|
||||
@ -92,7 +200,8 @@ static const DeviceCommandId_t TM_CAM_CMD_RPT = 19;
|
||||
static const DeviceCommandId_t SET_UART_TX_TRISTATE = 20;
|
||||
static const DeviceCommandId_t RELEASE_UART_TX = 21;
|
||||
static const DeviceCommandId_t TC_CAM_TAKE_PIC = 22;
|
||||
static const DeviceCommandId_t TC_SIMPLEX_SEND_FILE = 23;
|
||||
// Stream file down using E-Band component directly.
|
||||
static const DeviceCommandId_t TC_SIMPLEX_STREAM_FILE = 23;
|
||||
static const DeviceCommandId_t TC_DOWNLINK_DATA_MODULATE = 24;
|
||||
static const DeviceCommandId_t TC_MODE_SNAPSHOT = 25;
|
||||
static const DeviceCommandId_t TC_GET_HK_REPORT = 26;
|
||||
@ -100,16 +209,31 @@ static const DeviceCommandId_t TM_GET_HK_REPORT = 27;
|
||||
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_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;
|
||||
|
||||
// Will reset the sequence count of the OBSW
|
||||
static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT = 50;
|
||||
// Will reset the sequence count of the OBSW. Not required anymore after MPSoC update.
|
||||
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 };
|
||||
|
||||
// Setting the internal mode value to the actual telecommand ID
|
||||
/*
|
||||
enum InternalMode {
|
||||
OFF = HasModesIF::MODE_OFF,
|
||||
IDLE = ,
|
||||
REPLAY = TC_MODE_REPLAY,
|
||||
SNAPSHOT = TC_MODE_SNAPSHOT
|
||||
};
|
||||
*/
|
||||
|
||||
/**
|
||||
* SpacePacket apids of PLOC telecommands and telemetry.
|
||||
*/
|
||||
@ -134,6 +258,8 @@ static const uint16_t TC_MODE_SNAPSHOT = 0x120;
|
||||
static const uint16_t TC_DOWNLINK_DATA_MODULATE = 0x121;
|
||||
static constexpr uint16_t TC_HK_GET_REPORT = 0x123;
|
||||
static const uint16_t TC_DOWNLINK_PWR_OFF = 0x124;
|
||||
static constexpr uint16_t TC_ENABLE_TC_EXECUTION = 0x129;
|
||||
static constexpr uint16_t TC_FLASH_MKFS = 0x12A;
|
||||
static const uint16_t TC_CAM_CMD_SEND = 0x12C;
|
||||
static constexpr uint16_t TC_FLASH_COPY_FILE = 0x12E;
|
||||
static const uint16_t TC_SIMPLEX_SEND_FILE = 0x130;
|
||||
@ -158,15 +284,15 @@ static const uint8_t SPACE_PACKET_HEADER_SIZE = 6;
|
||||
|
||||
static const uint8_t STATUS_OFFSET = 10;
|
||||
|
||||
static constexpr size_t CRC_SIZE = 2;
|
||||
|
||||
/**
|
||||
* The size of payload data which will be forwarded to the requesting object. e.g. PUS Service
|
||||
* 8.
|
||||
*/
|
||||
static const uint8_t SIZE_MEM_READ_RPT_FIX = 6;
|
||||
|
||||
static const size_t MAX_FILENAME_SIZE = 256;
|
||||
static const size_t FILENAME_FIELD_SIZE = 256;
|
||||
// Subtract size of NULL terminator.
|
||||
static const size_t MAX_FILENAME_SIZE = FILENAME_FIELD_SIZE - 1;
|
||||
|
||||
/**
|
||||
* PLOC space packet length for fixed size packets. This is the size of the whole packet data
|
||||
@ -201,8 +327,9 @@ static const uint16_t TC_DOWNLINK_PWR_ON_EXECUTION_DELAY = 8;
|
||||
static const uint16_t TC_CAM_TAKE_PIC_EXECUTION_DELAY = 20;
|
||||
static const uint16_t TC_SIMPLEX_SEND_FILE_DELAY = 80;
|
||||
|
||||
namespace status_code {
|
||||
namespace statusCode {
|
||||
static const uint16_t DEFAULT_ERROR_CODE = 0x1;
|
||||
static constexpr uint16_t FLASH_DRIVE_ERROR = 0xb;
|
||||
static const uint16_t UNKNOWN_APID = 0x5DD;
|
||||
static const uint16_t INCORRECT_LENGTH = 0x5DE;
|
||||
static const uint16_t INCORRECT_CRC = 0x5DF;
|
||||
@ -227,49 +354,12 @@ static const uint16_t RESERVED_1 = 0x5F1;
|
||||
static const uint16_t RESERVED_2 = 0x5F2;
|
||||
static const uint16_t RESERVED_3 = 0x5F3;
|
||||
static const uint16_t RESERVED_4 = 0x5F4;
|
||||
} // namespace status_code
|
||||
|
||||
/**
|
||||
* @brief Abstract base class for TC space packet of MPSoC.
|
||||
*/
|
||||
class TcBase : public ploc::SpTcBase, public MPSoCReturnValuesIF {
|
||||
public:
|
||||
virtual ~TcBase() = default;
|
||||
|
||||
// Initial length field of space packet. Will always be updated when packet is created.
|
||||
static const uint16_t INIT_LENGTH = CRC_SIZE;
|
||||
|
||||
/**
|
||||
* @brief Constructor
|
||||
*
|
||||
* @param sequenceCount Sequence count of space packet which will be incremented with each
|
||||
* sent and received packets.
|
||||
*/
|
||||
TcBase(ploc::SpTcParams params, uint16_t apid, uint16_t sequenceCount)
|
||||
: ploc::SpTcBase(params, apid, 0, sequenceCount) {
|
||||
payloadStart = spParams.buf + ccsds::HEADER_LEN;
|
||||
spParams.setFullPayloadLen(INIT_LENGTH);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Function to finsh and write the space packet. It is expected that the user has
|
||||
* set the payload fields in the child class*
|
||||
* @return returnvalue::OK if packet creation was successful, otherwise error return value
|
||||
*/
|
||||
ReturnValue_t finishPacket() {
|
||||
updateSpFields();
|
||||
ReturnValue_t res = checkSizeAndSerializeHeader();
|
||||
if (res != returnvalue::OK) {
|
||||
return res;
|
||||
}
|
||||
return calcAndSetCrc();
|
||||
}
|
||||
};
|
||||
} // namespace statusCode
|
||||
|
||||
/**
|
||||
* @brief This class helps to build the memory read command for the PLOC.
|
||||
*/
|
||||
class TcMemRead : public TcBase {
|
||||
class TcMemRead : public mpsoc::TcBase {
|
||||
public:
|
||||
/**
|
||||
* @brief Constructor
|
||||
@ -319,7 +409,7 @@ class TcMemRead : public TcBase {
|
||||
* @brief This class helps to generate the space packet to write data to a memory address within
|
||||
* the PLOC.
|
||||
*/
|
||||
class TcMemWrite : public TcBase {
|
||||
class TcMemWrite : public mpsoc::TcBase {
|
||||
public:
|
||||
/**
|
||||
* @brief Constructor
|
||||
@ -369,24 +459,21 @@ class TcMemWrite : public TcBase {
|
||||
/**
|
||||
* @brief Class to help creation of flash fopen command.
|
||||
*/
|
||||
class FlashFopen : public TcBase {
|
||||
class TcFlashFopen : public mpsoc::TcBase {
|
||||
public:
|
||||
FlashFopen(ploc::SpTcParams params, uint16_t sequenceCount)
|
||||
TcFlashFopen(ploc::SpTcParams params, uint16_t sequenceCount)
|
||||
: TcBase(params, apid::TC_FLASHFOPEN, sequenceCount) {}
|
||||
|
||||
ReturnValue_t setPayload(std::string filename, uint8_t mode) {
|
||||
accessMode = mode;
|
||||
size_t nameSize = filename.size();
|
||||
spParams.setFullPayloadLen(256 + sizeof(uint8_t) + CRC_SIZE);
|
||||
ReturnValue_t result = checkPayloadLen();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
std::memcpy(payloadStart, filename.c_str(), nameSize);
|
||||
// payloadStart[nameSize] = NULL_TERMINATOR;
|
||||
std::memset(payloadStart + nameSize, 0, 256 - nameSize);
|
||||
// payloadStart[255] = NULL_TERMINATOR;
|
||||
payloadStart[256] = accessMode;
|
||||
std::memset(payloadStart, 0, FILENAME_FIELD_SIZE);
|
||||
std::memcpy(payloadStart, filename.c_str(), filename.size());
|
||||
payloadStart[FILENAME_FIELD_SIZE] = accessMode;
|
||||
spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + 1 + CRC_SIZE);
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
@ -397,14 +484,46 @@ class FlashFopen : public TcBase {
|
||||
/**
|
||||
* @brief Class to help creation of flash fclose command.
|
||||
*/
|
||||
class FlashFclose : public TcBase {
|
||||
class TcFlashFclose : public TcBase {
|
||||
public:
|
||||
FlashFclose(ploc::SpTcParams params, uint16_t sequenceCount)
|
||||
TcFlashFclose(ploc::SpTcParams params, uint16_t sequenceCount)
|
||||
: TcBase(params, apid::TC_FLASHFCLOSE, sequenceCount) {
|
||||
spParams.setFullPayloadLen(CRC_SIZE);
|
||||
}
|
||||
};
|
||||
|
||||
class TcEnableTcExec : public TcBase {
|
||||
public:
|
||||
TcEnableTcExec(ploc::SpTcParams params, uint16_t sequenceCount)
|
||||
: TcBase(params, apid::TC_ENABLE_TC_EXECUTION, sequenceCount) {
|
||||
spParams.setFullPayloadLen(CRC_SIZE);
|
||||
}
|
||||
|
||||
ReturnValue_t setPayload(const uint8_t* cmdData, size_t cmdDataLen) {
|
||||
if (cmdDataLen != 2) {
|
||||
return HasActionsIF::INVALID_PARAMETERS;
|
||||
}
|
||||
std::memcpy(payloadStart, cmdData, 2);
|
||||
spParams.setFullPayloadLen(2 + CRC_SIZE);
|
||||
return returnvalue::OK;
|
||||
}
|
||||
};
|
||||
|
||||
class TcFlashMkfs : public TcBase {
|
||||
public:
|
||||
TcFlashMkfs(ploc::SpTcParams params, uint16_t sequenceCount, FlashId flashId)
|
||||
: TcBase(params, apid::TC_FLASH_MKFS, sequenceCount) {
|
||||
const char* flashIdStr = "0:\\";
|
||||
if (flashId == FlashId::FLASH_1) {
|
||||
flashIdStr = "1:\\";
|
||||
}
|
||||
std::memcpy(payloadStart, flashIdStr, 3);
|
||||
// Null terminator
|
||||
payloadStart[3] = 0;
|
||||
spParams.setFullPayloadLen(4 + CRC_SIZE);
|
||||
}
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Class to build flash write space packet.
|
||||
*/
|
||||
@ -464,15 +583,6 @@ class TcFlashRead : public TcBase {
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
updateSpFields();
|
||||
result = checkSizeAndSerializeHeader();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
result = calcAndSetCrc();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
readSize = readLen;
|
||||
return result;
|
||||
}
|
||||
@ -490,20 +600,14 @@ class TcFlashDelete : public TcBase {
|
||||
|
||||
ReturnValue_t setPayload(std::string filename) {
|
||||
size_t nameSize = filename.size();
|
||||
spParams.setFullPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE);
|
||||
spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
|
||||
auto res = checkPayloadLen();
|
||||
if (res != returnvalue::OK) {
|
||||
return res;
|
||||
}
|
||||
std::memcpy(payloadStart, filename.c_str(), nameSize);
|
||||
*(payloadStart + nameSize) = NULL_TERMINATOR;
|
||||
|
||||
updateSpFields();
|
||||
res = checkSizeAndSerializeHeader();
|
||||
if (res != returnvalue::OK) {
|
||||
return res;
|
||||
}
|
||||
return calcAndSetCrc();
|
||||
return returnvalue::OK;
|
||||
}
|
||||
};
|
||||
|
||||
@ -655,8 +759,9 @@ class TcGetDirContent : public TcBase {
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
std::memset(payloadStart, 0, 256);
|
||||
std::memcpy(payloadStart, commandData, commandDataLen);
|
||||
payloadStart[255] = '\0';
|
||||
payloadStart[255] = 0;
|
||||
return result;
|
||||
}
|
||||
};
|
||||
@ -697,7 +802,7 @@ class TcReplayWriteSeq : public TcBase {
|
||||
static const size_t USE_DECODING_LENGTH = 1;
|
||||
|
||||
ReturnValue_t lengthCheck(size_t commandDataLen) {
|
||||
if (commandDataLen > USE_DECODING_LENGTH + MAX_FILENAME_SIZE or
|
||||
if (commandDataLen > USE_DECODING_LENGTH + FILENAME_FIELD_SIZE or
|
||||
checkPayloadLen() != returnvalue::OK) {
|
||||
sif::warning << "TcReplayWriteSeq: Command has invalid length " << commandDataLen
|
||||
<< std::endl;
|
||||
@ -710,24 +815,24 @@ class TcReplayWriteSeq : public TcBase {
|
||||
/**
|
||||
* @brief Helps to extract the fields of the flash write command from the PUS packet.
|
||||
*/
|
||||
class FlashBasePusCmd : public MPSoCReturnValuesIF {
|
||||
class FlashBasePusCmd {
|
||||
public:
|
||||
FlashBasePusCmd() = default;
|
||||
virtual ~FlashBasePusCmd() = default;
|
||||
|
||||
virtual ReturnValue_t extractFields(const uint8_t* commandData, size_t commandDataLen) {
|
||||
if (commandDataLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE + MAX_FILENAME_SIZE)) {
|
||||
if (commandDataLen > FILENAME_FIELD_SIZE) {
|
||||
return INVALID_LENGTH;
|
||||
}
|
||||
size_t fileLen = strnlen(reinterpret_cast<const char*>(commandData), commandDataLen);
|
||||
if (fileLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE)) {
|
||||
if (fileLen > MAX_FILENAME_SIZE) {
|
||||
return FILENAME_TOO_LONG;
|
||||
}
|
||||
obcFile = std::string(reinterpret_cast<const char*>(commandData), fileLen);
|
||||
fileLen =
|
||||
strnlen(reinterpret_cast<const char*>(commandData + obcFile.size() + SIZE_NULL_TERMINATOR),
|
||||
commandDataLen - obcFile.size() - 1);
|
||||
if (fileLen > MAX_FILENAME_SIZE) {
|
||||
if (fileLen > FILENAME_FIELD_SIZE) {
|
||||
return MPSOC_FILENAME_TOO_LONG;
|
||||
}
|
||||
mpsocFile = std::string(
|
||||
@ -738,11 +843,11 @@ class FlashBasePusCmd : public MPSoCReturnValuesIF {
|
||||
|
||||
const std::string& getObcFile() const { return obcFile; }
|
||||
|
||||
const std::string& getMPSoCFile() const { return mpsocFile; }
|
||||
const std::string& getMpsocFile() const { return mpsocFile; }
|
||||
|
||||
protected:
|
||||
size_t getParsedSize() const {
|
||||
return getObcFile().size() + getMPSoCFile().size() + 2 * SIZE_NULL_TERMINATOR;
|
||||
return getObcFile().size() + getMpsocFile().size() + 2 * SIZE_NULL_TERMINATOR;
|
||||
}
|
||||
static const size_t SIZE_NULL_TERMINATOR = 1;
|
||||
|
||||
@ -809,49 +914,191 @@ class TcCamTakePic : public TcBase {
|
||||
: TcBase(params, apid::TC_CAM_TAKE_PIC, sequenceCount) {}
|
||||
|
||||
ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
|
||||
if (commandDataLen > MAX_DATA_LENGTH) {
|
||||
const uint8_t** dataPtr = &commandData;
|
||||
if (commandDataLen > FULL_PAYLOAD_SIZE) {
|
||||
return INVALID_LENGTH;
|
||||
}
|
||||
std::string fileName(reinterpret_cast<const char*>(commandData));
|
||||
if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
|
||||
size_t deserLen = commandDataLen;
|
||||
size_t serLen = 0;
|
||||
fileName = std::string(reinterpret_cast<const char*>(commandData));
|
||||
if (fileName.size() > MAX_FILENAME_SIZE) {
|
||||
return FILENAME_TOO_LONG;
|
||||
}
|
||||
if (commandDataLen - (fileName.size() + sizeof(NULL_TERMINATOR)) != PARAMETER_SIZE) {
|
||||
return INVALID_LENGTH;
|
||||
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;
|
||||
ReturnValue_t result = SerializeAdapter::deSerialize(&encoderSettingY, dataPtr, &deserLen,
|
||||
SerializeIF::Endianness::NETWORK);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
|
||||
std::memcpy(payloadStart, commandData, commandDataLen);
|
||||
result = SerializeAdapter::serialize(&encoderSettingY, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
|
||||
SerializeIF::Endianness::NETWORK);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
result = SerializeAdapter::deSerialize(&quantizationY, dataPtr, &deserLen,
|
||||
SerializeIF::Endianness::NETWORK);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
result = SerializeAdapter::serialize(&quantizationY, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
|
||||
SerializeIF::Endianness::NETWORK);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
result = SerializeAdapter::deSerialize(&encoderSettingsCb, dataPtr, &deserLen,
|
||||
SerializeIF::Endianness::NETWORK);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
result = SerializeAdapter::serialize(&encoderSettingsCb, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
|
||||
SerializeIF::Endianness::NETWORK);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
result = SerializeAdapter::deSerialize(&quantizationCb, dataPtr, &deserLen,
|
||||
SerializeIF::Endianness::NETWORK);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
result = SerializeAdapter::serialize(&quantizationCb, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
|
||||
SerializeIF::Endianness::NETWORK);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
result = SerializeAdapter::deSerialize(&encoderSettingsCr, dataPtr, &deserLen,
|
||||
SerializeIF::Endianness::NETWORK);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
result = SerializeAdapter::serialize(&encoderSettingsCr, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
|
||||
SerializeIF::Endianness::NETWORK);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
result = SerializeAdapter::deSerialize(&quantizationCr, dataPtr, &deserLen,
|
||||
SerializeIF::Endianness::NETWORK);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
result = SerializeAdapter::serialize(&quantizationCr, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
|
||||
SerializeIF::Endianness::NETWORK);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
result = SerializeAdapter::deSerialize(&bypassCompressor, dataPtr, &deserLen,
|
||||
SerializeIF::Endianness::NETWORK);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
result = SerializeAdapter::serialize(&bypassCompressor, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
|
||||
SerializeIF::Endianness::NETWORK);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
spParams.setFullPayloadLen(FULL_PAYLOAD_SIZE + CRC_SIZE);
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
std::string fileName;
|
||||
uint8_t encoderSettingY = 7;
|
||||
uint64_t quantizationY = 0;
|
||||
uint8_t encoderSettingsCb = 7;
|
||||
uint64_t quantizationCb = 0;
|
||||
uint8_t encoderSettingsCr = 7;
|
||||
uint64_t quantizationCr = 0;
|
||||
uint8_t bypassCompressor = 0;
|
||||
|
||||
private:
|
||||
static const size_t MAX_DATA_LENGTH = 286;
|
||||
static const size_t PARAMETER_SIZE = 28;
|
||||
static constexpr size_t FULL_PAYLOAD_SIZE = FILENAME_FIELD_SIZE + PARAMETER_SIZE;
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Class to build simplex send file command
|
||||
*/
|
||||
class TcSimplexSendFile : public TcBase {
|
||||
class TcSimplexStreamFile : public TcBase {
|
||||
public:
|
||||
TcSimplexSendFile(ploc::SpTcParams params, uint16_t sequenceCount)
|
||||
TcSimplexStreamFile(ploc::SpTcParams params, uint16_t sequenceCount)
|
||||
: TcBase(params, apid::TC_SIMPLEX_SEND_FILE, sequenceCount) {}
|
||||
|
||||
ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
|
||||
if (commandDataLen > MAX_DATA_LENGTH) {
|
||||
if (commandDataLen > MAX_FILENAME_SIZE) {
|
||||
return INVALID_LENGTH;
|
||||
}
|
||||
std::string fileName(reinterpret_cast<const char*>(commandData));
|
||||
if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
|
||||
if (fileName.size() > MAX_FILENAME_SIZE) {
|
||||
return FILENAME_TOO_LONG;
|
||||
}
|
||||
spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
|
||||
std::memcpy(payloadStart, commandData, commandDataLen);
|
||||
|
||||
std::memset(payloadStart, 0, FILENAME_FIELD_SIZE);
|
||||
std::memcpy(payloadStart, fileName.data(), fileName.length());
|
||||
payloadStart[fileName.length()] = 0;
|
||||
spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
|
||||
;
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
private:
|
||||
static const size_t MAX_DATA_LENGTH = 256;
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Class to build simplex send file command
|
||||
*/
|
||||
class TcSplitFile : public TcBase {
|
||||
public:
|
||||
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) {
|
||||
if (commandDataLen < MIN_DATA_LENGTH) {
|
||||
return INVALID_LENGTH;
|
||||
}
|
||||
if (commandDataLen > MAX_DATA_LENGTH) {
|
||||
return INVALID_LENGTH;
|
||||
}
|
||||
const uint8_t** dataPtr = &commandData;
|
||||
ReturnValue_t result = SerializeAdapter::deSerialize(&chunkParameter, dataPtr, &commandDataLen,
|
||||
SerializeIF::Endianness::NETWORK);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
/// No chunks makes no sense, and DIV str can not be longer than whats representable with 3
|
||||
/// decimal digits.
|
||||
if (chunkParameter == 0 or chunkParameter > 999) {
|
||||
return INVALID_PARAMETER;
|
||||
}
|
||||
std::string fileName(reinterpret_cast<const char*>(*dataPtr));
|
||||
if (fileName.size() > MAX_FILENAME_SIZE) {
|
||||
return FILENAME_TOO_LONG;
|
||||
}
|
||||
char divStr[16]{};
|
||||
sprintf(divStr, "DIV%03u", chunkParameter);
|
||||
std::memcpy(payloadStart, divStr, DIV_STR_LEN);
|
||||
payloadStart[DIV_STR_LEN] = 0;
|
||||
std::memset(payloadStart + DIV_STR_LEN + 1, 0, FILENAME_FIELD_SIZE - DIV_STR_LEN - 1);
|
||||
std::memcpy(payloadStart + DIV_STR_LEN + 1, fileName.data(), fileName.length());
|
||||
spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
private:
|
||||
uint32_t chunkParameter = 0;
|
||||
static constexpr size_t MIN_DATA_LENGTH = 4;
|
||||
static constexpr size_t DIV_STR_LEN = 6;
|
||||
static constexpr size_t MAX_DATA_LENGTH = 4 + MAX_FILENAME_SIZE;
|
||||
};
|
||||
|
||||
/**
|
||||
|
@ -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(
|
||||
|
@ -180,7 +180,8 @@ void AcsController::performAttitudeControl() {
|
||||
mode, &susDataProcessed, &mgmDataProcessed, &gyrDataProcessed, &sensorValues,
|
||||
&attitudeEstimationData, timeDelta, &fusedRotRateSourcesData, &fusedRotRateData);
|
||||
result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
|
||||
&susDataProcessed, timeDelta, &attitudeEstimationData);
|
||||
&susDataProcessed, timeDelta, &attitudeEstimationData,
|
||||
acsParameters.kalmanFilterParameters.allowStr);
|
||||
|
||||
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING and
|
||||
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
|
||||
@ -231,7 +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) {
|
||||
@ -250,9 +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;
|
||||
@ -266,8 +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;
|
||||
@ -354,7 +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
|
||||
@ -386,11 +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"
|
||||
@ -554,8 +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) {
|
||||
@ -598,8 +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) {
|
||||
@ -746,7 +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);
|
||||
@ -756,7 +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);
|
||||
@ -770,7 +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);
|
||||
@ -787,20 +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);
|
||||
@ -808,38 +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;
|
||||
}
|
||||
|
||||
@ -925,6 +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
|
||||
|
@ -182,7 +182,7 @@ void PowerController::calculateStateOfCharge() {
|
||||
}
|
||||
|
||||
// calculate total battery current
|
||||
iBat = p60CoreHk.batteryCurrent.value + bpxBatteryHk.dischargeCurrent.value;
|
||||
iBat = p60CoreHk.batteryCurrent.value - bpxBatteryHk.dischargeCurrent.value;
|
||||
|
||||
result = calculateOpenCircuitVoltageCharge();
|
||||
if (result != returnvalue::OK) {
|
||||
|
@ -57,9 +57,9 @@ class PowerController : public ExtendedControllerBase, public ReceivesParameterM
|
||||
float batteryMaximumCapacity = 2.6 * 2; // [Ah]
|
||||
float coulombCounterVoltageUpperThreshold = 16.2; // [V]
|
||||
double maxAllowedTimeDiff = 1.5; // [s]
|
||||
float payloadOpLimitOn = 0.90; // [%]
|
||||
float payloadOpLimitLow = 0.75; // [%]
|
||||
float higherModesLimit = 0.6; // [%]
|
||||
float payloadOpLimitOn = 0.80; // [%]
|
||||
float payloadOpLimitLow = 0.65; // [%]
|
||||
float higherModesLimit = 0.60; // [%]
|
||||
|
||||
// OCV Look-up-Table {[Ah],[V]}
|
||||
static constexpr uint8_t LOOK_UP_TABLE_MAX_IDX = 99;
|
||||
|
@ -1641,7 +1641,11 @@ bool ThermalController::chooseHeater(heater::Switch& switchNr, heater::Switch re
|
||||
bool heaterAvailable = true;
|
||||
|
||||
HasHealthIF::HealthState mainHealth = heaterHandler.getHealth(switchNr);
|
||||
heater::SwitchState mainState = heaterHandler.getSwitchState(switchNr);
|
||||
HasHealthIF::HealthState redHealth = heaterHandler.getHealth(redSwitchNr);
|
||||
if (mainHealth == HasHealthIF::EXTERNAL_CONTROL and mainState == heater::SwitchState::ON) {
|
||||
return false;
|
||||
}
|
||||
if (mainHealth != HasHealthIF::HEALTHY) {
|
||||
if (redHealth == HasHealthIF::HEALTHY) {
|
||||
switchNr = redSwitchNr;
|
||||
@ -1656,6 +1660,7 @@ bool ThermalController::chooseHeater(heater::Switch& switchNr, heater::Switch re
|
||||
} else {
|
||||
ctrlCtx.redSwitchNrInUse = false;
|
||||
}
|
||||
|
||||
return heaterAvailable;
|
||||
}
|
||||
|
||||
@ -1792,7 +1797,8 @@ void ThermalController::heaterMaxDurationControl(
|
||||
for (unsigned i = 0; i < heater::Switch::NUMBER_OF_SWITCHES; i++) {
|
||||
// Right now, we only track the maximum duration for heater which were commanded by the TCS
|
||||
// controller.
|
||||
if (currentHeaterStates[i] == heater::SwitchState::ON and
|
||||
if (heaterHandler.getHealth(static_cast<heater::Switch>(i)) != HasHealthIF::EXTERNAL_CONTROL and
|
||||
currentHeaterStates[i] == heater::SwitchState::ON and
|
||||
heaterStates[i].trackHeaterMaxBurnTime and
|
||||
heaterStates[i].heaterOnMaxBurnTime.hasTimedOut()) {
|
||||
heaterStates[i].switchTransition = false;
|
||||
|
@ -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;
|
||||
}
|
||||
@ -554,6 +557,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
|
||||
case 0xE:
|
||||
parameterWrapper->set(gsTargetModeControllerParameters.altitudeTgt);
|
||||
break;
|
||||
case 0xF:
|
||||
parameterWrapper->set(gsTargetModeControllerParameters.rotRateLimit);
|
||||
break;
|
||||
default:
|
||||
return INVALID_IDENTIFIER_ID;
|
||||
}
|
||||
@ -734,6 +740,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
|
||||
case 0x5:
|
||||
parameterWrapper->set(kalmanFilterParameters.sensorNoiseGyrBs);
|
||||
break;
|
||||
case 0x6:
|
||||
parameterWrapper->set(kalmanFilterParameters.allowStr);
|
||||
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 {
|
||||
@ -866,7 +867,7 @@ class AcsParameters : public HasParametersIF {
|
||||
double desatMomentumRef[3] = {0, 0, 0};
|
||||
double deSatGainFactor = 1000;
|
||||
uint8_t desatOn = true;
|
||||
uint8_t useMekf = false;
|
||||
uint8_t useMekf = true;
|
||||
} pointingLawParameters;
|
||||
|
||||
struct IdleModeControllerParameters : PointingLawParameters {
|
||||
@ -898,6 +899,7 @@ class AcsParameters : public HasParametersIF {
|
||||
double latitudeTgt = 48.7495 * DEG2RAD; // [rad] Latitude
|
||||
double longitudeTgt = 9.10384 * DEG2RAD; // [rad] Longitude
|
||||
double altitudeTgt = 500; // [m]
|
||||
double rotRateLimit = .75 * DEG2RAD;
|
||||
} gsTargetModeControllerParameters;
|
||||
|
||||
struct NadirModeControllerParameters : PointingLawParameters {
|
||||
@ -940,13 +942,15 @@ 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;
|
||||
|
||||
double sensorNoiseGyrArw = 3. * 0.0043 / sqrt(10) * DEG2RAD; // Angular Random Walk
|
||||
double sensorNoiseGyrBs = 3. / 3600. * DEG2RAD; // Bias Stability
|
||||
|
||||
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(
|
||||
|
@ -59,6 +59,7 @@ void Guidance::targetQuatPtgTarget(timeval timeAbsolute, const double timeDelta,
|
||||
// this aligns with the camera, E- and S-band antennas
|
||||
double xAxisIX[3] = {0, 0, 0};
|
||||
VectorOperations<double>::normalize(targetDirI, xAxisIX, 3);
|
||||
VectorOperations<double>::mulScalar(xAxisIX, -1, xAxisIX, 3);
|
||||
|
||||
// transform velocity into inertial frame
|
||||
double velSatI[3] = {0, 0, 0};
|
||||
@ -231,6 +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));
|
||||
}
|
||||
@ -243,12 +245,14 @@ void Guidance::limitReferenceRotation(const double xAxisIX[3], double quatIX[4])
|
||||
return;
|
||||
}
|
||||
|
||||
QuaternionOperations::preventSignJump(quatIX, quatIXprev);
|
||||
|
||||
// check required rotation and return if below limit
|
||||
double quatXprevX[4] = {0, 0, 0, 0}, quatXprevI[4] = {0, 0, 0, 0};
|
||||
QuaternionOperations::inverse(quatIXprev, quatXprevI);
|
||||
QuaternionOperations::multiply(quatIX, quatXprevI, quatXprevX);
|
||||
QuaternionOperations::normalize(quatXprevX);
|
||||
double phiMax = acsParameters->gsTargetModeControllerParameters.omMax *
|
||||
double phiMax = acsParameters->gsTargetModeControllerParameters.rotRateLimit *
|
||||
acsParameters->onBoardParams.sampleTime;
|
||||
if (2 * std::acos(quatXprevX[3]) < phiMax) {
|
||||
return;
|
||||
@ -312,9 +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);
|
||||
@ -626,11 +627,11 @@ void MultiplicativeKalmanFilter::updateDataSet(
|
||||
}
|
||||
}
|
||||
|
||||
void MultiplicativeKalmanFilter::setStrData(double qX, double qY, double qZ, double qW,
|
||||
bool valid) {
|
||||
void MultiplicativeKalmanFilter::setStrData(double qX, double qY, double qZ, double qW, bool valid,
|
||||
bool allowStr) {
|
||||
strData.strQuat.value[0] = qX;
|
||||
strData.strQuat.value[1] = qY;
|
||||
strData.strQuat.value[2] = qZ;
|
||||
strData.strQuat.value[3] = qW;
|
||||
strData.strQuat.valid = valid;
|
||||
strData.strQuat.valid = (valid and allowStr);
|
||||
}
|
||||
|
@ -38,7 +38,7 @@ class MultiplicativeKalmanFilter {
|
||||
void updateStandardDeviations(const AcsParameters *acsParameters);
|
||||
|
||||
void setStrData(const double qX, const double qY, const double qZ, const double qW,
|
||||
const bool valid);
|
||||
const bool valid, const bool allowStr);
|
||||
|
||||
static constexpr uint8_t IF_MEKF_ID = CLASS_ID::ACS_MEKF;
|
||||
static constexpr ReturnValue_t MEKF_UNINITIALIZED = returnvalue::makeCode(IF_MEKF_ID, 2);
|
||||
|
@ -9,11 +9,12 @@ ReturnValue_t Navigation::useMekf(const ACS::SensorValues *sensorValues,
|
||||
const acsctrl::MgmDataProcessed *mgmDataProcessed,
|
||||
const acsctrl::SusDataProcessed *susDataProcessed,
|
||||
const double timeDelta,
|
||||
acsctrl::AttitudeEstimationData *attitudeEstimationData) {
|
||||
acsctrl::AttitudeEstimationData *attitudeEstimationData,
|
||||
const bool allowStr) {
|
||||
multiplicativeKalmanFilter.setStrData(
|
||||
sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
|
||||
sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value,
|
||||
sensorValues->strSet.caliQx.isValid());
|
||||
sensorValues->strSet.caliQx.isValid(), allowStr);
|
||||
|
||||
if (mekfStatus == MultiplicativeKalmanFilter::MEKF_UNINITIALIZED) {
|
||||
mekfStatus = multiplicativeKalmanFilter.init(susDataProcessed, mgmDataProcessed,
|
||||
|
@ -17,7 +17,8 @@ class Navigation {
|
||||
const acsctrl::GyrDataProcessed *gyrDataProcessed,
|
||||
const acsctrl::MgmDataProcessed *mgmDataProcessed,
|
||||
const acsctrl::SusDataProcessed *susDataProcessed, const double timeDelta,
|
||||
acsctrl::AttitudeEstimationData *attitudeEstimationData);
|
||||
acsctrl::AttitudeEstimationData *attitudeEstimationData,
|
||||
const bool allowStr);
|
||||
void resetMekf(acsctrl::AttitudeEstimationData *mekfData);
|
||||
|
||||
ReturnValue_t useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDataProcessed);
|
||||
|
@ -4,7 +4,7 @@
|
||||
#include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>
|
||||
#include <fsfw_hal/devicehandlers/MgmRM3100Handler.h>
|
||||
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
|
||||
#include <mission/acs/archive/GPSDefinitions.h>
|
||||
#include <linux/acs/GPSDefinitions.h>
|
||||
#include <mission/acs/gyroAdisHelpers.h>
|
||||
#include <mission/acs/imtqHelpers.h>
|
||||
#include <mission/acs/rwHelpers.h>
|
||||
|
@ -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:
|
||||
|
@ -10,6 +10,7 @@
|
||||
#include "OBSWConfig.h"
|
||||
#include "eive/definitions.h"
|
||||
#include "eive/objects.h"
|
||||
#include "linux/payload/FreshMpsocHandler.h"
|
||||
#include "linux/payload/FreshSupvHandler.h"
|
||||
|
||||
#ifndef RPI_TEST_ADIS16507
|
||||
@ -617,17 +618,21 @@ ReturnValue_t pst::pstPayload(FixedTimeslotTaskIF *thisSequence) {
|
||||
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0,
|
||||
FreshSupvHandler::OpCode::DEFAULT_OPERATION);
|
||||
// Two COM TM steps, which might cover telemetry which takes a bit longer to be sent.
|
||||
// Parse TM with a bit of delay. Two COM steps which might cover telemetry wehich takes a bit
|
||||
// longer to send
|
||||
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.1,
|
||||
FreshSupvHandler::OpCode::PARSE_TM);
|
||||
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.2,
|
||||
FreshSupvHandler::OpCode::PARSE_TM);
|
||||
// Parse TM with a bit of delay. Two COM steps which might cover telemetry wehich takes a bit
|
||||
// longer to send
|
||||
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.2,
|
||||
FreshMpsocHandler::OpCode::PARSE_TM);
|
||||
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.4,
|
||||
FreshMpsocHandler::OpCode::PARSE_TM);
|
||||
|
||||
thisSequence->addSlot(objects::SCEX, length * 0.6, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SCEX, length * 0.6, DeviceHandlerIF::SEND_WRITE);
|
||||
|
@ -3,8 +3,9 @@ add_subdirectory(acs)
|
||||
add_subdirectory(tcs)
|
||||
add_subdirectory(com)
|
||||
add_subdirectory(power)
|
||||
add_subdirectory(payload)
|
||||
|
||||
target_sources(
|
||||
${LIB_EIVE_MISSION}
|
||||
PRIVATE systemTree.cpp DualLanePowerStateMachine.cpp EiveSystem.cpp
|
||||
treeUtil.cpp SharedPowerAssemblyBase.cpp payloadModeTree.cpp)
|
||||
treeUtil.cpp SharedPowerAssemblyBase.cpp)
|
||||
|
@ -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);
|
||||
|
1
mission/system/payload/CMakeLists.txt
Normal file
1
mission/system/payload/CMakeLists.txt
Normal file
@ -0,0 +1 @@
|
||||
target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp)
|
@ -10,7 +10,7 @@
|
||||
#include "mission/com/defs.h"
|
||||
#include "mission/sysDefs.h"
|
||||
#include "mission/system/acs/acsModeTree.h"
|
||||
#include "mission/system/payloadModeTree.h"
|
||||
#include "mission/system/payload/payloadModeTree.h"
|
||||
#include "mission/system/power/epsModeTree.h"
|
||||
#include "mission/system/tcs/tcsModeTree.h"
|
||||
#include "treeUtil.h"
|
||||
|
@ -9,7 +9,7 @@ export ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-li
|
||||
|
||||
export PATH=${CROSS_COMPILE_BIN_PATH}:$PATH
|
||||
export CROSS_COMPILE="arm-linux-gnueabihf"
|
||||
# export EIVE_Q7S_EM=1
|
||||
unset EIVE_Q7S_EM
|
||||
|
||||
if [[ -d "eive-obsw" ]]; then
|
||||
echo "Detected EIVE OBSW root directory at $(pwd)/eive-obsw. Setting to EIVE_OBSW_ROOT"
|
||||
|
@ -4,6 +4,9 @@ import os
|
||||
import sys
|
||||
|
||||
|
||||
DEFAULT_PORT = 1539
|
||||
|
||||
|
||||
def main():
|
||||
args = handle_args()
|
||||
cmd = build_cmd(args)
|
||||
@ -20,7 +23,7 @@ def prompt_ssh_key_removal():
|
||||
do_remove_key = input(
|
||||
"Do you want to remove problematic keys on localhost ([Y]/n)?: "
|
||||
)
|
||||
if not do_remove_key.lower() in ["y", "yes", "1", ""]:
|
||||
if do_remove_key.lower() not in ["y", "yes", "1", ""]:
|
||||
sys.exit(1)
|
||||
port = 0
|
||||
while True:
|
||||
@ -54,7 +57,7 @@ def handle_args():
|
||||
"If files are copied back to host, will be current directory by default",
|
||||
default="",
|
||||
)
|
||||
parser.add_argument("-P", "--port", help="Target port", default=1535)
|
||||
parser.add_argument("-P", "--port", help="Target port", default=DEFAULT_PORT)
|
||||
parser.add_argument(
|
||||
"-i",
|
||||
"--invert",
|
||||
|
2
tmtc
2
tmtc
@ -1 +1 @@
|
||||
Subproject commit c843356c8af22bf45a04c71c93813716c9d743ec
|
||||
Subproject commit 9a06c64dfac3f4283c2d5af72a9c095f4726480b
|
@ -6,5 +6,6 @@ target_sources(${UNITTEST_NAME} PRIVATE
|
||||
testEnvironment.cpp
|
||||
testGenericFilesystem.cpp
|
||||
hdlcEncodingRw.cpp
|
||||
mpsocTests.cpp
|
||||
printChar.cpp
|
||||
)
|
14
unittest/mpsocTests.cpp
Normal file
14
unittest/mpsocTests.cpp
Normal file
@ -0,0 +1,14 @@
|
||||
|
||||
#include <catch2/catch_test_macros.hpp>
|
||||
|
||||
TEST_CASE("MPSoC helper tests", "[payload]") {
|
||||
char divStr[16]{};
|
||||
uint32_t divParam = 0;
|
||||
|
||||
SECTION("Simple Test") {
|
||||
divParam = 3;
|
||||
CHECK(divParam < 999);
|
||||
sprintf(divStr, "DIV%03u", divParam);
|
||||
REQUIRE(strcmp(divStr, "DIV003") == 0);
|
||||
}
|
||||
}
|
Loading…
Reference in New Issue
Block a user