eive/eive-obsw
eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 120 Wiki Activity

v1.10.0 #220

Merged
meierj merged 592 commits from develop into main 2022-04-22 07:42:20 +02:00
Conversation 0 Commits 592 Files Changed 218 +101 -55
4 changed files with 101 additions and 55 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files
Showing only changes of commit 5255e7d2ed - Show all commits

15
linux/devices/GPSHyperionLinuxController.cpp
View File

@ -28,6 +28,14 @@ LocalPoolDataSetBase *GPSHyperionLinuxController::getDataSetHandle(sid_t sid) {
ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode, ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) { uint32_t *msToReachTheMode) {
if(not modeCommanded) {
if(mode == MODE_ON or mode == MODE_OFF) {
// 10 minutes time to reach fix
*msToReachTheMode = 600000;
maxTimeToReachFix.resetTimer();
modeCommanded = true;
}
}
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
@ -114,6 +122,13 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
// 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix // 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
gpsSet.fixMode.value = gps->fix.mode; gpsSet.fixMode.value = gps->fix.mode;
if (gps->fix.mode == 0 or gps->fix.mode == 1) { if (gps->fix.mode == 0 or gps->fix.mode == 1) {
if(modeCommanded and maxTimeToReachFix.hasTimedOut()) {
// We are supposed to be on and functioning, but not fix was found
if(mode == MODE_ON or mode == MODE_NORMAL) {
mode = MODE_OFF;
}
modeCommanded = false;
}
gpsSet.setValidity(false, true); gpsSet.setValidity(false, true);
} else if (gps->satellites_used > 0) { } else if (gps->satellites_used > 0) {
gpsSet.setValidity(true, true); gpsSet.setValidity(true, true);

3
linux/devices/GPSHyperionLinuxController.h
View File

@ -21,6 +21,7 @@
*/ */
class GPSHyperionLinuxController : public ExtendedControllerBase { class GPSHyperionLinuxController : public ExtendedControllerBase {
public: public:
static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 600;
GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId, GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
bool debugHyperionGps = false); bool debugHyperionGps = false);
virtual ~GPSHyperionLinuxController(); virtual ~GPSHyperionLinuxController();
@ -46,6 +47,8 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
private: private:
GpsPrimaryDataset gpsSet; GpsPrimaryDataset gpsSet;
Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
bool modeCommanded = true;
gpsmm myGpsmm; gpsmm myGpsmm;
bool debugHyperionGps = false; bool debugHyperionGps = false;

44
mission/system/AcsBoardAssembly.cpp
View File

@ -38,11 +38,32 @@ ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
helper.mgm2SideBMode = childrenMap[helper.mgm2Lis3IdSideB].mode; helper.mgm2SideBMode = childrenMap[helper.mgm2Lis3IdSideB].mode;
helper.mgm3SideBMode = childrenMap[helper.mgm3Rm3100IdSideB].mode; helper.mgm3SideBMode = childrenMap[helper.mgm3Rm3100IdSideB].mode;
helper.gpsMode = childrenMap[helper.gpsId].mode; helper.gpsMode = childrenMap[helper.gpsId].mode;
if (mode == DeviceHandlerIF::MODE_NORMAL) { if (state == States::MODE_COMMANDING) {
handleNormalModeCmd(submode); if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
} else if (mode == MODE_ON) { powerStateMachine(submode);
handleNormalOrOnModeCmd(mode, submode);
} else { } else {
modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_3_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GPS].setMode(MODE_OFF);
modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
} }
}
HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end()); HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
executeTable(tableIter); executeTable(tableIter);
return result; return result;
@ -116,12 +137,11 @@ bool AcsBoardAssembly::isUseable(object_id_t object, Mode_t mode) {
return false; return false;
} }
ReturnValue_t AcsBoardAssembly::handleNormalModeCmd(Submode_t submode) { ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
Mode_t tgtMode = DeviceHandlerIF::MODE_NORMAL; Mode_t tgtMode = DeviceHandlerIF::MODE_NORMAL;
powerStateMachine(submode);
if (state == States::MODE_COMMANDING) {
auto cmdSeq = [&](object_id_t objectId, ModeTableIdx tableIdx) { auto cmdSeq = [&](object_id_t objectId, ModeTableIdx tableIdx) {
if(tgtMode == DeviceHandlerIF::MODE_NORMAL) {
if (isUseable(objectId, mode)) { if (isUseable(objectId, mode)) {
if (helper.gyro0SideAMode != MODE_OFF) { if (helper.gyro0SideAMode != MODE_OFF) {
modeTable[tableIdx].setMode(tgtMode); modeTable[tableIdx].setMode(tgtMode);
@ -132,6 +152,12 @@ ReturnValue_t AcsBoardAssembly::handleNormalModeCmd(Submode_t submode) {
modeTable[tableIdx].setSubmode(SUBMODE_NONE); modeTable[tableIdx].setSubmode(SUBMODE_NONE);
} }
} }
} else if(tgtMode == MODE_ON) {
if (isUseable(objectId, mode)) {
modeTable[tableIdx].setMode(MODE_ON);
modeTable[tableIdx].setSubmode(SUBMODE_NONE);
}
}
}; };
switch (submode) { switch (submode) {
case (A_SIDE): { case (A_SIDE): {
@ -139,6 +165,7 @@ ReturnValue_t AcsBoardAssembly::handleNormalModeCmd(Submode_t submode) {
cmdSeq(helper.gyro1L3gIdSideA, ModeTableIdx::GYRO_1_A); cmdSeq(helper.gyro1L3gIdSideA, ModeTableIdx::GYRO_1_A);
cmdSeq(helper.mgm0Lis3IdSideA, ModeTableIdx::MGM_0_A); cmdSeq(helper.mgm0Lis3IdSideA, ModeTableIdx::MGM_0_A);
cmdSeq(helper.mgm1Rm3100IdSideA, ModeTableIdx::MGM_1_A); cmdSeq(helper.mgm1Rm3100IdSideA, ModeTableIdx::MGM_1_A);
cmdSeq(helper.gpsId, ModeTableIdx::GPS);
modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF); modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE); modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF); modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
@ -154,6 +181,7 @@ ReturnValue_t AcsBoardAssembly::handleNormalModeCmd(Submode_t submode) {
cmdSeq(helper.gyro3L3gIdSideB, ModeTableIdx::GYRO_3_B); cmdSeq(helper.gyro3L3gIdSideB, ModeTableIdx::GYRO_3_B);
cmdSeq(helper.mgm2Lis3IdSideB, ModeTableIdx::MGM_2_B); cmdSeq(helper.mgm2Lis3IdSideB, ModeTableIdx::MGM_2_B);
cmdSeq(helper.mgm3Rm3100IdSideB, ModeTableIdx::MGM_3_B); cmdSeq(helper.mgm3Rm3100IdSideB, ModeTableIdx::MGM_3_B);
cmdSeq(helper.gpsId, ModeTableIdx::GPS);
modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF); modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE); modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF); modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
@ -165,6 +193,7 @@ ReturnValue_t AcsBoardAssembly::handleNormalModeCmd(Submode_t submode) {
return result; return result;
} }
case (DUAL_MODE): { case (DUAL_MODE): {
cmdSeq(helper.gpsId, ModeTableIdx::GPS);
cmdSeq(helper.gyro0AdisIdSideA, ModeTableIdx::GYRO_0_A); cmdSeq(helper.gyro0AdisIdSideA, ModeTableIdx::GYRO_0_A);
cmdSeq(helper.gyro1L3gIdSideA, ModeTableIdx::GYRO_1_A); cmdSeq(helper.gyro1L3gIdSideA, ModeTableIdx::GYRO_1_A);
cmdSeq(helper.gyro2AdisIdSideB, ModeTableIdx::GYRO_2_B); cmdSeq(helper.gyro2AdisIdSideB, ModeTableIdx::GYRO_2_B);
@ -179,7 +208,6 @@ ReturnValue_t AcsBoardAssembly::handleNormalModeCmd(Submode_t submode) {
sif::error << "AcsBoardAssembly::handleNormalModeCmd: Unknown submode" << std::endl; sif::error << "AcsBoardAssembly::handleNormalModeCmd: Unknown submode" << std::endl;
} }
} }
}
return result; return result;
} }
@ -244,6 +272,6 @@ void AcsBoardAssembly::powerStateMachine(Submode_t submode) {
state = States::SWITCHING_POWER; state = States::SWITCHING_POWER;
} }
if (state == States::SWITCHING_POWER) { if (state == States::SWITCHING_POWER) {
// TODO: Could check for a timeout (temporal or cycles) here and resent command // TODO: Could check for a timeout (temporal or cycles) here and resend command
} }
} }

2
mission/system/AcsBoardAssembly.h
View File

@ -91,7 +91,7 @@ class AcsBoardAssembly : public AssemblyBase {
* @return * @return
*/ */
bool isUseable(object_id_t object, Mode_t mode); bool isUseable(object_id_t object, Mode_t mode);
ReturnValue_t handleNormalModeCmd(Submode_t submode); ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
void powerStateMachine(Submode_t submode); void powerStateMachine(Submode_t submode);
}; };