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IMTQ Updates #306

Merged
muellerr merged 13 commits from mueller/imtq-updates into develop 2022-10-25 13:12:19 +02:00
Conversation 1 Commits 13 Files Changed 12 +47 -15
7 changed files with 47 additions and 15 deletions
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Showing only changes of commit 75a4cd1b69 - Show all commits

2
fsfw

@ -1 +1 @@
Subproject commit 0c5c2f6c4f07959a73a083eb3c6e1f3125642477
Subproject commit 73454c629c042de8efe7aa4fa6dcbf1e184b0961

18
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -430,11 +430,21 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
static_cast<void>(length);
#if OBSW_ADD_MGT == 1
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);

12
mission/controller/AcsController.cpp
View File

@ -32,12 +32,12 @@ void AcsController::performControlOperation() {
}
{
// TODO: Calculate actuator output
PoolReadGuard pg(&dipoleSet);
MutexGuard mg(torquer::lazyLock());
torquer::NEW_ACTUATION_FLAG = true;
// TODO: Insert correct values here
dipoleSet.setDipoles(500, 500, 500, 150);
// TODO: Calculate actuator output
// PoolReadGuard pg(&dipoleSet);
// MutexGuard mg(torquer::lazyLock());
// torquer::NEW_ACTUATION_FLAG = true;
// TODO: Insert correct values here
// dipoleSet.setDipoles(500, 500, 500, 150);
}
{

1
mission/controller/AcsController.h
View File

@ -20,7 +20,6 @@ class AcsController : public ExtendedControllerBase {
enum class InternalState { STARTUP, INITIAL_DELAY, READY };
InternalState internalState = InternalState::STARTUP;
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;

27
mission/devices/ImtqHandler.cpp
View File

@ -27,6 +27,8 @@
#include "mission/devices/torquer.h"
static constexpr bool ACTUATION_WIRETAPPING = false;
ImtqHandler::ImtqHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
power::Switch_t pwrSwitcher)
: DeviceHandlerBase(objectId, comIF, comCookie),
@ -46,7 +48,7 @@ ImtqHandler::ImtqHandler(object_id_t objectId, object_id_t comIF, CookieIF* comC
}
}
ImtqHandler::~ImtqHandler() {}
ImtqHandler::~ImtqHandler() = default;
void ImtqHandler::doStartUp() {
if (goToNormalMode) {
@ -182,7 +184,7 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
}
ReturnValue_t result;
// Commands override anything which was set in the software
if (commandBuffer != nullptr) {
if (commandData != nullptr) {
dipoleSet.setValidityBufferGeneration(false);
result =
dipoleSet.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::NETWORK);
@ -194,6 +196,11 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
// Read set dipole values from local pool
PoolReadGuard pg(&dipoleSet);
}
if (ACTUATION_WIRETAPPING) {
sif::debug << "Actuating IMTQ with parameters x = " << dipoleSet.xDipole.value
<< ", y = " << dipoleSet.yDipole.value << ", z = " << dipoleSet.zDipole.value
<< ", duration = " << dipoleSet.currentTorqueDurationMs.value << std::endl;
}
result = buildDipoleActuationCommand();
if (result != returnvalue::OK) {
return result;
@ -312,8 +319,17 @@ ReturnValue_t ImtqHandler::scanForReply(const uint8_t* start, size_t remainingSi
*foundLen = IMTQ::SIZE_SELF_TEST_RESULTS;
*foundId = IMTQ::GET_SELF_TEST_RESULT;
break;
case (IMTQ::CC::PAST_AVAILABLE_RESPONSE_BYTES): {
sif::warning << "IMTQHandler::scanForReply: Read 0xFF command byte, reading past available "
"bytes. Keep 1 ms delay"
" between I2C send and read"
<< std::endl;
result = IGNORE_REPLY_DATA;
break;
}
default:
sif::debug << "IMTQHandler::scanForReply: Reply contains invalid command code" << std::endl;
sif::debug << "IMTQHandler::scanForReply: Reply with length " << remainingSize
<< "contains invalid command code " << static_cast<int>(*start) << std::endl;
result = IGNORE_REPLY_DATA;
break;
}
@ -2276,6 +2292,11 @@ void ImtqHandler::checkErrorByte(const uint8_t errorByte, const uint8_t step) {
}
}
void ImtqHandler::doSendRead() {
TaskFactory::delayTask(1);
DeviceHandlerBase::doSendRead();
}
std::string ImtqHandler::makeStepString(const uint8_t step) {
std::string stepString("");
switch (step) {

1
mission/devices/ImtqHandler.h
View File

@ -23,6 +23,7 @@ class ImtqHandler : public DeviceHandlerBase {
void setPollingMode(NormalPollingMode pollMode);
void doSendRead() override;
/**
* @brief Sets mode to MODE_NORMAL. Can be used for debugging.
*/

1
mission/devices/devicedefinitions/imtqHandlerDefinitions.h
View File

@ -86,6 +86,7 @@ static const uint8_t GET_COMMANDED_DIPOLE = 0x46;
static const uint8_t GET_RAW_MTM_MEASUREMENT = 0x42;
static const uint8_t GET_CAL_MTM_MEASUREMENT = 0x43;
static const uint8_t GET_SELF_TEST_RESULT = 0x47;
static const uint8_t PAST_AVAILABLE_RESPONSE_BYTES = 0xff;
}; // namespace CC
namespace SELF_TEST_AXIS {