eive/eive-obsw
eive/eive-obsw
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v1.15.0 #311

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muellerr merged 107 commits from develop into main 2022-10-27 11:28:49 +02:00
Conversation 0 Commits 107 Files Changed 81 +108 -69
12 changed files with 108 additions and 69 deletions
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Showing only changes of commit 29a34256a7 - Show all commits

2
dummies/ImtqDummy.cpp
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@ -1,6 +1,6 @@
#include "ImtqDummy.h"
#include <mission/devices/devicedefinitions/IMTQHandlerDefinitions.h>
#include <mission/devices/devicedefinitions/imtqHandlerDefinitions.h>
ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie) {}

2
fsfw

@ -1 +1 @@
Subproject commit 692be9df8d06beb3bfc83aad77cefd727d8f7c35
Subproject commit 0c5c2f6c4f07959a73a083eb3c6e1f3125642477

11
mission/controller/AcsController.cpp
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@ -2,6 +2,8 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include "mission/devices/torquer.h"
AcsController::AcsController(object_id_t objectId)
: ExtendedControllerBase(objectId, objects::NO_OBJECT), mgmData(this) {}
@ -29,6 +31,15 @@ void AcsController::performControlOperation() {
break;
}
{
// 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);
}
{
PoolReadGuard pg(&mgmData);
if (pg.getReadResult() == returnvalue::OK) {

2
mission/controller/AcsController.h
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@ -7,8 +7,8 @@
#include "eive/objects.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "mission/devices/devicedefinitions/IMTQHandlerDefinitions.h"
#include "mission/devices/devicedefinitions/SusDefinitions.h"
#include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"
class AcsController : public ExtendedControllerBase {
public:

2
mission/controller/ThermalController.cpp
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@ -8,9 +8,9 @@
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
#include <mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h>
#include <mission/devices/devicedefinitions/GyroL3GD20Definitions.h>
#include <mission/devices/devicedefinitions/IMTQHandlerDefinitions.h>
#include <mission/devices/devicedefinitions/RwDefinitions.h>
#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
#include <mission/devices/devicedefinitions/imtqHandlerDefinitions.h>
#include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
#include <objects/systemObjectList.h>

3
mission/devices/CMakeLists.txt
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@ -20,6 +20,7 @@ target_sources(
SusHandler.cpp
PayloadPcduHandler.cpp
SolarArrayDeploymentHandler.cpp
ScexDeviceHandler.cpp)
ScexDeviceHandler.cpp
torquer.cpp)
add_subdirectory(devicedefinitions)

66
mission/devices/ImtqHandler.cpp
View File

@ -25,9 +25,7 @@
#include <cmath>
#include <fsfw/datapoollocal/LocalPoolVariable.tpp>
MutexIF* ImtqHandler::TORQUE_LOCK = nullptr;
bool ImtqHandler::TORQUEING = false;
Countdown ImtqHandler::TORQUE_COUNTDOWN = Countdown();
#include "mission/devices/torquer.h"
ImtqHandler::ImtqHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
power::Switch_t pwrSwitcher)
@ -46,7 +44,6 @@ ImtqHandler::ImtqHandler(object_id_t objectId, object_id_t comIF, CookieIF* comC
if (comCookie == nullptr) {
sif::error << "IMTQHandler: Invalid com cookie" << std::endl;
}
TORQUE_LOCK = MutexFactory::instance()->createMutex();
}
ImtqHandler::~ImtqHandler() {}
@ -62,6 +59,7 @@ void ImtqHandler::doStartUp() {
void ImtqHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
bool buildCommand = true;
// Depending on the normal polling mode configuration, 3-4 communication steps are recommended
switch (communicationStep) {
case CommunicationStep::GET_ENG_HK_DATA:
@ -99,9 +97,12 @@ ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
// If the dipole is not commanded but set by the ACS control algorithm,
// the dipoles will be set by the ACS controller directly using the dipole local pool set.
// This set has a flag to determine whether the ACS controller actually set any new input.
PoolReadGuard pg(&dipoleSet);
if (dipoleSet.newActuation) {
MutexGuard mg(torquer::lazyLock());
if (torquer::NEW_ACTUATION_FLAG) {
*id = IMTQ::START_ACTUATION_DIPOLE;
torquer::NEW_ACTUATION_FLAG = false;
} else {
buildCommand = false;
}
communicationStep = CommunicationStep::GET_ENG_HK_DATA;
break;
@ -111,8 +112,11 @@ ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
<< std::endl;
break;
}
if (buildCommand) {
return buildCommandFromCommand(*id, nullptr, 0);
}
return NOTHING_TO_SEND;
}
ReturnValue_t ImtqHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
return NOTHING_TO_SEND;
@ -176,23 +180,27 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
if (commandData != nullptr && commandDataLen < 8) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
PoolReadGuard pg(&dipoleSet);
ReturnValue_t result;
// Commands override anything which was set in the software
if (commandBuffer != nullptr) {
dipoleSet.setValidityBufferGeneration(false);
result =
dipoleSet.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::NETWORK);
dipoleSet.setValidityBufferGeneration(true);
if (result != returnvalue::OK) {
return result;
}
} else {
// Read set dipole values from local pool
PoolReadGuard pg(&dipoleSet);
}
result = buildDipoleActuationCommand();
if (result != returnvalue::OK) {
return result;
}
MutexGuard mg(TORQUE_LOCK);
TORQUEING = true;
TORQUE_COUNTDOWN.setTimeout(dipoleSet.currentTorqueDurationMs.value);
MutexGuard mg(torquer::lazyLock());
torquer::TORQUEING = true;
torquer::TORQUE_COUNTDOWN.setTimeout(dipoleSet.currentTorqueDurationMs.value);
return result;
}
case (IMTQ::GET_ENG_HK_DATA): {
@ -249,25 +257,21 @@ ReturnValue_t ImtqHandler::buildDipoleActuationCommand() {
}
void ImtqHandler::fillCommandAndReplyMap() {
this->insertInCommandAndReplyMap(IMTQ::POS_X_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
this->insertInCommandAndReplyMap(IMTQ::NEG_X_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
this->insertInCommandAndReplyMap(IMTQ::POS_Y_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
this->insertInCommandAndReplyMap(IMTQ::NEG_Y_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
this->insertInCommandAndReplyMap(IMTQ::POS_Z_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
this->insertInCommandAndReplyMap(IMTQ::NEG_Z_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
this->insertInCommandAndReplyMap(IMTQ::GET_SELF_TEST_RESULT, 1, nullptr,
IMTQ::SIZE_SELF_TEST_RESULTS);
this->insertInCommandAndReplyMap(IMTQ::START_ACTUATION_DIPOLE, 1, nullptr,
IMTQ::SIZE_STATUS_REPLY);
this->insertInCommandAndReplyMap(IMTQ::GET_ENG_HK_DATA, 1, &engHkDataset,
IMTQ::SIZE_ENG_HK_DATA_REPLY);
this->insertInCommandAndReplyMap(IMTQ::GET_COMMANDED_DIPOLE, 1, nullptr,
insertInCommandAndReplyMap(IMTQ::POS_X_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
insertInCommandAndReplyMap(IMTQ::NEG_X_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
insertInCommandAndReplyMap(IMTQ::POS_Y_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
insertInCommandAndReplyMap(IMTQ::NEG_Y_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
insertInCommandAndReplyMap(IMTQ::POS_Z_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
insertInCommandAndReplyMap(IMTQ::NEG_Z_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
insertInCommandAndReplyMap(IMTQ::GET_SELF_TEST_RESULT, 1, nullptr, IMTQ::SIZE_SELF_TEST_RESULTS);
insertInCommandAndReplyMap(IMTQ::START_ACTUATION_DIPOLE, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
insertInCommandAndReplyMap(IMTQ::GET_ENG_HK_DATA, 1, &engHkDataset, IMTQ::SIZE_ENG_HK_DATA_REPLY);
insertInCommandAndReplyMap(IMTQ::GET_COMMANDED_DIPOLE, 1, nullptr,
IMTQ::SIZE_GET_COMMANDED_DIPOLE_REPLY);
this->insertInCommandAndReplyMap(IMTQ::START_MTM_MEASUREMENT, 1, nullptr,
IMTQ::SIZE_STATUS_REPLY);
this->insertInCommandAndReplyMap(IMTQ::GET_CAL_MTM_MEASUREMENT, 1, &calMtmMeasurementSet,
insertInCommandAndReplyMap(IMTQ::START_MTM_MEASUREMENT, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
insertInCommandAndReplyMap(IMTQ::GET_CAL_MTM_MEASUREMENT, 1, &calMtmMeasurementSet,
IMTQ::SIZE_GET_CAL_MTM_MEASUREMENT);
this->insertInCommandAndReplyMap(IMTQ::GET_RAW_MTM_MEASUREMENT, 1, &rawMtmMeasurementSet,
insertInCommandAndReplyMap(IMTQ::GET_RAW_MTM_MEASUREMENT, 1, &rawMtmMeasurementSet,
IMTQ::SIZE_GET_RAW_MTM_MEASUREMENT);
}
@ -2315,11 +2319,3 @@ ReturnValue_t ImtqHandler::getSwitches(const uint8_t** switches, uint8_t* number
}
return DeviceHandlerBase::NO_SWITCH;
}
bool ImtqHandler::mgtIsTorqueing(dur_millis_t* remainingTorqueDuration) {
MutexGuard mg(TORQUE_LOCK);
if (TORQUEING and remainingTorqueDuration != nullptr) {
*remainingTorqueDuration = TORQUE_COUNTDOWN.getRemainingMillis() + TORQUE_BUFFER_TIME_MS;
}
return TORQUEING;
}

13
mission/devices/ImtqHandler.h
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@ -2,7 +2,7 @@
#define MISSION_DEVICES_IMTQHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/devices/devicedefinitions/IMTQHandlerDefinitions.h>
#include <mission/devices/devicedefinitions/imtqHandlerDefinitions.h>
#include <string.h>
#include "events/subsystemIdRanges.h"
@ -107,7 +107,7 @@ class ImtqHandler : public DeviceHandlerBase {
IMTQ::PosZSelfTestSet posZselfTestDataset;
IMTQ::NegZSelfTestSet negZselfTestDataset;
NormalPollingMode pollingMode = NormalPollingMode::BOTH;
NormalPollingMode pollingMode = NormalPollingMode::UNCALIBRATED;
PoolEntry<int32_t> mgmCalEntry = PoolEntry<int32_t>(3);
PoolEntry<int16_t> dipoleXEntry = PoolEntry<int16_t>(0, false);
@ -221,15 +221,6 @@ class ImtqHandler : public DeviceHandlerBase {
void checkErrorByte(const uint8_t errorByte, const uint8_t step);
std::string makeStepString(const uint8_t step);
static MutexIF* TORQUE_LOCK;
static bool TORQUEING;
static Countdown TORQUE_COUNTDOWN;
// Additional buffer time to accont for time until I2C command arrives and ramp up / ramp down
// time of the MGT
static constexpr dur_millis_t TORQUE_BUFFER_TIME_MS = 20;
static bool mgtIsTorqueing(dur_millis_t* remainingTorqueDuration);
};
#endif /* MISSION_DEVICES_IMTQHANDLER_H_ */

17
mission/devices/devicedefinitions/IMTQHandlerDefinitions.h → mission/devices/devicedefinitions/imtqHandlerDefinitions.h
View File

@ -486,24 +486,17 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
: StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::DIPOLES)) {}
// Refresh torque command without changing any of the set dipoles.
void refreshTorqueing(uint16_t durationMs_) {
newActuation = true;
currentTorqueDurationMs = durationMs_;
}
void refreshTorqueing(uint16_t durationMs_) { currentTorqueDurationMs = durationMs_; }
void setDipoles(uint16_t xDipole_, uint16_t yDipole_, uint16_t zDipole_,
uint16_t currentTorqueDurationMs_) {
newActuation = false;
if (xDipole.value != xDipole_) {
newActuation = true;
}
xDipole = xDipole_;
if (yDipole.value != yDipole_) {
newActuation = true;
}
yDipole = yDipole_;
if (zDipole.value != zDipole_) {
newActuation = true;
}
zDipole = zDipole_;
currentTorqueDurationMs = currentTorqueDurationMs_;
@ -516,13 +509,11 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
}
private:
lp_var_t<uint16_t> xDipole = lp_var_t<uint16_t>(sid.objectId, DIPOLES_X, this);
lp_var_t<uint16_t> yDipole = lp_var_t<uint16_t>(sid.objectId, DIPOLES_Y, this);
lp_var_t<uint16_t> zDipole = lp_var_t<uint16_t>(sid.objectId, DIPOLES_Z, this);
lp_var_t<int16_t> xDipole = lp_var_t<int16_t>(sid.objectId, DIPOLES_X, this);
lp_var_t<int16_t> yDipole = lp_var_t<int16_t>(sid.objectId, DIPOLES_Y, this);
lp_var_t<int16_t> zDipole = lp_var_t<int16_t>(sid.objectId, DIPOLES_Z, this);
lp_var_t<uint16_t> currentTorqueDurationMs =
lp_var_t<uint16_t>(sid.objectId, CURRENT_TORQUE_DURATION, this);
bool newActuation = false;
};
/**

27
mission/devices/torquer.cpp Normal file
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@ -0,0 +1,27 @@
#include "torquer.h"
#include <fsfw/ipc/MutexGuard.h>
MutexIF* TORQUE_LOCK = nullptr;
namespace torquer {
bool TORQUEING = false;
bool NEW_ACTUATION_FLAG = false;
Countdown TORQUE_COUNTDOWN = Countdown();
bool mgtIsTorqueing(dur_millis_t* remainingTorqueDuration) {
if (TORQUEING and remainingTorqueDuration != nullptr) {
*remainingTorqueDuration = TORQUE_COUNTDOWN.getRemainingMillis() + TORQUE_BUFFER_TIME_MS;
}
return TORQUEING;
}
MutexIF* lazyLock() {
if (TORQUE_LOCK == nullptr) {
TORQUE_LOCK = MutexFactory::instance()->createMutex();
}
return TORQUE_LOCK;
}
} // namespace torquer

22
mission/devices/torquer.h Normal file
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@ -0,0 +1,22 @@
#ifndef MISSION_DEVICES_TOQUER_H_
#define MISSION_DEVICES_TOQUER_H_
#include <fsfw/ipc/MutexIF.h>
#include <fsfw/timemanager/Countdown.h>
namespace torquer {
// Additional buffer time to accont for time until I2C command arrives and ramp up / ramp down
// time of the MGT
static constexpr dur_millis_t TORQUE_BUFFER_TIME_MS = 20;
MutexIF* lazyLock();
extern bool TORQUEING;
extern bool NEW_ACTUATION_FLAG;
extern Countdown TORQUE_COUNTDOWN;
bool mgtIsTorqueing(dur_millis_t* remainingTorqueDuration);
} // namespace torquer
#endif /* MISSION_DEVICES_TOQUER_H_ */

2
tmtc

@ -1 +1 @@
Subproject commit 42b962dede547975488e72b22abe2360065c0404
Subproject commit 1dfc2fca2f58f8d226fab01c87eb529ba7ec8376