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GYR fix #346

Merged
muellerr merged 4 commits from eggert/gyr-fix into develop 2023-01-23 16:11:41 +01:00
Conversation 2 Commits 4 Files Changed 4 +85 -29
9 changed files with 85 additions and 29 deletions
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21
CHANGELOG.md
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@ -12,7 +12,7 @@ list yields a list of all related PRs for each release.
## Added
- The Q7S SW now checks for a file named `boot_delay_secs.stxt` in the home directory.
- The Q7S SW now checks for a file named `boot_delay_secs.txt` in the home directory.
If it exists and the file is empty, it will delay for 6 seconds before continuing
with the regular boot. It can also try to read delay seconds from the file.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/340.
@ -22,6 +22,15 @@ list yields a list of all related PRs for each release.
- The ACS Controller Gyro Sets (raw and processed) and the MEKF dataset are diagnostics now.
- Bumped FSFW for Service 11 improvement which includes size and CRC check for contained TC
- Syrlinks module now always included for both EM and FM
- SA Deployment: Allow specifying the switch interval and the initial channel. This allows testing
the new deployment procedure where each channel is burned for half of the whole burn duration.
It also allows burning only one channel for the whole burn duration. The autonomous mechanism
was adapted to burn each channel for half of the burn time by default.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/347
TMTC PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/127
- `Max31865RtdLowlevelHandler.cpp`: For each RTD device, the config is now re-written before
every read. This seems to fix some issue with invalid temperature sensor readings.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/345
## Fixed
@ -31,7 +40,7 @@ list yields a list of all related PRs for each release.
on shut-down.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/342
# [v1.19.0] 10.01.2023
# [v1.19.0] 2023-01-10
## Changed
@ -53,7 +62,7 @@ list yields a list of all related PRs for each release.
- Add automatic 5V stack commanding for all connected devices
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/335
# [v1.18.0] 01.12.2022
# [v1.18.0] 2022-12-01
## Changed
@ -62,7 +71,7 @@ list yields a list of all related PRs for each release.
- Renamed `/dev/i2c_eive` to `/dev/i2c_pl` and `/dev/i2c-2` to `/dev/i2c_ps`.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/328
# [v1.17.0] 28.11.2022
# [v1.17.0] 2022-11-28
## Added
@ -71,7 +80,7 @@ list yields a list of all related PRs for each release.
PR 2: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/324
PR 3: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/326
# [v1.16.0] 18.11.2022
# [v1.16.0] 2022-11-18
- It is now possible to compile Linux components for the hosted build conditionally
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/322
@ -88,7 +97,7 @@ list yields a list of all related PRs for each release.
- Add remaining missing TMP1075 device handlers.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/318
# [v1.15.0] 27.10.2022
# [v1.15.0] 2022-10-27
- Consistent device file naming
- Remove rad sensor from EM build, lead to weird bugs on EM which

2
common/config/eive/definitions.h
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@ -39,7 +39,7 @@ static constexpr uint32_t SA_DEPL_INIT_BUFFER_SECS = 120;
static constexpr uint32_t SA_DEPL_BURN_TIME_SECS = 180;
static constexpr uint32_t SA_DEPL_WAIT_TIME_SECS = 45 * 60;
// HW constraints (current limit) mean that the GPIO channels need to be switched on in alternation
static constexpr uint32_t SA_DEPL_CHANNEL_ALTERNATION_INTERVAL_SECS = 5;
static constexpr uint32_t LEGACY_SA_DEPL_CHANNEL_ALTERNATION_INTERVAL_SECS = 5;
// Maximum allowed burn time allowed by the software.
static constexpr uint32_t SA_DEPL_MAX_BURN_TIME = 180;

2
fsfw

@ -1 +1 @@
Subproject commit accaf855ee53d3dc429d7bcdf1b7b89768c166b6
Subproject commit bd189518b6f91f25db1845e2657101e6bf46eec0

14
linux/devices/Max31865RtdLowlevelHandler.cpp
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@ -143,7 +143,7 @@ ReturnValue_t Max31865RtdReader::periodicReadHandling() {
auto result = returnvalue::OK;
MutexGuard mg(readerMutex);
if (mg.getLockResult() != returnvalue::OK) {
sif::warning << "Max31865RtdReader::periodicReadReqHandling: Mutex lock failed" << std::endl;
sif::warning << "Max31865RtdReader::periodicReadHandling: Mutex lock failed" << std::endl;
return returnvalue::FAILED;
}
// Now read the RTD values
@ -154,6 +154,10 @@ ReturnValue_t Max31865RtdReader::periodicReadHandling() {
if (rtdIsActive(rtd->idx)) {
uint16_t rtdVal = 0;
bool faultBitSet = false;
result = writeCfgReg(rtd->spiCookie, BASE_CFG);
if (result != returnvalue::OK) {
handleSpiError(rtd, result, "writeCfgReg");
}
result = readRtdVal(rtd->spiCookie, rtdVal, faultBitSet);
if (result != returnvalue::OK) {
handleSpiError(rtd, result, "readRtdVal");
@ -282,7 +286,13 @@ ReturnValue_t Max31865RtdReader::sendMessage(CookieIF* cookie, const uint8_t* se
}
break;
}
case (EiveMax31855::RtdCommands::CFG):
case (EiveMax31855::RtdCommands::CFG): {
ReturnValue_t result = writeCfgReg(rtdCookie->spiCookie, BASE_CFG);
if (result != returnvalue::OK) {
handleSpiError(rtdCookie, result, "writeCfgReg");
}
break;
}
default: {
// TODO: Only implement if needed
break;

4
linux/ipcore/PdecConfig.cpp
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@ -9,8 +9,12 @@ PdecConfig::~PdecConfig() {}
void PdecConfig::initialize() {
uint32_t word = 0;
word |= (VERSION_ID << 30);
// Setting the bypass flag and the control command flag should not have any
// implication on the operation of the PDEC IP Core
word |= (BYPASS_FLAG << 29);
word |= (CONTROL_COMMAND_FLAG << 28);
word |= (RESERVED_FIELD_A << 26);
word |= (SPACECRAFT_ID << 16);
word |= (VIRTUAL_CHANNEL << 10);

8
mission/devices/Max31865EiveHandler.cpp
View File

@ -69,7 +69,8 @@ ReturnValue_t Max31865EiveHandler::buildCommandFromCommand(DeviceCommandId_t dev
switch (cmdTyped) {
case (EiveMax31855::RtdCommands::ON):
case (EiveMax31855::RtdCommands::ACTIVE):
case (EiveMax31855::RtdCommands::OFF): {
case (EiveMax31855::RtdCommands::OFF):
case (EiveMax31855::RtdCommands::CFG): {
simpleCommand(cmdTyped);
break;
}
@ -77,9 +78,6 @@ ReturnValue_t Max31865EiveHandler::buildCommandFromCommand(DeviceCommandId_t dev
case (EiveMax31855::RtdCommands::HIGH_TRESHOLD): {
break;
}
case (EiveMax31855::RtdCommands::CFG): {
break;
}
default:
return NOTHING_TO_SEND;
}
@ -100,6 +98,7 @@ void Max31865EiveHandler::simpleCommand(EiveMax31855::RtdCommands cmd) {
rawPacket = cmdBuf.data();
rawPacketLen = 1;
}
void Max31865EiveHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
if (getMode() == _MODE_TO_NORMAL) {
if (state != InternalState::ACTIVE) {
@ -117,6 +116,7 @@ void Max31865EiveHandler::fillCommandAndReplyMap() {
insertInCommandMap(EiveMax31855::RtdCommands::ON);
insertInCommandMap(EiveMax31855::RtdCommands::ACTIVE);
insertInCommandMap(EiveMax31855::RtdCommands::OFF);
insertInCommandMap(EiveMax31855::RtdCommands::CFG);
insertInReplyMap(EiveMax31855::RtdCommands::EXCHANGE_SET_ID, 200, &sensorDataset, 0, true);
}

27
mission/devices/SolarArrayDeploymentHandler.cpp
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@ -97,12 +97,19 @@ void SolarArrayDeploymentHandler::handleStateMachine() {
// This should never fail
channelAlternationCd.resetTimer();
if (not fsmInfo.dryRun) {
sa2Off();
sa1On();
fsmInfo.alternationDummy = true;
if (fsmInfo.initChannel == 0) {
sa2Off();
sa1On();
fsmInfo.alternationDummy = true;
} else {
sa1Off();
sa2On();
fsmInfo.alternationDummy = false;
}
}
sif::info << "S/A Deployment: Burning" << std::endl;
triggerEvent(BURN_PHASE_START, fsmInfo.burnCountdownMs, fsmInfo.dryRun);
channelAlternationCd.resetTimer();
stateMachine = BURNING;
}
if (stateMachine == BURNING) {
@ -219,7 +226,8 @@ bool SolarArrayDeploymentHandler::autonomousDeplForFile(sd::SdCard sdCard, const
if (stateSwitch or firstAutonomousCycle) {
if (deplState == AutonomousDeplState::FIRST_BURN or
deplState == AutonomousDeplState::SECOND_BURN) {
startFsmOn(config::SA_DEPL_BURN_TIME_SECS, dryRun);
startFsmOn(config::SA_DEPL_BURN_TIME_SECS, (config::SA_DEPL_BURN_TIME_SECS / 2) * 1000, 0,
dryRun);
} else if (deplState == AutonomousDeplState::WAIT or deplState == AutonomousDeplState::DONE or
deplState == AutonomousDeplState::INIT) {
startFsmOff();
@ -283,15 +291,19 @@ bool SolarArrayDeploymentHandler::checkMainPower(bool onOff) {
return false;
}
bool SolarArrayDeploymentHandler::startFsmOn(uint32_t burnCountdownSecs, bool dryRun) {
bool SolarArrayDeploymentHandler::startFsmOn(uint32_t burnCountdownSecs,
uint32_t channelAlternationIntervalMs,
uint8_t initChannel, bool dryRun) {
if (stateMachine != StateMachine::IDLE) {
return false;
}
channelAlternationCd.setTimeout(channelAlternationIntervalMs);
if (burnCountdownSecs > config::SA_DEPL_MAX_BURN_TIME) {
burnCountdownSecs = config::SA_DEPL_MAX_BURN_TIME;
}
fsmInfo.dryRun = dryRun;
fsmInfo.burnCountdownMs = burnCountdownSecs * 1000;
fsmInfo.initChannel = initChannel;
stateMachine = StateMachine::MAIN_POWER_ON;
retryCounter = 0;
return true;
@ -354,8 +366,9 @@ ReturnValue_t SolarArrayDeploymentHandler::executeAction(ActionId_t actionId,
if (result != returnvalue::OK) {
return result;
}
uint32_t burnCountdown = cmd.getBurnTime();
if (not startFsmOn(burnCountdown, cmd.isDryRun())) {
uint32_t burnCountdown = cmd.getBurnTimeSecs();
if (not startFsmOn(burnCountdown, cmd.getSwitchIntervalMs(), cmd.getInitChannel(),
cmd.isDryRun())) {
return HasActionsIF::IS_BUSY;
}
actionActive = true;

34
mission/devices/SolarArrayDeploymentHandler.h
View File

@ -28,16 +28,24 @@ class ManualDeploymentCommand : public SerialLinkedListAdapter<SerializeIF> {
ManualDeploymentCommand() { setLinks(); }
void setLinks() {
setStart(&burnTime);
burnTime.setNext(&dryRun);
setStart(&burnTimeSecs);
burnTimeSecs.setNext(&switchIntervalMs);
switchIntervalMs.setNext(&initChannel);
initChannel.setNext(&dryRun);
}
uint32_t getBurnTime() const { return burnTime.entry; }
uint32_t getBurnTimeSecs() const { return burnTimeSecs.entry; }
uint32_t getSwitchIntervalMs() const { return switchIntervalMs.entry; };
uint8_t getInitChannel() const { return initChannel.entry; };
bool isDryRun() const { return dryRun.entry; }
private:
SerializeElement<uint32_t> burnTime;
SerializeElement<uint32_t> burnTimeSecs;
SerializeElement<uint32_t> switchIntervalMs;
SerializeElement<uint8_t> initChannel;
SerializeElement<uint8_t> dryRun;
};
@ -50,7 +58,16 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
public SystemObject,
public HasActionsIF {
public:
//! Manual deployment of the solar arrays. Burn time and channels are supplied with TC parameters
//! Manual deployment of the solar arrays. Burn time, channel switch interval, initial
//! burn channel and dry run flag are supplied as parameters. There are following cases to
//! consider.
//!
//! - Channel switch interval greater or equal to burn time: Only burn one channel. The init
//! burn channel parameter can be used to select which channel is burned.
//! - Channel switch interval half of burn time: Burn each channel for half of the burn time.
//!
//! The dry run flag can be used to avoid actually toggling IO pins and only test the
//! application logic.
static constexpr DeviceCommandId_t DEPLOY_SOLAR_ARRAYS_MANUALLY = 0x05;
static constexpr DeviceCommandId_t SWITCH_OFF_DEPLOYMENT = 0x06;
@ -119,6 +136,7 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
// DeploymentChannels channel;
bool dryRun;
bool alternationDummy = false;
uint8_t initChannel = 0;
uint32_t burnCountdownMs = config::SA_DEPL_MAX_BURN_TIME;
};
@ -157,7 +175,8 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
PeriodicOperationDivider opDivider = PeriodicOperationDivider(5);
uint8_t retryCounter = 3;
bool startFsmOn(uint32_t burnCountdownSecs, bool dryRun);
bool startFsmOn(uint32_t burnCountdownSecs, uint32_t channelAlternationIntervalMs,
uint8_t initChannel, bool dryRun);
void startFsmOff();
void finishFsm(ReturnValue_t resultForActionHelper);
@ -175,8 +194,9 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
*/
Countdown burnCountdown;
// Only initial value, new approach is to burn each channel half of the total burn time.
Countdown channelAlternationCd =
Countdown(config::SA_DEPL_CHANNEL_ALTERNATION_INTERVAL_SECS * 1000);
Countdown(config::LEGACY_SA_DEPL_CHANNEL_ALTERNATION_INTERVAL_SECS * 1000);
/**
* The message queue id of the component commanding an action will be stored in this variable.

2
tmtc

@ -1 +1 @@
Subproject commit f3c0b7567aec22db02a07d76548617b8d163fb29
Subproject commit 2f33a4393774a3d6905f2239bd72cb0c4cc2060a