eive/eive-obsw
eive/eive-obsw
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ACS Scheduling and Smaller ACS Fixes #380

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muellerr merged 8 commits from eggert/acs-scheduling-and-smaller-stuff into develop 2023-02-15 20:23:16 +01:00
Conversation 0 Commits 8 Files Changed 7 +641 -263
43 changed files with 641 additions and 263 deletions
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Showing only changes of commit 9ddcc8dc14 - Show all commits

32
CHANGELOG.md
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@ -19,9 +19,39 @@ change warranting a new major release:
## Changed
- Igrf13 model vector now outputs as uT instead of nT
# [v1.27.2] 2023-02-14
Reaction Wheel handling was determined to be (quasi) broken and needs to be fixed in future release
to be usable by ACS controller.
eive-tmtc: v2.15.6
## Added
- Function for the ACS controller to command MTQ and RWs called by all subroutines
- RwHandler now handles commanding of RW speeds via RwSpeedActuationSet
- Tracing supports which allows checking whether threads are running as usual.
## Changed
- Remove 2 TCS threads.
- Move low level polling into ACS PST, move high level device handlers into TCS system task.
- Igrf13 model vector now outputs as uT instead of nT
- ActCmds now returns command vectors as integers as required by the actuators
and scales them to the appropriate range
- All RwHandler are now polled five times per ACS cycle
- Remove 2 TCS threads. Move low level polling into ACS PST, move high level device handlers into
TCS system task.
- Further reduce number of threads:
1. Remove PUS low priority task, move assigned threads to the generic system task
2. Group events and verification tasks into PUS high priority task
3. Group all other components into PUS medium priority task
4. Add SCEX device handler to PL task, remove dedicated thread
## Removed
- lwgps dependency not compiled anymore, is not used
# [v1.27.1] 2023-02-13

7
CMakeLists.txt
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@ -11,7 +11,7 @@ cmake_minimum_required(VERSION 3.13)
set(OBSW_VERSION_MAJOR 1)
set(OBSW_VERSION_MINOR 27)
set(OBSW_VERSION_REVISION 1)
set(OBSW_VERSION_REVISION 2)
# set(CMAKE_VERBOSE TRUE)
@ -424,7 +424,6 @@ add_subdirectory(${BSP_PATH})
add_subdirectory(${COMMON_PATH})
add_subdirectory(${DUMMY_PATH})
add_subdirectory(${LIB_LWGPS_PATH})
add_subdirectory(${FSFW_PATH})
add_subdirectory(${LIB_EIVE_MISSION_PATH})
add_subdirectory(${TEST_PATH})
@ -491,8 +490,8 @@ endif()
# ##############################################################################
# Add libraries
target_link_libraries(${LIB_EIVE_MISSION}
PUBLIC ${LIB_FSFW_NAME} ${LIB_LWGPS_NAME} ${LIB_OS_NAME})
target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_FSFW_NAME}
${LIB_OS_NAME})
target_link_libraries(${LIB_DUMMIES} PUBLIC ${LIB_FSFW_NAME} ${LIB_JSON_NAME})

3
bsp_q7s/core/CoreController.cpp
View File

@ -63,6 +63,9 @@ ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
}
void CoreController::performControlOperation() {
#if OBSW_THREAD_TRACING == 1
trace::threadTrace(opCounter, "CORE CTRL");
#endif
EventMessage event;
for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
result = eventQueue->receiveMessage(&event)) {

4
bsp_q7s/core/CoreController.h
View File

@ -12,6 +12,7 @@
#include "events/subsystemIdRanges.h"
#include "fsfw/controller/ExtendedControllerBase.h"
#include "mission/devices/devicedefinitions/GPSDefinitions.h"
#include "mission/trace.h"
class Timer;
class SdCardManager;
@ -222,6 +223,9 @@ class CoreController : public ExtendedControllerBase {
std::string currMntPrefix;
bool performOneShotSdCardOpsSwitch = false;
uint8_t shortSdCardCdCounter = 0;
#if OBSW_THREAD_TRACING == 1
uint32_t opCounter;
#endif
Countdown sdCardCheckCd = Countdown(INIT_SD_CARD_CHECK_TIMEOUT);
/**

4
bsp_q7s/core/ObjectFactory.cpp
View File

@ -683,8 +683,8 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED,
&rwSpiCallback::spiCallback, nullptr);
auto* rwHandler = new RwHandler(rwIds[idx], objects::SPI_RW_COM_IF, rwCookies[idx], gpioComIF,
rwGpioIds[idx]);
rwCookies[idx]->setCallbackArgs(rws[idx]);
rwGpioIds[idx], idx);
rwCookies[idx]->setCallbackArgs(rwHandler);
#if OBSW_TEST_RW == 1
rws[idx]->setStartUpImmediately();
#endif

64
bsp_q7s/core/scheduling.cpp
View File

@ -154,6 +154,14 @@ void scheduling::initTasks() {
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
}
result = genericSysTask->addComponent(objects::INTERNAL_ERROR_REPORTER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
}
result = genericSysTask->addComponent(objects::PUS_SERVICE_17_TEST);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
}
#if OBSW_ADD_CCSDS_IP_CORES == 1
result = genericSysTask->addComponent(objects::CCSDS_HANDLER);
@ -266,14 +274,16 @@ void scheduling::initTasks() {
#endif /* OBSW_ADD_PLOC_SUPERVISOR */
PeriodicTaskIF* plTask = factory->createPeriodicTask(
"PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
scheduling::addMpsocSupvHandlers(plTask);
"PL_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
plTask->addComponent(objects::CAM_SWITCHER);
scheduling::addMpsocSupvHandlers(plTask);
#if OBSW_ADD_SCEX_DEVICE == 1
scheduling::scheduleScexDev(plTask);
#endif
#if OBSW_ADD_SCEX_DEVICE == 1
PeriodicTaskIF* scexDevHandler;
PeriodicTaskIF* scexReaderTask;
scheduling::schedulingScex(*factory, scexDevHandler, scexReaderTask);
scheduling::scheduleScexReader(*factory, scexReaderTask);
#endif
std::vector<PeriodicTaskIF*> pusTasks;
@ -330,7 +340,6 @@ void scheduling::initTasks() {
taskStarter(pstTasks, "PST task vector");
taskStarter(pusTasks, "PUS task vector");
#if OBSW_ADD_SCEX_DEVICE == 1
scexDevHandler->startTask();
scexReaderTask->startTask();
#endif
@ -374,9 +383,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
#else
static constexpr float acsPstPeriod = 0.8;
#endif
FixedTimeslotTaskIF* acsPst = factory.createFixedTimeslotTask(
"ACS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
result = pst::pstTcsAndAcs(acsPst, cfg);
FixedTimeslotTaskIF* acsTcsPst = factory.createFixedTimeslotTask(
"ACS_TCS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
result = pst::pstTcsAndAcs(acsTcsPst, cfg);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "scheduling::initTasks: ACS PST is empty" << std::endl;
@ -384,7 +393,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
sif::error << "scheduling::initTasks: Creating ACS PST failed!" << std::endl;
}
} else {
taskVec.push_back(acsPst);
taskVec.push_back(acsTcsPst);
}
/* Polling Sequence Table Default */
@ -435,42 +444,28 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = returnvalue::OK;
/* PUS Services */
PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
"PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
}
taskVec.push_back(pusVerification);
PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
}
result = pusEvents->addComponent(objects::EVENT_MANAGER);
result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
}
taskVec.push_back(pusEvents);
PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
}
taskVec.push_back(pusHighPrio);
PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
@ -495,20 +490,11 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
}
// Used for connection tests, therefore use higher priority
result = pusMedPrio->addComponent(objects::PUS_SERVICE_17_TEST);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
taskVec.push_back(pusMedPrio);
PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
}
taskVec.push_back(pusLowPrio);
}
void scheduling::createTestTasks(TaskFactory& factory,

2
fsfw

@ -1 +1 @@
Subproject commit d256ede8c1d8e7a746d3a56d45313d2b863e0b28
Subproject commit 9de6c4b3aa20ee63c28051d486be8a12df147f22

4
linux/boardtest/UartTestClass.h
View File

@ -10,7 +10,7 @@
#include <array>
#include "lwgps/lwgps.h"
//#include "lwgps/lwgps.h"
#include "mission/devices/devicedefinitions/ScexDefinitions.h"
#include "test/TestTask.h"
@ -59,7 +59,7 @@ class UartTestClass : public TestTask {
DleEncoder dleEncoder = DleEncoder();
SerialCookie* uartCookie = nullptr;
size_t encodedLen = 0;
lwgps_t gpsData = {};
// lwgps_t gpsData = {};
struct termios tty = {};
int serialPort = 0;
bool startFound = false;

3
linux/devices/GpsHyperionLinuxController.cpp
View File

@ -102,6 +102,9 @@ ReturnValue_t GpsHyperionLinuxController::performOperation(uint8_t opCode) {
handleQueue();
poolManager.performHkOperation();
while (true) {
#if OBSW_THREAD_TRACING == 1
trace::threadTrace(opCounter, "GPS CTRL");
#endif
bool callAgainImmediately = readGpsDataFromGpsd();
if (not callAgainImmediately) {
handleQueue();

4
linux/devices/GpsHyperionLinuxController.h
View File

@ -6,6 +6,7 @@
#include "fsfw/controller/ExtendedControllerBase.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "mission/devices/devicedefinitions/GPSDefinitions.h"
#include "mission/trace.h"
#ifdef FSFW_OSAL_LINUX
#include <gps.h>
@ -60,6 +61,9 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
bool modeCommanded = false;
bool timeInit = false;
#if OBSW_THREAD_TRACING == 1
uint32_t opCounter = 0;
#endif
struct OneShotSwitches {
void reset() {

4
linux/devices/ploc/PlocMPSoCHelper.cpp
View File

@ -3,7 +3,6 @@
#include <filesystem>
#include <fstream>
#include "OBSWConfig.h"
#ifdef XIPHOS_Q7S
#include "bsp_q7s/fs/FilesystemHelper.h"
#endif
@ -34,6 +33,9 @@ ReturnValue_t PlocMPSoCHelper::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();

5
linux/devices/ploc/PlocMPSoCHelper.h
View File

@ -11,6 +11,7 @@
#include "fsfw/tmtcservices/SourceSequenceCounter.h"
#include "fsfw_hal/linux/serial/SerialComIF.h"
#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
#include "mission/trace.h"
#ifdef XIPHOS_Q7S
#include "bsp_q7s/fs/SdCardManager.h"
#endif
@ -116,6 +117,10 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF {
struct FlashWrite flashWrite;
#if OBSW_THREAD_TRACING == 1
uint32_t opCounter = 0;
#endif
enum class InternalState { IDLE, FLASH_WRITE, FLASH_READ };
InternalState internalState = InternalState::IDLE;

3
linux/devices/ploc/PlocSupvUartMan.cpp
View File

@ -101,6 +101,9 @@ ReturnValue_t PlocSupvUartManager::performOperation(uint8_t operationCode) {
lock->unlockMutex();
semaphore->acquire();
putTaskToSleep = false;
#if OBSW_THREAD_TRACING == 1
trace::threadTrace(opCounter, "PLOC SUPV Helper PST");
#endif
while (true) {
if (putTaskToSleep) {
performUartShutdown();

4
linux/devices/ploc/PlocSupvUartMan.h
View File

@ -15,6 +15,7 @@
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw_hal/linux/serial/SerialComIF.h"
#include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
#include "mission/trace.h"
#include "tas/crc.h"
#ifdef XIPHOS_Q7S
@ -211,6 +212,9 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
supv::TmBase tmReader;
int serialPort = 0;
struct termios tty = {};
#if OBSW_THREAD_TRACING == 1
uint32_t opCounter = 0;
#endif
struct EventBufferRequest {
std::string path = "";

135
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -5,6 +5,7 @@
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include "OBSWConfig.h"
#include "eive/definitions.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
@ -240,7 +241,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
}
if (enableBside) {
// B side
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
@ -293,7 +293,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
}
}
// SUS: 16 ms
bool addSus0 = true;
bool addSus1 = true;
bool addSus2 = true;
@ -441,7 +440,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus6) {
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
@ -464,7 +462,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus7) {
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
@ -487,7 +484,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus8) {
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
@ -510,7 +506,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus9) {
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
@ -522,6 +517,7 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
@ -532,7 +528,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus10) {
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
@ -555,7 +550,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus11) {
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
@ -639,6 +633,129 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
}
if (cfg.scheduleRws) {
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
}
if (cfg.scheduleRws) {
// this is the torquing cycle
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
@ -684,6 +801,8 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
}
thisSequence->addSlot(objects::SPI_RTD_COM_IF, length * 0.5, 0);
return returnvalue::OK;
}

66
linux/scheduling.cpp
View File

@ -8,8 +8,7 @@
#include "ObjectFactory.h"
#include "eive/objects.h"
void scheduling::schedulingScex(TaskFactory& factory, PeriodicTaskIF*& scexDevHandler,
PeriodicTaskIF*& scexReaderTask) {
void scheduling::scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexReaderTask) {
using namespace scheduling;
ReturnValue_t result = returnvalue::OK;
#if OBSW_PRINT_MISSED_DEADLINES == 1
@ -17,37 +16,6 @@ void scheduling::schedulingScex(TaskFactory& factory, PeriodicTaskIF*& scexDevHa
#else
void (*missedDeadlineFunc)(void) = nullptr;
#endif
scexDevHandler = factory.createPeriodicTask(
"SCEX_DEV", 35, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::PERFORM_OPERATION);
if (result != returnvalue::OK) {
printAddObjectError("SCEX_DEV", objects::SCEX);
}
result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::SEND_WRITE);
if (result != returnvalue::OK) {
printAddObjectError("SCEX_DEV", objects::SCEX);
}
result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_WRITE);
if (result != returnvalue::OK) {
printAddObjectError("SCEX_DEV", objects::SCEX);
}
result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::SEND_READ);
if (result != returnvalue::OK) {
printAddObjectError("SCEX_DEV", objects::SCEX);
}
result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_READ);
if (result != returnvalue::OK) {
printAddObjectError("SCEX_DEV", objects::SCEX);
}
result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::SEND_READ);
if (result != returnvalue::OK) {
printAddObjectError("SCEX_DEV", objects::SCEX);
}
result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_READ);
if (result != returnvalue::OK) {
printAddObjectError("SCEX_DEV", objects::SCEX);
}
result = returnvalue::OK;
scexReaderTask = factory.createPeriodicTask(
@ -79,3 +47,35 @@ void scheduling::addMpsocSupvHandlers(PeriodicTaskIF* plTask) {
plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::GET_READ);
#endif
}
void scheduling::scheduleScexDev(PeriodicTaskIF*& scexDevHandler) {
ReturnValue_t result =
scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::PERFORM_OPERATION);
if (result != returnvalue::OK) {
printAddObjectError("SCEX_DEV", objects::SCEX);
}
result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::SEND_WRITE);
if (result != returnvalue::OK) {
printAddObjectError("SCEX_DEV", objects::SCEX);
}
result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_WRITE);
if (result != returnvalue::OK) {
printAddObjectError("SCEX_DEV", objects::SCEX);
}
result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::SEND_READ);
if (result != returnvalue::OK) {
printAddObjectError("SCEX_DEV", objects::SCEX);
}
result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_READ);
if (result != returnvalue::OK) {
printAddObjectError("SCEX_DEV", objects::SCEX);
}
result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::SEND_READ);
if (result != returnvalue::OK) {
printAddObjectError("SCEX_DEV", objects::SCEX);
}
result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_READ);
if (result != returnvalue::OK) {
printAddObjectError("SCEX_DEV", objects::SCEX);
}
}

4
linux/scheduling.h
View File

@ -3,7 +3,7 @@
#include <fsfw/tasks/TaskFactory.h>
namespace scheduling {
void schedulingScex(TaskFactory& factory, PeriodicTaskIF*& scexDevHandler,
PeriodicTaskIF*& scexReaderTask);
void scheduleScexDev(PeriodicTaskIF*& scexDevHandler);
void scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexReaderTask);
void addMpsocSupvHandlers(PeriodicTaskIF* task);
} // namespace scheduling

90
misc/eclipse/.cproject
View File

@ -57,7 +57,7 @@
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@ -187,7 +187,7 @@
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@ -255,7 +255,7 @@
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2
mission/CMakeLists.txt
View File

@ -9,4 +9,4 @@ add_subdirectory(csp)
add_subdirectory(cfdp)
add_subdirectory(config)
target_sources(${LIB_EIVE_MISSION} PRIVATE acsDefs.cpp)
target_sources(${LIB_EIVE_MISSION} PRIVATE acsDefs.cpp trace.cpp)

119
mission/controller/AcsController.cpp
View File

@ -50,6 +50,9 @@ ReturnValue_t AcsController::getParameter(uint8_t domainId, uint8_t parameterId,
}
void AcsController::performControlOperation() {
#if OBSW_THREAD_TRACING == 1
trace::threadTrace(opCounter, "ACS & TCS PST");
#endif
switch (internalState) {
case InternalState::STARTUP: {
initialCountdown.resetTimer();
@ -116,10 +119,10 @@ void AcsController::performSafe() {
navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, &susDataProcessed,
&mekfData, &validMekf);
// Give desired satellite rate and sun direction to align
// give desired satellite rate and sun direction to align
double satRateSafe[3] = {0, 0, 0}, sunTargetDir[3] = {0, 0, 0};
guidance.getTargetParamsSafe(sunTargetDir, satRateSafe);
// IF MEKF is working
// if MEKF is working
double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
bool magMomMtqValid = false;
if (validMekf == returnvalue::OK) {
@ -137,8 +140,8 @@ void AcsController::performSafe() {
sunTargetDir, satRateSafe, &errAng, magMomMtq, &magMomMtqValid);
}
double dipolCmdUnits[3] = {0, 0, 0};
actuatorCmd.cmdDipolMtq(magMomMtq, dipolCmdUnits);
int16_t cmdDipolMtqs[3] = {0, 0, 0};
actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs);
{
PoolReadGuard pg(&ctrlValData);
@ -180,18 +183,15 @@ void AcsController::performSafe() {
actuatorCmdData.rwTargetTorque.setValid(false);
std::memcpy(actuatorCmdData.rwTargetSpeed.value, zeroVec, 4 * sizeof(int32_t));
actuatorCmdData.rwTargetSpeed.setValid(false);
std::memcpy(actuatorCmdData.mtqTargetDipole.value, dipolCmdUnits, 3 * sizeof(int16_t));
std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolMtqs, 3 * sizeof(int16_t));
actuatorCmdData.mtqTargetDipole.setValid(true);
actuatorCmdData.setValidity(true, false);
}
}
// {
// PoolReadGuard pg(&dipoleSet);
// MutexGuard mg(torquer::lazyLock());
// torquer::NEW_ACTUATION_FLAG = true;
// dipoleSet.setDipoles(cmdDipolUnits[0], cmdDipolUnits[1], cmdDipolUnits[2],
// torqueDuration);
// }
// commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
// acsParameters.magnetorquesParameter.torqueDuration, 0, 0, 0, 0,
// acsParameters.rwHandlingParameters.rampTime);
}
void AcsController::performDetumble() {
@ -208,8 +208,8 @@ void AcsController::performDetumble() {
detumble.bDotLaw(mgmDataProcessed.mgmVecTotDerivative.value,
mgmDataProcessed.mgmVecTotDerivative.isValid(), mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), magMomMtq);
double dipolCmdUnits[3] = {0, 0, 0};
actuatorCmd.cmdDipolMtq(magMomMtq, dipolCmdUnits);
int16_t cmdDipolMtqs[3] = {0, 0, 0};
actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs);
if (mekfData.satRotRateMekf.isValid() &&
VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
@ -228,10 +228,6 @@ void AcsController::performDetumble() {
triggerEvent(acs::SAFE_RATE_RECOVERY);
}
int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
for (int i = 0; i < 3; ++i) {
cmdDipolUnitsInt[i] = std::round(dipolCmdUnits[i]);
}
{
PoolReadGuard pg(&actuatorCmdData);
if (pg.getReadResult() == returnvalue::OK) {
@ -239,18 +235,15 @@ void AcsController::performDetumble() {
actuatorCmdData.rwTargetTorque.setValid(false);
std::memset(actuatorCmdData.rwTargetSpeed.value, 0, 4 * sizeof(int32_t));
actuatorCmdData.rwTargetSpeed.setValid(false);
std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolUnitsInt, 3 * sizeof(int16_t));
std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolMtqs, 3 * sizeof(int16_t));
actuatorCmdData.mtqTargetDipole.setValid(true);
actuatorCmdData.setValidity(true, false);
}
}
// {
// PoolReadGuard pg(&dipoleSet);
// MutexGuard mg(torquer::lazyLock());
// torquer::NEW_ACTUATION_FLAG = true;
// dipoleSet.setDipoles(cmdDipolUnitsInt[0], cmdDipolUnitsInt[1], cmdDipolUnitsInt[2],
// torqueDuration);
// }
// commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
// acsParameters.magnetorquesParameter.torqueDuration, 0, 0, 0, 0,
// acsParameters.rwHandlingParameters.rampTime);
}
void AcsController::performPointingCtrl() {
@ -273,7 +266,7 @@ void AcsController::performPointingCtrl() {
guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
double torquePtgRws[4] = {0, 0, 0, 0}, rwTrqNs[4] = {0, 0, 0, 0};
double torqueRws[4] = {0, 0, 0, 0}, torqueRwsScaled[4] = {0, 0, 0, 0};
double mgtDpDes[3] = {0, 0, 0}, dipolUnits[3] = {0, 0, 0}; // Desaturation Dipol
double mgtDpDes[3] = {0, 0, 0};
switch (submode) {
case acs::PTG_IDLE:
@ -393,44 +386,62 @@ void AcsController::performPointingCtrl() {
if (enableAntiStiction) {
bool rwAvailable[4] = {true, true, true, true}; // WHICH INPUT SENSOR SET?
int32_t rwSpeed[4] = {
(sensorValues.rw1Set.currSpeed.value), (sensorValues.rw2Set.currSpeed.value),
(sensorValues.rw3Set.currSpeed.value), (sensorValues.rw4Set.currSpeed.value)};
int32_t rwSpeed[4] = {sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value};
ptgCtrl.rwAntistiction(rwAvailable, rwSpeed, torqueRwsScaled);
}
double cmdSpeedRws[4] = {0, 0, 0, 0}; // Should be given to the actuator reaction wheel as input
actuatorCmd.cmdSpeedToRws(&(sensorValues.rw1Set.currSpeed.value),
&(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value),
&(sensorValues.rw4Set.currSpeed.value), torqueRwsScaled, cmdSpeedRws);
actuatorCmd.cmdDipolMtq(mgtDpDes, dipolUnits);
int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
for (int i = 0; i < 3; ++i) {
cmdDipolUnitsInt[i] = std::round(dipolUnits[i]);
}
int32_t cmdRwSpeedInt[4] = {0, 0, 0, 0};
for (int i = 0; i < 4; ++i) {
cmdRwSpeedInt[i] = std::round(cmdSpeedRws[i]);
}
int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
actuatorCmd.cmdSpeedToRws(sensorValues.rw1Set.currSpeed.value,
sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value,
sensorValues.rw4Set.currSpeed.value, torqueRwsScaled, cmdSpeedRws);
int16_t cmdDipolMtqs[3] = {0, 0, 0};
actuatorCmd.cmdDipolMtq(mgtDpDes, cmdDipolMtqs);
{
PoolReadGuard pg(&actuatorCmdData);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(actuatorCmdData.rwTargetTorque.value, rwTrqNs, 4 * sizeof(double));
std::memcpy(actuatorCmdData.rwTargetSpeed.value, cmdRwSpeedInt, 4 * sizeof(int32_t));
std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolUnitsInt, 3 * sizeof(int16_t));
std::memcpy(actuatorCmdData.rwTargetSpeed.value, cmdSpeedRws, 4 * sizeof(int32_t));
std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolMtqs, 3 * sizeof(int16_t));
actuatorCmdData.setValidity(true, true);
}
}
// {
// PoolReadGuard pg(&dipoleSet);
// MutexGuard mg(torquer::lazyLock());
// torquer::NEW_ACTUATION_FLAG = true;
// dipoleSet.setDipoles(cmdDipolUnitsInt[0], cmdDipolUnitsInt[1], cmdDipolUnitsInt[2],
// torqueDuration);
// }
// commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
// acsParameters.magnetorquesParameter.torqueDuration, cmdSpeedRws[0],
// cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
// acsParameters.rwHandlingParameters.rampTime);
}
ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
uint16_t dipoleTorqueDuration, int32_t rw1Speed,
int32_t rw2Speed, int32_t rw3Speed, int32_t rw4Speed,
uint16_t rampTime) {
{
PoolReadGuard pg(&dipoleSet);
MutexGuard mg(torquer::lazyLock());
torquer::NEW_ACTUATION_FLAG = true;
dipoleSet.setDipoles(xDipole, yDipole, zDipole, dipoleTorqueDuration);
}
{
PoolReadGuard pg(&rw1SpeedSet);
rw1SpeedSet.setRwSpeed(rw1Speed, rampTime);
}
{
PoolReadGuard pg(&rw2SpeedSet);
rw2SpeedSet.setRwSpeed(rw2Speed, rampTime);
}
{
PoolReadGuard pg(&rw3SpeedSet);
rw3SpeedSet.setRwSpeed(rw3Speed, rampTime);
}
{
PoolReadGuard pg(&rw4SpeedSet);
rw4SpeedSet.setRwSpeed(rw4Speed, rampTime);
}
return returnvalue::OK;
}
ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,

17
mission/controller/AcsController.h
View File

@ -17,8 +17,10 @@
#include "eive/objects.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "mission/devices/devicedefinitions/RwDefinitions.h"
#include "mission/devices/devicedefinitions/SusDefinitions.h"
#include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"
#include "mission/trace.h"
class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
public:
@ -51,6 +53,10 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
ParameterHelper parameterHelper;
#if OBSW_THREAD_TRACING == 1
uint32_t opCounter = 0;
#endif
enum class InternalState { STARTUP, INITIAL_DELAY, READY };
InternalState internalState = InternalState::STARTUP;
@ -69,11 +75,20 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
void modeChanged(Mode_t mode, Submode_t submode);
void announceMode(bool recursive);
ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
uint16_t dipoleTorqueDuration, int32_t rw1Speed, int32_t rw2Speed,
int32_t rw3Speed, int32_t rw4Speed, uint16_t rampTime);
/* ACS Sensor Values */
ACS::SensorValues sensorValues;
/* ACS Datasets */
/* ACS Actuation Datasets */
IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
RwDefinitions::RwSpeedActuationSet rw1SpeedSet = RwDefinitions::RwSpeedActuationSet(objects::RW1);
RwDefinitions::RwSpeedActuationSet rw2SpeedSet = RwDefinitions::RwSpeedActuationSet(objects::RW2);
RwDefinitions::RwSpeedActuationSet rw3SpeedSet = RwDefinitions::RwSpeedActuationSet(objects::RW3);
RwDefinitions::RwSpeedActuationSet rw4SpeedSet = RwDefinitions::RwSpeedActuationSet(objects::RW4);
/* ACS Datasets */
// MGMs
acsctrl::MgmDataRaw mgmDataRaw;
PoolEntry<float> mgm0VecRaw = PoolEntry<float>(3);

3
mission/controller/ThermalController.cpp
View File

@ -72,6 +72,9 @@ ReturnValue_t ThermalController::handleCommandMessage(CommandMessage* message) {
}
void ThermalController::performControlOperation() {
#if OBSW_THREAD_TRACING == 1
trace::threadTrace(opCounter, "TCS Task");
#endif
switch (internalState) {
case InternalState::STARTUP: {
initialCountdown.resetTimer();

7
mission/controller/ThermalController.h
View File

@ -11,7 +11,8 @@
#include <list>
#include "../devices/HeaterHandler.h"
#include "mission/devices/HeaterHandler.h"
#include "mission/trace.h"
/**
* NOP Limit: Hard limit for device, usually from datasheet. Device damage is possible lif NOP limit
@ -152,6 +153,10 @@ class ThermalController : public ExtendedControllerBase {
// Initial delay to make sure all pool variables have been initialized their owners
Countdown initialCountdown = Countdown(DELAY);
#if OBSW_THREAD_TRACING == 1
uint32_t opCounter = 0;
#endif
std::array<std::pair<bool, double>, 5> sensors;
uint8_t numSensors = 0;

6
mission/controller/acs/AcsParameters.cpp
View File

@ -278,6 +278,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x4:
parameterWrapper->set(rwHandlingParameters.stictionTorque);
break;
case 0x5:
parameterWrapper->set(rwHandlingParameters.rampTime);
break;
default:
return INVALID_IDENTIFIER_ID;
}
@ -584,6 +587,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x5:
parameterWrapper->set(magnetorquesParameter.DipolMax);
break;
case 0x6:
parameterWrapper->set(magnetorquesParameter.torqueDuration);
break;
default:
return INVALID_IDENTIFIER_ID;
}

3
mission/controller/acs/AcsParameters.h
View File

@ -792,6 +792,8 @@ class AcsParameters : public HasParametersIF {
double stictionSpeed = 100; // 80; // RPM
double stictionReleaseSpeed = 120; // RPM
double stictionTorque = 0.0006;
uint16_t rampTime = 10;
} rwHandlingParameters;
struct RwMatrices {
@ -910,6 +912,7 @@ class AcsParameters : public HasParametersIF {
double inverseAlignment[3][3] = {{0, -1, 0}, {0, 0, 1}, {-1, 0, 0}};
double DipolMax = 0.2; // [Am^2]
uint16_t torqueDuration = 300; // [ms]
} magnetorquesParameter;
struct DetumbleParameter {

28
mission/controller/acs/ActuatorCmd.cpp
View File

@ -31,27 +31,33 @@ void ActuatorCmd::scalingTorqueRws(const double *rwTrq, double *rwTrqScaled) {
}
}
void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1,
const int32_t *speedRw2, const int32_t *speedRw3,
const double *rwTorque, double *rwCmdSpeed) {
void ActuatorCmd::cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1,
const int32_t speedRw2, const int32_t speedRw3,
const double *rwTorque, int32_t *rwCmdSpeed) {
using namespace Math;
// Calculating the commanded speed in RPM for every reaction wheel
double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
int32_t speedRws[4] = {speedRw0, speedRw1, speedRw2, speedRw3};
double deltaSpeed[4] = {0, 0, 0, 0};
double commandTime = acsParameters.onBoardParams.sampleTime,
inertiaWheel = acsParameters.rwHandlingParameters.inertiaWheel;
double radToRpm = 60 / (2 * PI); // factor for conversion to RPM
// W_RW = Torque_RW / I_RW * delta t [rad/s]
double factor = commandTime / inertiaWheel * radToRpm;
int32_t deltaSpeedInt[4] = {0, 0, 0, 0};
VectorOperations<double>::mulScalar(rwTorque, factor, deltaSpeed, 4);
VectorOperations<double>::add(speedRws, deltaSpeed, rwCmdSpeed, 4);
for (int i = 0; i < 4; i++) {
deltaSpeedInt[i] = std::round(deltaSpeed[i]);
}
VectorOperations<int32_t>::add(speedRws, deltaSpeedInt, rwCmdSpeed, 4);
VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
}
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator) {
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator) {
// Convert to actuator frame
double dipolMomentActuatorDouble[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*acsParameters.magnetorquesParameter.inverseAlignment,
dipolMoment, dipolMomentActuator, 3, 3, 1);
dipolMoment, dipolMomentActuatorDouble, 3, 3, 1);
// Scaling along largest element if dipol exceeds maximum
double maxDipol = acsParameters.magnetorquesParameter.DipolMax;
double maxValue = 0;
@ -62,8 +68,12 @@ void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentActu
}
if (maxValue > maxDipol) {
double scalingFactor = maxDipol / maxValue;
VectorOperations<double>::mulScalar(dipolMomentActuator, scalingFactor, dipolMomentActuator, 3);
VectorOperations<double>::mulScalar(dipolMomentActuatorDouble, scalingFactor,
dipolMomentActuatorDouble, 3);
}
// scale dipole from 1 Am^2 to 1e^-4 Am^2
VectorOperations<double>::mulScalar(dipolMomentActuator, 1e4, dipolMomentActuator, 3);
VectorOperations<double>::mulScalar(dipolMomentActuatorDouble, 1e4, dipolMomentActuatorDouble, 3);
for (int i = 0; i < 3; i++) {
dipolMomentActuator[i] = std::round(dipolMomentActuatorDouble[i]);
}
}

6
mission/controller/acs/ActuatorCmd.h
View File

@ -28,8 +28,8 @@ class ActuatorCmd {
* rwCmdSpeed output revolutions per minute for every
* reaction wheel
*/
void cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
const int32_t *speedRw3, const double *rwTorque, double *rwCmdSpeed);
void cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
const int32_t speedRw3, const double *rwTorque, int32_t *rwCmdSpeed);
/*
* @brief: cmdDipolMtq() gives the commanded dipol moment for the magnetorques
@ -37,7 +37,7 @@ class ActuatorCmd {
* @param: dipolMoment given dipol moment in spacecraft frame
* dipolMomentActuator resulting dipol moment in actuator reference frame
*/
void cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator);
void cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator);
protected:
private:

8
mission/devices/BpxBatteryHandler.cpp
View File

@ -2,8 +2,6 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include "OBSWConfig.h"
BpxBatteryHandler::BpxBatteryHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie)
: DeviceHandlerBase(objectId, comIF, comCookie), hkSet(this), cfgSet(this) {}
@ -280,3 +278,9 @@ void BpxBatteryHandler::setToGoToNormalMode(bool enable) {
}
void BpxBatteryHandler::setDebugMode(bool enable) { this->debugMode = enable; }
void BpxBatteryHandler::performOperationHook() {
#if OBSW_THREAD_TRACING == 1
trace::threadTrace(opCounter, "BPX BATT");
#endif
}

6
mission/devices/BpxBatteryHandler.h
View File

@ -4,6 +4,7 @@
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include "devicedefinitions/BpxBatteryDefinitions.h"
#include "mission/trace.h"
class BpxBatteryHandler : public DeviceHandlerBase {
public:
@ -24,6 +25,10 @@ class BpxBatteryHandler : public DeviceHandlerBase {
bool debugMode = false;
bool goToNormalModeImmediately = false;
uint8_t sentPingByte = BpxBattery::DEFAULT_PING_SENT_BYTE;
#if OBSW_THREAD_TRACING == 1
uint32_t opCounter = 0;
#endif
BpxBatteryHk hkSet;
DeviceCommandId_t lastCmd = DeviceHandlerIF::NO_COMMAND_ID;
BpxBatteryCfg cfgSet;
@ -47,6 +52,7 @@ class BpxBatteryHandler : public DeviceHandlerBase {
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
void fillCommandAndReplyMap() override;
void performOperationHook() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,

12
mission/devices/ImtqHandler.cpp
View File

@ -183,18 +183,20 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
ReturnValue_t result;
{
// Read set dipole values from local pool
PoolReadGuard pg(&dipoleSet);
// Commands override anything which was set in the software
if (commandData != nullptr) {
dipoleSet.setValidityBufferGeneration(false);
result =
dipoleSet.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::NETWORK);
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);
}
}
if (ACTUATION_WIRETAPPING) {
sif::debug << "Actuating IMTQ with parameters x = " << dipoleSet.xDipole.value

75
mission/devices/RwHandler.cpp
View File

@ -7,13 +7,15 @@
#include "OBSWConfig.h"
RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
GpioIF* gpioComIF, gpioId_t enableGpio)
GpioIF* gpioComIF, gpioId_t enableGpio, uint8_t rwIdx)
: DeviceHandlerBase(objectId, comIF, comCookie),
gpioComIF(gpioComIF),
enableGpio(enableGpio),
statusSet(this),
lastResetStatusSet(this),
tmDataset(this) {
tmDataset(this),
rwSpeedActuationSet(*this),
rwIdx(rwIdx) {
if (comCookie == nullptr) {
sif::error << "RwHandler: Invalid com cookie" << std::endl;
}
@ -42,6 +44,10 @@ void RwHandler::doShutDown() {
ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
switch (internalState) {
case InternalState::SET_SPEED:
*id = RwDefinitions::SET_SPEED;
internalState = InternalState::GET_RESET_STATUS;
break;
case InternalState::GET_RESET_STATUS:
*id = RwDefinitions::GET_LAST_RESET_STATUS;
internalState = InternalState::READ_TEMPERATURE;
@ -52,7 +58,7 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
break;
case InternalState::GET_RW_SATUS:
*id = RwDefinitions::GET_RW_STATUS;
internalState = InternalState::GET_RESET_STATUS;
internalState = InternalState::CLEAR_RESET_STATUS;
break;
case InternalState::CLEAR_RESET_STATUS:
*id = RwDefinitions::CLEAR_LAST_RESET_STATUS;
@ -97,16 +103,37 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
return returnvalue::OK;
}
case (RwDefinitions::SET_SPEED): {
if (commandDataLen != 6) {
if (commandData != nullptr && commandDataLen != 6) {
sif::error << "RwHandler::buildCommandFromCommand: Received set speed command with"
<< " invalid length" << std::endl;
return SET_SPEED_COMMAND_INVALID_LENGTH;
}
result = checkSpeedAndRampTime(commandData, commandDataLen);
{
PoolReadGuard pg(&rwSpeedActuationSet);
// Commands override anything which was set in the software
if (commandData != nullptr) {
rwSpeedActuationSet.setValidityBufferGeneration(false);
result = rwSpeedActuationSet.deSerialize(&commandData, &commandDataLen,
SerializeIF::Endianness::NETWORK);
rwSpeedActuationSet.setValidityBufferGeneration(true);
if (result != returnvalue::OK) {
return result;
}
prepareSetSpeedCmd(commandData, commandDataLen);
}
}
if (ACTUATION_WIRETAPPING) {
int32_t speed = 0;
uint16_t rampTime = 0;
rwSpeedActuationSet.getRwSpeed(speed, rampTime);
sif::debug << "Actuating RW " << static_cast<int>(rwIdx) << " with speed = " << speed
<< " and rampTime = " << rampTime << std::endl;
}
result = checkSpeedAndRampTime();
if (result != returnvalue::OK) {
return result;
}
result = prepareSetSpeedCmd();
return result;
}
case (RwDefinitions::GET_TEMPERATURE): {
@ -243,6 +270,9 @@ uint32_t RwHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { retur
ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(RwDefinitions::RW_SPEED, &rwSpeed);
localDataPoolMap.emplace(RwDefinitions::RAMP_TIME, &rampTime);
localDataPoolMap.emplace(RwDefinitions::TEMPERATURE_C, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::CURR_SPEED, new PoolEntry<int32_t>({0}));
@ -295,17 +325,15 @@ void RwHandler::prepareSimpleCommand(DeviceCommandId_t id) {
rawPacketLen = 3;
}
ReturnValue_t RwHandler::checkSpeedAndRampTime(const uint8_t* commandData, size_t commandDataLen) {
int32_t speed =
*commandData << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 | *(commandData + 3);
ReturnValue_t RwHandler::checkSpeedAndRampTime() {
int32_t speed = 0;
uint16_t rampTime = 0;
rwSpeedActuationSet.getRwSpeed(speed, rampTime);
if ((speed < -65000 || speed > 65000 || (speed > -1000 && speed < 1000)) && (speed != 0)) {
sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid speed" << std::endl;
return INVALID_SPEED;
}
uint16_t rampTime = (*(commandData + 4) << 8) | *(commandData + 5);
if (rampTime < 10 || rampTime > 20000) {
sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid ramp time" << std::endl;
return INVALID_RAMP_TIME;
@ -314,23 +342,24 @@ ReturnValue_t RwHandler::checkSpeedAndRampTime(const uint8_t* commandData, size_
return returnvalue::OK;
}
void RwHandler::prepareSetSpeedCmd(const uint8_t* commandData, size_t commandDataLen) {
ReturnValue_t RwHandler::prepareSetSpeedCmd() {
commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::SET_SPEED);
/** Speed (0.1 RPM) */
commandBuffer[1] = *(commandData + 3);
commandBuffer[2] = *(commandData + 2);
commandBuffer[3] = *(commandData + 1);
commandBuffer[4] = *commandData;
/** Ramp time (ms) */
commandBuffer[5] = *(commandData + 5);
commandBuffer[6] = *(commandData + 4);
uint8_t* serPtr = commandBuffer + 1;
size_t serSize = 1;
rwSpeedActuationSet.setValidityBufferGeneration(false);
ReturnValue_t result = rwSpeedActuationSet.serialize(&serPtr, &serSize, sizeof(commandBuffer),
SerializeIF::Endianness::LITTLE);
rwSpeedActuationSet.setValidityBufferGeneration(true);
if (result != returnvalue::OK) {
return result;
}
uint16_t crc = CRC::crc16ccitt(commandBuffer, 7, 0xFFFF);
commandBuffer[7] = static_cast<uint8_t>(crc & 0xFF);
commandBuffer[8] = static_cast<uint8_t>(crc >> 8 & 0xFF);
commandBuffer[8] = static_cast<uint8_t>((crc >> 8) & 0xFF);
rawPacket = commandBuffer;
rawPacketLen = 9;
return result;
}
void RwHandler::handleResetStatusReply(const uint8_t* packet) {

26
mission/devices/RwHandler.h
View File

@ -9,6 +9,8 @@
#include "events/subsystemIdRanges.h"
#include "returnvalues/classIds.h"
static constexpr bool ACTUATION_WIRETAPPING = false;
class GpioIF;
/**
@ -34,7 +36,7 @@ class RwHandler : public DeviceHandlerBase {
* to high to enable the device.
*/
RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, GpioIF* gpioComIF,
gpioId_t enableGpio);
gpioId_t enableGpio, uint8_t rwIdx);
void setDebugMode(bool enable);
@ -93,10 +95,21 @@ class RwHandler : public DeviceHandlerBase {
RwDefinitions::StatusSet statusSet;
RwDefinitions::LastResetSatus lastResetStatusSet;
RwDefinitions::TmDataset tmDataset;
RwDefinitions::RwSpeedActuationSet rwSpeedActuationSet;
uint8_t commandBuffer[RwDefinitions::MAX_CMD_SIZE];
uint8_t rwIdx;
enum class InternalState { GET_RESET_STATUS, CLEAR_RESET_STATUS, READ_TEMPERATURE, GET_RW_SATUS };
PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>({0});
PoolEntry<uint16_t> rampTime = PoolEntry<uint16_t>({10});
enum class InternalState {
GET_RESET_STATUS,
CLEAR_RESET_STATUS,
READ_TEMPERATURE,
SET_SPEED,
GET_RW_SATUS
};
InternalState internalState = InternalState::GET_RESET_STATUS;
@ -114,13 +127,14 @@ class RwHandler : public DeviceHandlerBase {
* range.
* @return returnvalue::OK if successful, otherwise error code.
*/
ReturnValue_t checkSpeedAndRampTime(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t checkSpeedAndRampTime();
/**
* @brief This function prepares the set speed command from the commandData received with
* an action message.
* @brief This function prepares the set speed command from the dataSet received with
* an action message or set in the software.
* @return returnvalue::OK if successful, otherwise error code.
*/
void prepareSetSpeedCmd(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareSetSpeedCmd();
/**
* @brief This function writes the last reset status retrieved with the get last reset status

4
mission/devices/SolarArrayDeploymentHandler.cpp
View File

@ -11,6 +11,7 @@
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "mission/trace.h"
static constexpr bool DEBUG_MODE = true;
@ -37,6 +38,9 @@ SolarArrayDeploymentHandler::~SolarArrayDeploymentHandler() = default;
ReturnValue_t SolarArrayDeploymentHandler::performOperation(uint8_t operationCode) {
using namespace std::filesystem;
#if OBSW_THREAD_TRACING == 1
trace::threadTrace(opCounter, "SA DEPL");
#endif
if (opDivider.checkAndIncrement()) {
auto activeSdc = sdcMan.getActiveSdCard();
if (activeSdc and activeSdc.value() == sd::SdCard::SLOT_0 and

4
mission/devices/SolarArrayDeploymentHandler.h
View File

@ -19,6 +19,7 @@
#include "fsfw/timemanager/Countdown.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "mission/memory/SdCardMountedIF.h"
#include "mission/trace.h"
#include "returnvalues/classIds.h"
enum DeploymentChannels : uint8_t { SA_1 = 1, SA_2 = 2 };
@ -172,6 +173,9 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
bool firstAutonomousCycle = true;
ActionId_t activeCmd = HasActionsIF::INVALID_ACTION_ID;
std::optional<uint64_t> initUptime;
#if OBSW_THREAD_TRACING == 1
uint32_t opCounter = 0;
#endif
PeriodicOperationDivider opDivider = PeriodicOperationDivider(5);
uint8_t retryCounter = 3;

64
mission/devices/devicedefinitions/RwDefinitions.h
View File

@ -51,7 +51,10 @@ enum PoolIds : lp_id_t {
SPI_BYTES_WRITTEN,
SPI_BYTES_READ,
SPI_REG_OVERRUN_ERRORS,
SPI_TOTAL_ERRORS
SPI_TOTAL_ERRORS,
RW_SPEED,
RAMP_TIME,
};
enum States : uint8_t { STATE_ERROR, IDLE, COASTING, RUNNING_SPEED_STABLE, RUNNING_SPEED_CHANGING };
@ -75,10 +78,13 @@ static const DeviceCommandId_t SET_SPEED = 6;
static const DeviceCommandId_t GET_TEMPERATURE = 8;
static const DeviceCommandId_t GET_TM = 9;
static const uint32_t TEMPERATURE_SET_ID = GET_TEMPERATURE;
static const uint32_t STATUS_SET_ID = GET_RW_STATUS;
static const uint32_t LAST_RESET_ID = GET_LAST_RESET_STATUS;
static const uint32_t TM_SET_ID = GET_TM;
enum SetIds : uint32_t {
TEMPERATURE_SET_ID = GET_TEMPERATURE,
STATUS_SET_ID = GET_RW_STATUS,
LAST_RESET_ID = GET_LAST_RESET_STATUS,
TM_SET_ID = GET_TM,
SPEED_CMD_SET = 10,
};
static const size_t SIZE_GET_RESET_STATUS = 5;
static const size_t SIZE_CLEAR_RESET_STATUS = 4;
@ -106,9 +112,11 @@ static const uint8_t TM_SET_ENTRIES = 24;
*/
class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {
public:
StatusSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, STATUS_SET_ID) {}
StatusSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, RwDefinitions::SetIds::STATUS_SET_ID) {}
StatusSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, STATUS_SET_ID)) {}
StatusSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::STATUS_SET_ID)) {}
lp_var_t<int32_t> temperatureCelcius =
lp_var_t<int32_t>(sid.objectId, PoolIds::TEMPERATURE_C, this);
@ -124,9 +132,11 @@ class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {
*/
class LastResetSatus : public StaticLocalDataSet<LAST_RESET_ENTRIES> {
public:
LastResetSatus(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, LAST_RESET_ID) {}
LastResetSatus(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, RwDefinitions::SetIds::LAST_RESET_ID) {}
LastResetSatus(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, LAST_RESET_ID)) {}
LastResetSatus(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::LAST_RESET_ID)) {}
// If a reset occurs, the status code will be cached into this variable
lp_var_t<uint8_t> lastNonClearedResetStatus =
@ -143,9 +153,11 @@ class LastResetSatus : public StaticLocalDataSet<LAST_RESET_ENTRIES> {
*/
class TmDataset : public StaticLocalDataSet<TM_SET_ENTRIES> {
public:
TmDataset(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TM_SET_ID) {}
TmDataset(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, RwDefinitions::SetIds::TM_SET_ID) {}
TmDataset(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TM_SET_ID)) {}
TmDataset(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::TM_SET_ID)) {}
lp_var_t<uint8_t> lastResetStatus =
lp_var_t<uint8_t>(sid.objectId, PoolIds::TM_LAST_RESET_STATUS, this);
@ -192,6 +204,36 @@ class TmDataset : public StaticLocalDataSet<TM_SET_ENTRIES> {
lp_var_t<uint32_t>(sid.objectId, PoolIds::SPI_TOTAL_ERRORS, this);
};
class RwSpeedActuationSet : public StaticLocalDataSet<2> {
friend class RwHandler;
public:
RwSpeedActuationSet(HasLocalDataPoolIF& owner)
: StaticLocalDataSet(&owner, RwDefinitions::SetIds::SPEED_CMD_SET) {}
RwSpeedActuationSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::SPEED_CMD_SET)) {}
void setRwSpeed(int32_t rwSpeed_, uint16_t rampTime_) {
if (rwSpeed.value != rwSpeed_) {
rwSpeed = rwSpeed_;
}
if (rampTime.value != rampTime_) {
rampTime = rampTime_;
}
}
void getRwSpeed(int32_t& rwSpeed_, uint16_t& rampTime_) {
rwSpeed_ = rwSpeed.value;
rampTime_ = rampTime.value;
}
private:
lp_var_t<int32_t> rwSpeed =
lp_var_t<int32_t>(sid.objectId, RwDefinitions::PoolIds::RW_SPEED, this);
lp_var_t<uint16_t> rampTime =
lp_var_t<uint16_t>(sid.objectId, RwDefinitions::PoolIds::RAMP_TIME, this);
};
} // namespace RwDefinitions
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_ */

6
mission/devices/devicedefinitions/imtqHandlerDefinitions.h
View File

@ -492,14 +492,14 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
void setDipoles(int16_t xDipole_, int16_t yDipole_, int16_t zDipole_,
uint16_t currentTorqueDurationMs_) {
if (xDipole.value != xDipole_) {
}
xDipole = xDipole_;
}
if (yDipole.value != yDipole_) {
}
yDipole = yDipole_;
if (zDipole.value != zDipole_) {
}
if (zDipole.value != zDipole_) {
zDipole = zDipole_;
}
currentTorqueDurationMs = currentTorqueDurationMs_;
}

10
mission/trace.cpp Normal file
View File

@ -0,0 +1,10 @@
#include "trace.h"
#include "fsfw/serviceinterface.h"
void trace::threadTrace(uint32_t& counter, const char* name, unsigned div) {
counter++;
if (counter % div == 0) {
sif::debug << name << " running" << std::endl;
}
}

14
mission/trace.h Normal file
View File

@ -0,0 +1,14 @@
#ifndef MISSION_TRACE_H_
#define MISSION_TRACE_H_
#include <cstdint>
#define OBSW_THREAD_TRACING 0
namespace trace {
void threadTrace(uint32_t& counter, const char* name, unsigned div = 5);
}
#endif /* MISSION_TRACE_H_ */

7
scripts/q7s-em-udp-forwarding.sh Executable file
View File

@ -0,0 +1,7 @@
#!/bin/bash
echo "Q7S UDP connection from local port 18000 -> TCP ssh tunnel -> EM port 7301"
socat udp4-listen:18000,reuseaddr,fork tcp:localhost:18002 &
ssh -L 18002:localhost:18123 eive@flatsat.eive.absatvirt.lw \
'socat tcp4-listen:18123,reuseaddr udp:192.168.133.10:7301'

7
scripts/q7s-fm-udp-forwarding.sh Executable file
View File

@ -0,0 +1,7 @@
#!/bin/bash
echo "Q7S UDP connection from local port 18000 -> TCP ssh tunnel -> FM port 7301"
socat udp4-listen:18000,reuseaddr,fork tcp:localhost:18002 &
ssh -L 18002:localhost:18123 eive@flatsat.eive.absatvirt.lw \
'socat tcp4-listen:18123,reuseaddr udp:192.168.155.55:7301'

8
scripts/q7s-ssh-udp-forwarding.sh
View File

@ -1,8 +0,0 @@
#!/bin/bash
echo "Setting up all Q7S ports"
echo "upd connection from local port 18000 -> tcp ssh tunnel -> EM port 7301"
socat udp4-listen:18000,reuseaddr,fork tcp:localhost:18002 &
ssh -L 18002:localhost:18123 eive@flatsat.eive.absatvirt.lw 'socat tcp4-listen:18123,reuseaddr udp:192.168.133.10:7301'

12
test/TestTask.cpp
View File

@ -41,11 +41,13 @@ ReturnValue_t EiveTestTask::performOperation(uint8_t operationCode) {
}
#include <etl/vector.h>
#include <lwgps/lwgps.h>
// #include <lwgps/lwgps.h>
/**
* @brief Dummy data from GPS receiver. Will be replaced witgh hyperion data later.
*/
const char gps_rx_data[] =
""
"$GPRMC,183729,A,3907.356,N,12102.482,W,000.0,360.0,080301,015.5,E*6F\r\n"
@ -96,20 +98,22 @@ ReturnValue_t EiveTestTask::performActionB() {
return result;
}
/*
void EiveTestTask::performLwgpsTest() {
/* Everything here will only be performed once. */
// Everything here will only be performed once.
sif::info << "Processing sample GPS output.." << std::endl;
lwgps_t gpsStruct;
sif::info << "Size of GPS struct: " << sizeof(gpsStruct) << std::endl;
lwgps_init(&gpsStruct);
/* Process all input data */
// Process all input data
lwgps_process(&gpsStruct, hyperion_gps_data, strlen(hyperion_gps_data));
/* Print messages */
// Print messages
printf("Valid status: %d\n", gpsStruct.is_valid);
printf("Latitude: %f degrees\n", gpsStruct.latitude);
printf("Longitude: %f degrees\n", gpsStruct.longitude);
printf("Altitude: %f meters\n", gpsStruct.altitude);
}
*/

2
tmtc

@ -1 +1 @@
Subproject commit 9b7471e9097edd410995ba0c76125b626440d9be
Subproject commit 1e143ea6faa608baf3118512416f5a495dbd606c