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Dual Side to Single Side Bugfix #497

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meggert merged 4 commits from bugfix_dual_to_single_side into develop 2023-03-20 14:52:53 +01:00
Conversation 0 Commits 4 Files Changed 5 +113 -87
5 changed files with 113 additions and 87 deletions
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5
CHANGELOG.md
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@ -16,6 +16,11 @@ will consitute of a breaking change warranting a new major release:
# [unreleased]
## Fixed
- Fixed transition for dual power lane assemblies: When going from dual side submode to single side
submode, perform logical commanding first, similarly to when going to OFF mode.
# [v1.38.0] 2023-03-17
eive-tmtc: v2.19.2

162
linux/devices/AcsBoardPolling.cpp
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@ -451,95 +451,99 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
cdHasTimedOut = gyro.countdown.hasTimedOut();
mustPerformStartup = gyro.performStartup;
}
if (mode == acs::SimpleSensorMode::NORMAL and cdHasTimedOut) {
if (mustPerformStartup) {
uint8_t regList[6];
// Read configuration
regList[0] = adis1650x::DIAG_STAT_REG;
regList[1] = adis1650x::FILTER_CTRL_REG;
regList[2] = adis1650x::RANG_MDL_REG;
regList[3] = adis1650x::MSC_CTRL_REG;
regList[4] = adis1650x::DEC_RATE_REG;
regList[5] = adis1650x::PROD_ID_REG;
size_t transferLen =
adis1650x::prepareReadCommand(regList, sizeof(regList), cmdBuf.data(), cmdBuf.size());
result = readAdisCfg(*gyro.cookie, transferLen);
if (result != returnvalue::OK) {
gyro.replyResult = result;
return;
}
result = spiComIF.readReceivedMessage(gyro.cookie, &rawReply, &dummy);
if (result != returnvalue::OK or rawReply == nullptr) {
gyro.replyResult = result;
return;
}
uint16_t prodId = (rawReply[12] << 8) | rawReply[13];
if (((gyro.type == adis1650x::Type::ADIS16505) and (prodId != adis1650x::PROD_ID_16505)) or
((gyro.type == adis1650x::Type::ADIS16507) and (prodId != adis1650x::PROD_ID_16507))) {
sif::warning << "AcsPollingTask: Invalid ADIS product ID " << prodId << std::endl;
gyro.replyResult = returnvalue::FAILED;
return;
}
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
gyro.ownReply.cfgWasSet = true;
gyro.ownReply.cfg.diagStat = (rawReply[2] << 8) | rawReply[3];
gyro.ownReply.cfg.filterSetting = (rawReply[4] << 8) | rawReply[5];
gyro.ownReply.cfg.rangMdl = (rawReply[6] << 8) | rawReply[7];
gyro.ownReply.cfg.mscCtrlReg = (rawReply[8] << 8) | rawReply[9];
gyro.ownReply.cfg.decRateReg = (rawReply[10] << 8) | rawReply[11];
gyro.ownReply.cfg.prodId = prodId;
gyro.ownReply.data.sensitivity = adis1650x::rangMdlToSensitivity(gyro.ownReply.cfg.rangMdl);
gyro.performStartup = false;
}
// Read regular registers
std::memcpy(cmdBuf.data(), adis1650x::BURST_READ_ENABLE.data(),
adis1650x::BURST_READ_ENABLE.size());
std::memset(cmdBuf.data() + 2, 0, 10 * 2);
result = spiComIF.sendMessage(gyro.cookie, cmdBuf.data(), adis1650x::SENSOR_READOUT_SIZE);
if (mode == acs::SimpleSensorMode::OFF) {
return;
}
if (not cdHasTimedOut) {
return;
}
if (mustPerformStartup) {
uint8_t regList[6];
// Read configuration
regList[0] = adis1650x::DIAG_STAT_REG;
regList[1] = adis1650x::FILTER_CTRL_REG;
regList[2] = adis1650x::RANG_MDL_REG;
regList[3] = adis1650x::MSC_CTRL_REG;
regList[4] = adis1650x::DEC_RATE_REG;
regList[5] = adis1650x::PROD_ID_REG;
size_t transferLen =
adis1650x::prepareReadCommand(regList, sizeof(regList), cmdBuf.data(), cmdBuf.size());
result = readAdisCfg(*gyro.cookie, transferLen);
if (result != returnvalue::OK) {
gyro.replyResult = returnvalue::FAILED;
gyro.replyResult = result;
return;
}
result = spiComIF.readReceivedMessage(gyro.cookie, &rawReply, &dummy);
if (result != returnvalue::OK or rawReply == nullptr) {
gyro.replyResult = result;
return;
}
uint16_t prodId = (rawReply[12] << 8) | rawReply[13];
if (((gyro.type == adis1650x::Type::ADIS16505) and (prodId != adis1650x::PROD_ID_16505)) or
((gyro.type == adis1650x::Type::ADIS16507) and (prodId != adis1650x::PROD_ID_16507))) {
sif::warning << "AcsPollingTask: Invalid ADIS product ID " << prodId << std::endl;
gyro.replyResult = returnvalue::FAILED;
return;
}
uint16_t checksum = (rawReply[20] << 8) | rawReply[21];
// Now verify the read checksum with the expected checksum according to datasheet p. 20
uint16_t calcChecksum = 0;
for (size_t idx = 2; idx < 20; idx++) {
calcChecksum += rawReply[idx];
}
if (checksum != calcChecksum) {
sif::warning << "AcsPollingTask: Invalid ADIS reply checksum" << std::endl;
gyro.replyResult = returnvalue::FAILED;
return;
}
auto burstMode = adis1650x::burstModeFromMscCtrl(gyro.ownReply.cfg.mscCtrlReg);
if (burstMode != adis1650x::BurstModes::BURST_16_BURST_SEL_0) {
sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Analysis for select burst mode"
" not implemented!"
<< std::endl;
gyro.replyResult = returnvalue::FAILED;
return;
}
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
gyro.ownReply.dataWasSet = true;
gyro.ownReply.cfg.diagStat = rawReply[2] << 8 | rawReply[3];
gyro.ownReply.data.angVelocities[0] = (rawReply[4] << 8) | rawReply[5];
gyro.ownReply.data.angVelocities[1] = (rawReply[6] << 8) | rawReply[7];
gyro.ownReply.data.angVelocities[2] = (rawReply[8] << 8) | rawReply[9];
gyro.ownReply.data.accelerations[0] = (rawReply[10] << 8) | rawReply[11];
gyro.ownReply.data.accelerations[1] = (rawReply[12] << 8) | rawReply[13];
gyro.ownReply.data.accelerations[2] = (rawReply[14] << 8) | rawReply[15];
gyro.ownReply.data.temperatureRaw = (rawReply[16] << 8) | rawReply[17];
gyro.ownReply.cfgWasSet = true;
gyro.ownReply.cfg.diagStat = (rawReply[2] << 8) | rawReply[3];
gyro.ownReply.cfg.filterSetting = (rawReply[4] << 8) | rawReply[5];
gyro.ownReply.cfg.rangMdl = (rawReply[6] << 8) | rawReply[7];
gyro.ownReply.cfg.mscCtrlReg = (rawReply[8] << 8) | rawReply[9];
gyro.ownReply.cfg.decRateReg = (rawReply[10] << 8) | rawReply[11];
gyro.ownReply.cfg.prodId = prodId;
gyro.ownReply.data.sensitivity = adis1650x::rangMdlToSensitivity(gyro.ownReply.cfg.rangMdl);
gyro.performStartup = false;
}
// Read regular registers
std::memcpy(cmdBuf.data(), adis1650x::BURST_READ_ENABLE.data(),
adis1650x::BURST_READ_ENABLE.size());
std::memset(cmdBuf.data() + 2, 0, 10 * 2);
result = spiComIF.sendMessage(gyro.cookie, cmdBuf.data(), adis1650x::SENSOR_READOUT_SIZE);
if (result != returnvalue::OK) {
gyro.replyResult = returnvalue::FAILED;
return;
}
result = spiComIF.readReceivedMessage(gyro.cookie, &rawReply, &dummy);
if (result != returnvalue::OK or rawReply == nullptr) {
gyro.replyResult = returnvalue::FAILED;
return;
}
uint16_t checksum = (rawReply[20] << 8) | rawReply[21];
// Now verify the read checksum with the expected checksum according to datasheet p. 20
uint16_t calcChecksum = 0;
for (size_t idx = 2; idx < 20; idx++) {
calcChecksum += rawReply[idx];
}
if (checksum != calcChecksum) {
sif::warning << "AcsPollingTask: Invalid ADIS reply checksum" << std::endl;
gyro.replyResult = returnvalue::FAILED;
return;
}
auto burstMode = adis1650x::burstModeFromMscCtrl(gyro.ownReply.cfg.mscCtrlReg);
if (burstMode != adis1650x::BurstModes::BURST_16_BURST_SEL_0) {
sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Analysis for select burst mode"
" not implemented!"
<< std::endl;
gyro.replyResult = returnvalue::FAILED;
return;
}
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
gyro.ownReply.dataWasSet = true;
gyro.ownReply.cfg.diagStat = rawReply[2] << 8 | rawReply[3];
gyro.ownReply.data.angVelocities[0] = (rawReply[4] << 8) | rawReply[5];
gyro.ownReply.data.angVelocities[1] = (rawReply[6] << 8) | rawReply[7];
gyro.ownReply.data.angVelocities[2] = (rawReply[8] << 8) | rawReply[9];
gyro.ownReply.data.accelerations[0] = (rawReply[10] << 8) | rawReply[11];
gyro.ownReply.data.accelerations[1] = (rawReply[12] << 8) | rawReply[13];
gyro.ownReply.data.accelerations[2] = (rawReply[14] << 8) | rawReply[15];
gyro.ownReply.data.temperatureRaw = (rawReply[16] << 8) | rawReply[17];
}
void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {

5
mission/devices/GyrAdis1650XHandler.cpp
View File

@ -65,10 +65,7 @@ ReturnValue_t GyrAdis1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_
}
case (InternalState::SHUTDOWN): {
*id = adis1650x::REQUEST;
acs::Adis1650XRequest *request = reinterpret_cast<acs::Adis1650XRequest *>(cmdBuf.data());
request->mode = acs::SimpleSensorMode::OFF;
request->type = adisType;
return returnvalue::OK;
return preparePeriodicRequest(acs::SimpleSensorMode::OFF);
}
default: {
return NOTHING_TO_SEND;

27
mission/system/objects/DualLaneAssemblyBase.cpp
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@ -34,10 +34,17 @@ void DualLaneAssemblyBase::performChildOperation() {
}
void DualLaneAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
// doStartTransition(mode, submode);
using namespace duallane;
pwrStateMachine.reset();
if (mode != MODE_OFF) {
// Special exception: A transition from dual side to single mode must be handled like
// going OFF.
if ((this->mode == MODE_ON or this->mode == DeviceHandlerIF::MODE_NORMAL) and
this->submode == DUAL_MODE and submode != DUAL_MODE) {
dualToSingleSideTransition = true;
AssemblyBase::startTransition(mode, submode);
return;
}
// If anything other than MODE_OFF is commanded, perform power state machine first
// Cache the target modes, required by power state machine
pwrStateMachine.start(mode, submode);
@ -75,9 +82,13 @@ ReturnValue_t DualLaneAssemblyBase::pwrStateMachineWrapper() {
// Will be called for transitions to MODE_OFF, where everything is done after power switching
finishModeOp();
} else if (opCode == OpCodes::TO_NOT_OFF_DONE) {
// Will be called for transitions from MODE_OFF to anything else, where the mode still has
// to be commanded after power switching
AssemblyBase::startTransition(targetMode, targetSubmode);
if (dualToSingleSideTransition) {
finishModeOp();
} else {
// Will be called for transitions from MODE_OFF to anything else, where the mode still has
// to be commanded after power switching
AssemblyBase::startTransition(targetMode, targetSubmode);
}
} else if (opCode == OpCodes::TIMEOUT_OCCURED) {
if (powerRetryCounter == 0) {
powerRetryCounter++;
@ -118,6 +129,13 @@ void DualLaneAssemblyBase::handleModeReached() {
// Ignore failures for now.
pwrStateMachineWrapper();
} else {
// For dual to single side transition, devices should be logically off, but the switch
// handling still needs to be done.
if (dualToSingleSideTransition) {
pwrStateMachine.start(targetMode, targetSubmode);
pwrStateMachineWrapper();
return;
}
finishModeOp();
}
}
@ -229,6 +247,7 @@ void DualLaneAssemblyBase::finishModeOp() {
pwrStateMachine.reset();
powerRetryCounter = 0;
tryingOtherSide = false;
dualToSingleSideTransition = false;
dualModeErrorSwitch = true;
}

1
mission/system/objects/DualLaneAssemblyBase.h
View File

@ -31,6 +31,7 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
uint8_t powerRetryCounter = 0;
bool tryingOtherSide = false;
bool dualModeErrorSwitch = true;
bool dualToSingleSideTransition = false;
duallane::Submodes defaultSubmode = duallane::Submodes::A_SIDE;
enum RecoveryCustomStates {