From ee0646caf140373c6f1132718fa8f5d767120cb9 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 24 May 2023 11:04:07 +0200 Subject: [PATCH 1/3] enable IMTQ HK sets --- bsp_q7s/em/emObjectFactory.cpp | 2 +- dummies/ImtqDummy.cpp | 40 ++++++++++++++++++++++++++++++++-- dummies/ImtqDummy.h | 26 +++++++++++++++++++++- dummies/helperFactory.cpp | 6 +++-- dummies/helperFactory.h | 2 +- 5 files changed, 69 insertions(+), 7 deletions(-) diff --git a/bsp_q7s/em/emObjectFactory.cpp b/bsp_q7s/em/emObjectFactory.cpp index 36863b89..59660b86 100644 --- a/bsp_q7s/em/emObjectFactory.cpp +++ b/bsp_q7s/em/emObjectFactory.cpp @@ -79,7 +79,7 @@ void ObjectFactory::produce(void* args) { #endif satsystem::EIVE_SYSTEM.setI2cRecoveryParams(pwrSwitcher); - dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF); + dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF, enableHkSets); new CoreController(objects::CORE_CONTROLLER, enableHkSets); diff --git a/dummies/ImtqDummy.cpp b/dummies/ImtqDummy.cpp index b2f61bb3..8f8d1513 100644 --- a/dummies/ImtqDummy.cpp +++ b/dummies/ImtqDummy.cpp @@ -2,8 +2,12 @@ #include -ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie) - : DeviceHandlerBase(objectId, comif, comCookie) {} +ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie, + bool enableHkSets) + : DeviceHandlerBase(objectId, comif, comCookie), + setNoTorque(this), + setWithTorque(this), + enableHkSets(enableHkSets) {} ImtqDummy::~ImtqDummy() = default; @@ -45,5 +49,37 @@ ReturnValue_t ImtqDummy::initializeLocalDataPool(localpool::DataPool &localDataP localDataPoolMap.emplace(imtq::ACTUATION_RAW_STATUS, new PoolEntry({0})); localDataPoolMap.emplace(imtq::DIPOLES_ID, new PoolEntry({0, 0, 0})); localDataPoolMap.emplace(imtq::CURRENT_TORQUE_DURATION, new PoolEntry({0})); + + // ENG HK No Torque + localDataPoolMap.emplace(imtq::DIGITAL_VOLTAGE_MV, new PoolEntry({0})); + localDataPoolMap.emplace(imtq::ANALOG_VOLTAGE_MV, new PoolEntry({0})); + localDataPoolMap.emplace(imtq::DIGITAL_CURRENT, new PoolEntry({0})); + localDataPoolMap.emplace(imtq::ANALOG_CURRENT, new PoolEntry({0})); + localDataPoolMap.emplace(imtq::COIL_CURRENTS, &coilCurrentsMilliampsNoTorque); + localDataPoolMap.emplace(imtq::COIL_TEMPERATURES, &coilTempsNoTorque); + localDataPoolMap.emplace(imtq::MCU_TEMPERATURE, new PoolEntry({0})); + + // ENG HK With Torque + localDataPoolMap.emplace(imtq::DIGITAL_VOLTAGE_MV_WT, new PoolEntry({0})); + localDataPoolMap.emplace(imtq::ANALOG_VOLTAGE_MV_WT, new PoolEntry({0})); + localDataPoolMap.emplace(imtq::DIGITAL_CURRENT_WT, new PoolEntry({0})); + localDataPoolMap.emplace(imtq::ANALOG_CURRENT_WT, new PoolEntry({0})); + localDataPoolMap.emplace(imtq::COIL_CURRENTS_WT, &coilCurrentsMilliampsWithTorque); + localDataPoolMap.emplace(imtq::COIL_TEMPERATURES_WT, &coilTempsWithTorque); + localDataPoolMap.emplace(imtq::MCU_TEMPERATURE_WT, new PoolEntry({0})); + + poolManager.subscribeForDiagPeriodicPacket( + subdp::DiagnosticsHkPeriodicParams(setNoTorque.getSid(), enableHkSets, 30.0)); + poolManager.subscribeForDiagPeriodicPacket( + subdp::DiagnosticsHkPeriodicParams(setWithTorque.getSid(), enableHkSets, 30.0)); return DeviceHandlerBase::initializeLocalDataPool(localDataPoolMap, poolManager); } + +LocalPoolDataSetBase *ImtqDummy::getDataSetHandle(sid_t sid) { + if (sid == setNoTorque.getSid()) { + return &setNoTorque; + } else if (sid == setWithTorque.getSid()) { + return &setWithTorque; + } + return nullptr; +} diff --git a/dummies/ImtqDummy.h b/dummies/ImtqDummy.h index 0cfdf518..5a1de175 100644 --- a/dummies/ImtqDummy.h +++ b/dummies/ImtqDummy.h @@ -3,6 +3,8 @@ #include +#include "mission/acs/imtqHelpers.h" + class ImtqDummy : public DeviceHandlerBase { public: static const DeviceCommandId_t SIMPLE_COMMAND = 1; @@ -11,10 +13,31 @@ class ImtqDummy : public DeviceHandlerBase { static const uint8_t SIMPLE_COMMAND_DATA = 1; static const uint8_t PERIODIC_REPLY_DATA = 2; - ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie); + ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie, bool enableHkSets); ~ImtqDummy() override; protected: + imtq::HkDatasetNoTorque setNoTorque; + imtq::HkDatasetWithTorque setWithTorque; + bool enableHkSets; + + PoolEntry statusMode = PoolEntry({0}); + PoolEntry statusError = PoolEntry({0}); + PoolEntry statusConfig = PoolEntry({0}); + PoolEntry statusUptime = PoolEntry({0}); + + PoolEntry mgmCalEntry = PoolEntry(3); + PoolEntry dipolesPoolEntry = PoolEntry({0, 0, 0}, false); + PoolEntry torqueDurationEntry = PoolEntry({0}, false); + PoolEntry coilCurrentsMilliampsNoTorque = PoolEntry(3); + PoolEntry coilCurrentsMilliampsWithTorque = PoolEntry(3); + PoolEntry coilTempsNoTorque = PoolEntry(3); + PoolEntry coilTempsWithTorque = PoolEntry(3); + PoolEntry mtmRawNoTorque = PoolEntry(3); + PoolEntry actStatusNoTorque = PoolEntry(1); + PoolEntry mtmRawWithTorque = PoolEntry(3); + PoolEntry actStatusWithTorque = PoolEntry(1); + void doStartUp() override; void doShutDown() override; ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override; @@ -28,6 +51,7 @@ class ImtqDummy : public DeviceHandlerBase { uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override; ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) override; + LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override; }; #endif /* DUMMIES_IMTQDUMMY_H_ */ diff --git a/dummies/helperFactory.cpp b/dummies/helperFactory.cpp index d7fdafbd..90a50160 100644 --- a/dummies/helperFactory.cpp +++ b/dummies/helperFactory.cpp @@ -42,7 +42,8 @@ #include "mission/system/tree/payloadModeTree.h" #include "mission/tcs/defs.h" -void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF) { +void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF, + bool enableHkSets) { new ComIFDummy(objects::DUMMY_COM_IF); auto* comCookieDummy = new ComCookieDummy(); if (cfg.addBpxBattDummy) { @@ -74,7 +75,8 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio } auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY); imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM); - auto* imtqDummy = new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy); + auto* imtqDummy = + new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy, enableHkSets); imtqDummy->enableThermalModule(ThermalStateCfg()); imtqDummy->connectModeTreeParent(*imtqAssy); if (cfg.addOnlyAcuDummy) { diff --git a/dummies/helperFactory.h b/dummies/helperFactory.h index e3809404..467cb172 100644 --- a/dummies/helperFactory.h +++ b/dummies/helperFactory.h @@ -22,6 +22,6 @@ struct DummyCfg { bool addCamSwitcherDummy = true; }; -void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch, GpioIF* gpioIF); +void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch, GpioIF* gpioIF, bool enableHkSets); } // namespace dummy -- 2.43.0 From b899bad0a81c30de37951c3b2ed85011ea756f4a Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 24 May 2023 11:17:00 +0200 Subject: [PATCH 2/3] IMTQ HK sets --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index cda8e93b..56943595 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -52,6 +52,7 @@ will consitute of a breaking change warranting a new major release: - Add the remaining system modes. - PLOC MPSoC flash read command working. - BPX battery handler is added for EM by default. +- IMTQ HK sets ## Fixed -- 2.43.0 From 31e24e297ff6baf5d4683bbf67951938fcf6f470 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 24 May 2023 11:53:07 +0200 Subject: [PATCH 3/3] fix host SW --- bsp_hosted/ObjectFactory.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/bsp_hosted/ObjectFactory.cpp b/bsp_hosted/ObjectFactory.cpp index 018d0e56..dd88d552 100644 --- a/bsp_hosted/ObjectFactory.cpp +++ b/bsp_hosted/ObjectFactory.cpp @@ -62,6 +62,10 @@ void ObjectFactory::produce(void* args) { StorageManagerIF* tmStore; StorageManagerIF* ipcStore; PersistentTmStores persistentStores; + bool enableHkSets = false; +#if OBSW_ENABLE_PERIODIC_HK == 1 + enableHkSets = true; +#endif auto sdcMan = new DummySdCardManager("/tmp"); ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel, *sdcMan, &ipcStore, &tmStore, persistentStores, 120); @@ -101,7 +105,7 @@ void ObjectFactory::produce(void* args) { #endif dummy::DummyCfg cfg; - dummy::createDummies(cfg, *dummySwitcher, dummyGpioIF); + dummy::createDummies(cfg, *dummySwitcher, dummyGpioIF, enableHkSets); HeaterHandler* heaterHandler = nullptr; // new ThermalController(objects::THERMAL_CONTROLLER); -- 2.43.0