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sus-vector-fix-new-v3.1.1 #690

Merged
muellerr merged 17 commits from sus-vector-fix-new-v3.1.1 into main 2023-06-20 18:26:22 +02:00
Conversation 0 Commits 17 Files Changed 10 +83 -39
14 changed files with 83 additions and 39 deletions
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18
README.md
View File

@ -99,11 +99,21 @@ When using Windows, run theses steps in MSYS2.
git submodule update --init
```
3. Ensure that the cross-compiler is working with `arm-linux-gnueabihf-gcc --version` and that
3. Create two system variables to pass the system root path and the cross-compiler path to the
build system. You only need to do this once when setting up the build system.
Example for Unix:
```sh
export CROSS_COMPILE_BIN_PATH=<absolutePathToCrossCompilerBinPath>
export ZYNQ_7020_SYSROOT=<absolutePathToSysroot>
```
4. Ensure that the cross-compiler is working with
`${CROSS_COMPILE_BIN_PATH}/arm-linux-gnueabihf-gcc --version` and that
the sysroot environmental variables have been set like specified in the
[root filesystem chapter](#sysroot).
4. Run the CMake configuration to create the build system in a `build-Debug-Q7S` folder.
5. Run the CMake configuration to create the build system in a `build-Debug-Q7S` folder.
Add `-G "MinGW Makefiles` in MinGW64 on Windows.
```sh
@ -112,7 +122,7 @@ When using Windows, run theses steps in MSYS2.
cmake --build . -j
```
You can also use provided shell scripts to perform these commands.
Please note that you can also use provided shell scripts to perform these commands.
```sh
cp scripts/q7s-env.sh ..
cp scripts/q7s-env-em.sh ..
@ -144,7 +154,7 @@ When using Windows, run theses steps in MSYS2.
There are also different values for `-DTGT_BSP` to build for the Raspberry Pi
or the Beagle Bone Black: `arm/raspberrypi` and `arm/beagleboneblack`.
5. Build the software with
6. Build the software with
```sh
cd cmake-build-debug-q7s

2
bsp_q7s/core/ObjectFactory.cpp
View File

@ -816,7 +816,7 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
// Core task which handles the HK store and takes care of dumping it as TM using a VC directly
auto* hkStore = new PersistentSingleTmStoreTask(
objects::HK_STORE_AND_TM_TASK, args.ipcStore, *args.stores.hkStore, *vc,
persTmStore::DUMP_HK_STORE_DONE, persTmStore::DUMP_HK_STORE_DONE, *SdCardManager::instance(),
persTmStore::DUMP_HK_STORE_DONE, persTmStore::DUMP_HK_CANCELLED, *SdCardManager::instance(),
PTME_LOCKED);
hkStore->connectModeTreeParent(satsystem::com::SUBSYSTEM);

4
cmake/Zynq7020CrossCompileConfig.cmake
View File

@ -40,8 +40,8 @@ set(CROSS_COMPILE_OBJCOPY "${CROSS_COMPILE}-objcopy")
set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size")
# At the very least, cross compile gcc and g++ have to be set!
find_program (CMAKE_C_COMPILER ${CROSS_COMPILE_CC} REQUIRED)
find_program (CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX} REQUIRED)
find_program (CMAKE_C_COMPILER ${CROSS_COMPILE_CC} HINTS $ENV{CROSS_COMPILE_BIN_PATH} REQUIRED)
find_program (CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX} HINTS $ENV{CROSS_COMPILE_BIN_PATH} REQUIRED)
# Useful utilities, not strictly necessary
find_program(CMAKE_SIZE ${CROSS_COMPILE_SIZE})
find_program(CMAKE_OBJCOPY ${CROSS_COMPILE_OBJCOPY})

13
mission/acs/str/StarTrackerHandler.cpp
View File

@ -99,6 +99,19 @@ void StarTrackerHandler::doShutDown() {
startupState = StartupState::IDLE;
bootState = FwBootState::NONE;
solutionSet.setReportingEnabled(false);
{
PoolReadGuard pg(&solutionSet);
solutionSet.caliQw.value = 0.0;
solutionSet.caliQx.value = 0.0;
solutionSet.caliQy.value = 0.0;
solutionSet.caliQz.value = 0.0;
solutionSet.isTrustWorthy.value = 0;
solutionSet.setValidity(false, true);
}
{
PoolReadGuard pg(&temperatureSet);
temperatureSet.setValidity(false, true);
}
reinitNextSetParam = false;
setMode(_MODE_POWER_DOWN);
}

37
mission/controller/ThermalController.cpp
View File

@ -175,7 +175,7 @@ void ThermalController::performControlOperation() {
heaterHandler.getAllSwitchStates(heaterSwitchStateArray);
{
PoolReadGuard pg(&heaterInfo);
std::memcpy(heaterInfo.heaterSwitchState.value, heaterStates.data(), 8);
std::memcpy(heaterInfo.heaterSwitchState.value, heaterSwitchStateArray.data(), 8);
{
PoolReadGuard pg2(&currentVecPdu2);
if (pg.getReadResult() == returnvalue::OK and pg2.getReadResult() == returnvalue::OK) {
@ -1002,7 +1002,7 @@ void ThermalController::copyDevices() {
void ThermalController::ctrlAcsBoard() {
heater::Switch switchNr = heater::HEATER_2_ACS_BRD;
heater::Switch redSwitchNr = heater::HEATER_0_OBC_BRD;
heater::Switch redSwitchNr = heater::HEATER_3_OBC_BRD;
// A side
thermalComponent = ACS_BOARD;
@ -1067,7 +1067,7 @@ void ThermalController::ctrlMgt() {
sensors[2].first = sensorTemperatures.plpcduHeatspreader.isValid();
sensors[2].second = sensorTemperatures.plpcduHeatspreader.value;
numSensors = 3;
HeaterContext htrCtx(heater::HEATER_2_ACS_BRD, heater::HEATER_3_PCDU_PDU, mgtLimits);
HeaterContext htrCtx(heater::HEATER_2_ACS_BRD, heater::HEATER_1_PCDU_PDU, mgtLimits);
ctrlComponentTemperature(htrCtx);
if (componentAboveUpperLimit and not mgtTooHotFlag) {
triggerEvent(tcsCtrl::MGT_OVERHEATING, tempFloatToU32());
@ -1206,7 +1206,7 @@ void ThermalController::ctrlIfBoard() {
sensors[2].first = deviceTemperatures.mgm2SideB.isValid();
sensors[2].second = deviceTemperatures.mgm2SideB.value;
numSensors = 3;
HeaterContext htrCtx(heater::HEATER_2_ACS_BRD, heater::HEATER_3_PCDU_PDU, ifBoardLimits);
HeaterContext htrCtx(heater::HEATER_2_ACS_BRD, heater::HEATER_1_PCDU_PDU, ifBoardLimits);
ctrlComponentTemperature(htrCtx);
// TODO: special event overheating + could go back to safe mode
}
@ -1220,7 +1220,7 @@ void ThermalController::ctrlTcsBoard() {
sensors[2].first = sensorTemperatures.tmp1075Tcs1.isValid();
sensors[2].second = sensorTemperatures.tmp1075Tcs1.value;
numSensors = 3;
HeaterContext htrCtx(heater::HEATER_0_OBC_BRD, heater::HEATER_2_ACS_BRD, tcsBoardLimits);
HeaterContext htrCtx(heater::HEATER_3_OBC_BRD, heater::HEATER_2_ACS_BRD, tcsBoardLimits);
ctrlComponentTemperature(htrCtx);
// TODO: special event overheating + could go back to safe mode
}
@ -1234,7 +1234,7 @@ void ThermalController::ctrlObc() {
sensors[2].first = sensorTemperatures.tmp1075Tcs0.isValid();
sensors[2].second = sensorTemperatures.tmp1075Tcs0.value;
numSensors = 3;
HeaterContext htrCtx(heater::HEATER_0_OBC_BRD, heater::HEATER_2_ACS_BRD, obcLimits);
HeaterContext htrCtx(heater::HEATER_3_OBC_BRD, heater::HEATER_2_ACS_BRD, obcLimits);
ctrlComponentTemperature(htrCtx);
if (componentAboveUpperLimit and not obcTooHotFlag) {
triggerEvent(tcsCtrl::OBC_OVERHEATING, tempFloatToU32());
@ -1253,7 +1253,7 @@ void ThermalController::ctrlObcIfBoard() {
sensors[2].first = sensorTemperatures.tmp1075Tcs1.isValid();
sensors[2].second = sensorTemperatures.tmp1075Tcs1.value;
numSensors = 3;
HeaterContext htrCtx(heater::HEATER_0_OBC_BRD, heater::HEATER_2_ACS_BRD, obcIfBoardLimits);
HeaterContext htrCtx(heater::HEATER_3_OBC_BRD, heater::HEATER_2_ACS_BRD, obcIfBoardLimits);
ctrlComponentTemperature(htrCtx);
if (componentAboveUpperLimit and not obcTooHotFlag) {
triggerEvent(tcsCtrl::OBC_OVERHEATING, tempFloatToU32());
@ -1288,7 +1288,7 @@ void ThermalController::ctrlPcduP60Board() {
sensors[1].first = deviceTemperatures.temp2P60dock.isValid();
sensors[1].second = deviceTemperatures.temp2P60dock.value;
numSensors = 2;
HeaterContext htrCtx(heater::HEATER_3_PCDU_PDU, heater::HEATER_2_ACS_BRD, pcduP60BoardLimits);
HeaterContext htrCtx(heater::HEATER_1_PCDU_PDU, heater::HEATER_2_ACS_BRD, pcduP60BoardLimits);
ctrlComponentTemperature(htrCtx);
if (componentAboveUpperLimit and not pcduSystemTooHotFlag) {
triggerEvent(tcsCtrl::PCDU_SYSTEM_OVERHEATING, tempFloatToU32());
@ -1300,7 +1300,7 @@ void ThermalController::ctrlPcduP60Board() {
void ThermalController::ctrlPcduAcu() {
thermalComponent = PCDUACU;
heater::Switch switchNr = heater::HEATER_3_PCDU_PDU;
heater::Switch switchNr = heater::HEATER_1_PCDU_PDU;
heater::Switch redSwitchNr = heater::HEATER_2_ACS_BRD;
if (chooseHeater(switchNr, redSwitchNr)) {
@ -1340,7 +1340,7 @@ void ThermalController::ctrlPcduPdu() {
sensors[2].first = sensorTemperatures.tmp1075Tcs0.isValid();
sensors[2].second = sensorTemperatures.tmp1075Tcs0.value;
numSensors = 3;
HeaterContext htrCtx(heater::HEATER_3_PCDU_PDU, heater::HEATER_2_ACS_BRD, pcduPduLimits);
HeaterContext htrCtx(heater::HEATER_1_PCDU_PDU, heater::HEATER_2_ACS_BRD, pcduPduLimits);
ctrlComponentTemperature(htrCtx);
if (componentAboveUpperLimit and not pcduSystemTooHotFlag) {
triggerEvent(tcsCtrl::PCDU_SYSTEM_OVERHEATING, tempFloatToU32());
@ -1361,7 +1361,7 @@ void ThermalController::ctrlPlPcduBoard() {
sensors[3].first = sensorTemperatures.plpcduHeatspreader.isValid();
sensors[3].second = sensorTemperatures.plpcduHeatspreader.value;
numSensors = 4;
HeaterContext htrCtx(heater::HEATER_3_PCDU_PDU, heater::HEATER_2_ACS_BRD, plPcduBoardLimits);
HeaterContext htrCtx(heater::HEATER_1_PCDU_PDU, heater::HEATER_2_ACS_BRD, plPcduBoardLimits);
ctrlComponentTemperature(htrCtx);
tooHotHandler(objects::PLPCDU_HANDLER, eBandTooHotFlag);
}
@ -1375,7 +1375,7 @@ void ThermalController::ctrlPlocMissionBoard() {
sensors[2].first = sensorTemperatures.dacHeatspreader.isValid();
sensors[2].second = sensorTemperatures.dacHeatspreader.value;
numSensors = 3;
HeaterContext htrCtx(heater::HEATER_1_PLOC_PROC_BRD, heater::HEATER_0_OBC_BRD,
HeaterContext htrCtx(heater::HEATER_0_PLOC_PROC_BRD, heater::HEATER_3_OBC_BRD,
plocMissionBoardLimits);
ctrlComponentTemperature(htrCtx);
tooHotHandler(objects::PLOC_SUPERVISOR_HANDLER, plocTooHotFlag);
@ -1390,7 +1390,7 @@ void ThermalController::ctrlPlocProcessingBoard() {
sensors[2].first = sensorTemperatures.dacHeatspreader.isValid();
sensors[2].second = sensorTemperatures.dacHeatspreader.value;
numSensors = 3;
HeaterContext htrCtx(heater::HEATER_1_PLOC_PROC_BRD, heater::HEATER_0_OBC_BRD,
HeaterContext htrCtx(heater::HEATER_0_PLOC_PROC_BRD, heater::HEATER_3_OBC_BRD,
plocProcessingBoardLimits);
ctrlComponentTemperature(htrCtx);
tooHotHandler(objects::PLOC_SUPERVISOR_HANDLER, plocTooHotFlag);
@ -1405,7 +1405,7 @@ void ThermalController::ctrlDac() {
sensors[2].first = sensorTemperatures.plocHeatspreader.isValid();
sensors[2].second = sensorTemperatures.plocHeatspreader.value;
numSensors = 3;
HeaterContext htrCtx(heater::HEATER_1_PLOC_PROC_BRD, heater::HEATER_0_OBC_BRD, dacLimits);
HeaterContext htrCtx(heater::HEATER_0_PLOC_PROC_BRD, heater::HEATER_3_OBC_BRD, dacLimits);
ctrlComponentTemperature(htrCtx);
tooHotHandler(objects::PLPCDU_HANDLER, eBandTooHotFlag);
}
@ -1631,14 +1631,19 @@ bool ThermalController::selectAndReadSensorTemp(HeaterContext& htrCtx) {
bool ThermalController::chooseHeater(heater::Switch& switchNr, heater::Switch redSwitchNr) {
bool heaterAvailable = true;
if (heaterHandler.getHealth(switchNr) != HasHealthIF::HEALTHY) {
if (heaterHandler.getHealth(redSwitchNr) == HasHealthIF::HEALTHY) {
HasHealthIF::HealthState mainHealth = heaterHandler.getHealth(switchNr);
HasHealthIF::HealthState redHealth = heaterHandler.getHealth(redSwitchNr);
if (mainHealth != HasHealthIF::HEALTHY) {
if (redHealth == HasHealthIF::HEALTHY) {
switchNr = redSwitchNr;
redSwitchNrInUse = true;
} else {
heaterAvailable = false;
// Special case: Ground might command/do something with the heaters, so prevent spam.
if (not(mainHealth == EXTERNAL_CONTROL and redHealth == EXTERNAL_CONTROL)) {
triggerEvent(tcsCtrl::NO_HEALTHY_HEATER_AVAILABLE, switchNr, redSwitchNr);
}
}
} else {
redSwitchNrInUse = false;
}

6
mission/power/BpxBatteryHandler.cpp
View File

@ -1,4 +1,5 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <mission/power/BpxBatteryHandler.h>
BpxBatteryHandler::BpxBatteryHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
@ -51,6 +52,9 @@ void BpxBatteryHandler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(bpxBat::RESET_COUNTERS, 1, nullptr, EMPTY_REPLY_LEN);
insertInCommandAndReplyMap(bpxBat::CONFIG_CMD, 1, nullptr, EMPTY_REPLY_LEN);
insertInCommandAndReplyMap(bpxBat::CONFIG_GET, 1, &cfgSet, CONFIG_GET_REPLY_LEN);
insertInCommandAndReplyMap(bpxBat::CONFIG_SET, 1, nullptr, EMPTY_REPLY_LEN);
insertInCommandAndReplyMap(bpxBat::MAN_HEAT_ON, 1, nullptr, MAN_HEAT_REPLY_LEN);
insertInCommandAndReplyMap(bpxBat::MAN_HEAT_OFF, 1, nullptr, MAN_HEAT_REPLY_LEN);
}
ReturnValue_t BpxBatteryHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
@ -155,7 +159,7 @@ ReturnValue_t BpxBatteryHandler::scanForReply(const uint8_t* start, size_t remai
case (bpxBat::PING):
case (bpxBat::MAN_HEAT_ON):
case (bpxBat::MAN_HEAT_OFF): {
if (remainingSize != PING_REPLY_LEN) {
if (remainingSize != MAN_HEAT_REPLY_LEN) {
return DeviceHandlerIF::LENGTH_MISSMATCH;
}
break;

2
mission/power/bpxBattDefs.h
View File

@ -48,6 +48,7 @@ static constexpr uint32_t CFG_SET_ID = CONFIG_GET;
static constexpr size_t GET_HK_REPLY_LEN = 23;
static constexpr size_t PING_REPLY_LEN = 3;
static constexpr size_t EMPTY_REPLY_LEN = 2;
static constexpr size_t MAN_HEAT_REPLY_LEN = 3;
static constexpr size_t CONFIG_GET_REPLY_LEN = 5;
static constexpr uint8_t PORT_PING = 1;
@ -219,6 +220,7 @@ class BpxBatteryCfg : public StaticLocalDataSet<bpxBat::CFG_ENTRIES> {
if (size < 3) {
return SerializeIF::STREAM_TOO_SHORT;
}
battheatermode.value = data[0];
battheaterLow.value = data[1];
battheaterHigh.value = data[2];

9
mission/system/acs/DualLaneAssemblyBase.cpp
View File

@ -183,11 +183,11 @@ void DualLaneAssemblyBase::handleModeTransitionFailed(ReturnValue_t result) {
// transition to dual mode.
if (not tryingOtherSide) {
triggerEvent(CANT_KEEP_MODE, mode, submode);
startTransition(mode, nextSubmode);
startTransition(targetMode, nextSubmode);
tryingOtherSide = true;
} else {
triggerEvent(transitionOtherSideFailedEvent, mode, targetSubmode);
startTransition(mode, Submodes::DUAL_MODE);
triggerEvent(transitionOtherSideFailedEvent, targetMode, targetSubmode);
startTransition(targetMode, Submodes::DUAL_MODE);
}
}
@ -205,7 +205,8 @@ bool DualLaneAssemblyBase::checkAndHandleRecovery() {
opCode = pwrStateMachine.fsm();
if (opCode == OpCodes::TO_OFF_DONE or opCode == OpCodes::TIMEOUT_OCCURED) {
customRecoveryStates = RecoveryCustomStates::POWER_SWITCHING_ON;
pwrStateMachine.start(targetMode, targetSubmode);
// Command power back on in any case.
pwrStateMachine.start(HasModesIF::MODE_ON, targetSubmode);
}
}
if (customRecoveryStates == POWER_SWITCHING_ON) {

4
mission/tcs/HeaterHandler.cpp
View File

@ -268,6 +268,8 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switch heaterIdx) {
triggerEvent(GPIO_PULL_HIGH_FAILED, result);
} else {
triggerEvent(HEATER_WENT_ON, heaterIdx, 0);
EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
MODE_ON, 0);
{
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
heater.switchState = ON;
@ -324,6 +326,8 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switch heaterIdx) {
heater.switchState = OFF;
}
triggerEvent(HEATER_WENT_OFF, heaterIdx, 0);
EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
MODE_OFF, 0);
// When all switches are off, also main line switch will be turned off
if (allSwitchesOff()) {
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);

7
mission/tcs/Tmp1075Handler.cpp
View File

@ -86,8 +86,11 @@ ReturnValue_t Tmp1075Handler::scanForReply(const uint8_t *start, size_t remainin
ReturnValue_t Tmp1075Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
switch (id) {
case TMP1075::GET_TEMP: {
int16_t tempValueRaw = 0;
tempValueRaw = packet[0] << 4 | packet[1] >> 4;
// Convert 12 bit MSB first raw temperature to 16 bit first.
int16_t tempValueRaw = static_cast<uint16_t>((packet[0] << 8) | packet[1]) >> 4;
// Sign extension to 16 bits: If the sign bit is set, fill up with ones on the left.
tempValueRaw = (packet[0] & 0x80) ? (tempValueRaw | 0xF000) : tempValueRaw;
// 0.0625 is the sensor sensitivity.
float tempValue = ((static_cast<float>(tempValueRaw)) * 0.0625);
#if OBSW_DEBUG_TMP1075 == 1
sif::info << "Tmp1075 with object id: 0x" << std::hex << getObjectId()

6
mission/tcs/defs.h
View File

@ -5,10 +5,10 @@
namespace heater {
enum Switch : uint8_t {
HEATER_0_OBC_BRD,
HEATER_1_PLOC_PROC_BRD,
HEATER_0_PLOC_PROC_BRD,
HEATER_1_PCDU_PDU,
HEATER_2_ACS_BRD,
HEATER_3_PCDU_PDU,
HEATER_3_OBC_BRD,
HEATER_4_CAMERA,
HEATER_5_STR,
HEATER_6_DRO,

4
q7s-env-em.sh
View File

@ -4,10 +4,10 @@
# custom cross-compiler and sysroot path setups
# Adapt the following two entries to your need
CROSS_COMPILE_BIN_PATH="/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
export CROSS_COMPILE_BIN_PATH="/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
export ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"
export PATH=$PATH:${CROSS_COMPILE_BIN_PATH}
export PATH=${CROSS_COMPILE_BIN_PATH}:$PATH
export CROSS_COMPILE="arm-linux-gnueabihf"
export EIVE_Q7S_EM=1

4
q7s-env.sh
View File

@ -4,10 +4,10 @@
# custom cross-compiler and sysroot path setups
# Adapt the following two entries to your need
CROSS_COMPILE_BIN_PATH="/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
export CROSS_COMPILE_BIN_PATH="/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
export ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"
export PATH=$PATH:${CROSS_COMPILE_BIN_PATH}
export PATH=${CROSS_COMPILE_BIN_PATH}:$PATH
export CROSS_COMPILE="arm-linux-gnueabihf"
# export EIVE_Q7S_EM=1

4
release_checklist.md
View File

@ -7,7 +7,9 @@ OBSW Release Checklist
2. Re-run the generators with `generators/gen.py all`
3. Re-run the auto-formatters with the `scripts/auto-formatter.sh` script
4. Verify that the Q7S, Q7S EM and Host build are working
5. Wait for CI/CD results
5. Update `CHANGELOG.md`: Add new `unreleased` section, convert old unreleased section to
header containing version number and release date.
6. Wait for CI/CD results
# Post-Release