bsp_q7s/core/CoreController.cpp

@@ -159,18 +159,18 @@ ReturnValue_t CoreController::initSdCardNonBlocking() {
             SdCardManager::Operations operation;
             SdCardManager::OpStatus status = sdcMan->checkCurrentOp(operation);
             if(status == SdCardManager::OpStatus::SUCCESS) {
-                state = SdStates::SET_STATE;
+                state = SdStates::SET_STATE_SELF;
                 commandExecuted = false;
                 sdcInitCycleCount = 0;
             }
-            else if(sdcInitCycleCount > 2) {
+            else if(sdcInitCycleCount > 4) {
                 sif::warning << "CoreController::initSdCardNonBlocking: "
                         "Updating SDC file takes too long" << std::endl;
             }
         }
     }
 
-    if(state == SdStates::SET_STATE) {
+    if(state == SdStates::SET_STATE_SELF) {
         if(not commandExecuted) {
             determinePreferredSdCard();
             statusPair = SdCardManager::SdStatusPair(sd::SdState::OFF, sd::SdState::OFF);
@@ -250,6 +250,7 @@ ReturnValue_t CoreController::initSdCardNonBlocking() {
         }
     }
 
+    sdcInitCycleCount++;
     return HasReturnvaluesIF::RETURN_OK;
 #endif /* Q7S_SD_CARD_CONFIG != Q7S_SD_NONE */
 }
@@ -290,7 +291,7 @@ ReturnValue_t CoreController::sdCardSetup(SdCardManager::SdStatusPair& statusPai
             return sdcMan->switchOnSdCard(sdCard, true, &statusPair);
         }
         else {
-            if(state == SdStates::SET_STATE) {
+            if(state == SdStates::SET_STATE_SELF) {
                 sif::info << "Switching on SD card" << std::endl;
                 return sdcMan->switchOnSdCard(sdCard, false, &statusPair);
             }
@@ -303,7 +304,7 @@ ReturnValue_t CoreController::sdCardSetup(SdCardManager::SdStatusPair& statusPai
             return sdcMan->mountSdCard(sdCard);
         }
         else {
-            if(state == SdStates::SET_STATE) {
+            if(state == SdStates::SET_STATE_SELF) {
                 return SdCardManager::ALREADY_ON;
             }
             if(state == SdStates::MOUNT) {
@@ -379,6 +380,7 @@ ReturnValue_t CoreController::sdCardColdRedundantInit(SdCardManager* sdcMan,
         otherString = "0";
     }
 
+    if(step != SdStates::SET_STATE_OTHER) {
         result = sdCardSetup(statusPair, preferredSdCard, preferredString);
         if(result != SdCardManager::ALREADY_MOUNTED and result != HasReturnvaluesIF::RETURN_OK) {
             sif::warning << "Setting up preferred card " << otherString <<
@@ -387,17 +389,23 @@ ReturnValue_t CoreController::sdCardColdRedundantInit(SdCardManager* sdcMan,
             sdCardSetup(statusPair, preferredSdCard, preferredString);
             result = HasReturnvaluesIF::RETURN_FAILED;
         }
+    }
 
+    if(BLOCKING_SD_INIT or (not BLOCKING_SD_INIT and state == SdStates::SET_STATE_OTHER)) {
+        // Don't disable other card if enabling the first one already failed
+        // Otherwise, try to turn off the other SD card
         if(result != HasReturnvaluesIF::RETURN_FAILED and otherStatus != sd::SdState::OFF) {
             sif::info << "Switching off secondary SD card " << otherString << std::endl;
-        // Switch off other SD card in cold redundant mode if setting up preferred one walked
+            // Switch off other SD card in cold redundant mode if setting up preferred one worked
             // without issues
-        result = sdcMan->switchOffSdCard(otherSdc, otherStatus, &statusPair);
-        if(result != HasReturnvaluesIF::RETURN_OK and result != SdCardManager::ALREADY_OFF) {
+            ReturnValue_t result2 = sdcMan->switchOffSdCard(otherSdc, otherStatus, &statusPair);
+            if(result2 != HasReturnvaluesIF::RETURN_OK and result2 != SdCardManager::ALREADY_OFF) {
                 sif::warning << "Switching off secondary SD card " << otherString <<
                         " in cold redundant mode failed" << std::endl;
             }
         }
+    }
+
     return result;
 }
 

bsp_q7s/core/CoreController.h

@@ -64,12 +64,13 @@ private:
         NONE,
         START,
         GET_INFO,
-        SET_STATE,
+        SET_STATE_SELF,
+        SET_STATE_OTHER,
         MOUNT,
         UPDATE_INFO,
         DONE
     };
-    static constexpr bool BLOCKING_SD_INIT = true;
+    static constexpr bool BLOCKING_SD_INIT = false;
 
     SdCardManager* sdcMan = nullptr;
     uint16_t sdcInitCycleCount = 0;

bsp_q7s/memory/SdCardManager.cpp

@@ -386,16 +386,21 @@ SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations &currentOp) {
     currentOp = this->currentOp;
     bool bytesRead = false;
 
+#if OBSW_ENABLE_TIMERS == 1
     Timer timer;
-    timer.setTimer(200);
+    timer.setTimer(100);
     uint32_t remainingTimeMs = 0;
+#endif
     while(true) {
         ReturnValue_t result = cmdExecutor.check(bytesRead);
+        // This timer can prevent deadlocks due to missconfigurations
+#if OBSW_ENABLE_TIMERS == 1
         timer.getTimer(&remainingTimeMs);
         if(remainingTimeMs == 0) {
             sif::error << "SdCardManager::checkCurrentOp: Timeout!" << std::endl;
             return OpStatus::FAIL;
         }
+#endif
         switch(result) {
         case(CommandExecutor::BYTES_READ): {
             continue;

fsfw

@@ -1 +1 @@
-Subproject commit 6073abb12db23decbc9d69f4b6342f4f6f1247bd
+Subproject commit 3704d2b8295152652a4c7836b595223d8fa3767d

linux/fsfwconfig/OBSWConfig.h.in

@@ -22,6 +22,10 @@
 debugging. */
 #define OBSW_VERBOSE_LEVEL              1
 
+//! Timers can mess up the code when debugging
+//! TODO: Enable for mission code, disable for debug code
+#define OBSW_ENABLE_TIMERS              0
+
 #define OBSW_PRINT_MISSED_DEADLINES     1
 #define OBSW_ADD_TEST_CODE              1
 #define OBSW_ADD_TEST_PST               1