eive/eive-obsw
eive/eive-obsw
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WIP: Start impl auto switch feature #811

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muellerr wants to merge 11 commits from auto-switch-image-feature into main
pull from: auto-switch-image-feature
merge into: eive:main
Conversation 4 Commits 11 Files Changed 7 +1109 -172
34 changed files with 1109 additions and 172 deletions
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Showing only changes of commit 8e1f95ebf2 - Show all commits

38
CHANGELOG.md
View File

@ -18,15 +18,30 @@ will consitute of a breaking change warranting a new major release:
## Added
- CFDP source handler, which allows file downlink using the standardized
CFDP interface.
- Proper back pressure handling for the CFDP handler, where the `LiveTmTask` is able to throttle
the CFDP handler.
- Added a new safety mechanism where the ProASIC scratch buffer can be used to trigger an
auto-boot to another image. The auto-boot is currently implemented as a one-shot mechanism:
The key-value pair which triggers the auto-boot will be removed from the scratch buffer.
See more information [here](https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/OBC_Auto_Switch_Image)
# [v7.2.0] 2023-10-27
- `eive-tmtc` v5.10.1
## Added
- STR: Added new TM sets: Blob, Blobs, MatchedCentroids, Contrast, AutoBlob, Centroid, Centroids
- STR: Added new mechanism where the secondary TM which is polled can now be a set instead of
being temperature only. An API is exposed which allows to add a data set to that set of secondary
telemetry, reset it back to temperature only, and read the whole set. This allows more debugging
capability.
- CFDP source handler, which allows file downlink using the standardized
CFDP interface.
- Proper back pressure handling for the CFDP handler, where the `LiveTmTask` is able to throttle
the CFDP handler.
- Added CFDP fault handler events.
- The EIVE system will command the payload OFF explicitely again when receiving the
`power::POWER_LEVEL_CRITICAL` event.
## Fixed
- If the PTME is driven in a way where it fills faster than it can be emptied, the interface
@ -39,6 +54,21 @@ will consitute of a breaking change warranting a new major release:
- PL Enable set of the power controller is now set to invalid properly if the power controller
is not in normal mode.
- MPSoC debug mode.
- Possible bugfix for PL PCDU parameter JSON handling which might not have been initialized
properly from the JSON file.
## Changed
- Swapped RTD 9 (PLOC HPA Sensor) and RTD 11 (PLOC MPA Sensor) chip select definitions. It is
strongly suspected the cables for those devices were swapped during integration. This is probably
the easiest way to fix the issue without the need to tweak ground or other OBSW or controller
code.
- Added a 3 second delay in the EIVE system between commanding all PL components except the SUPV,
and the SUPV itself OFF when the power level becomes low or critical.
- SUS FDIR should now trigger less events. The finish event is now only triggered once the
SUS has been working properly for a minute again. It will then display the number of periods
during which the SUS was not working as well as the maximum amount of invalid messages.
- Updated battery internal resistance to new value
# [v7.1.0] 2023-10-11

2
CMakeLists.txt
View File

@ -10,7 +10,7 @@
cmake_minimum_required(VERSION 3.13)
set(OBSW_VERSION_MAJOR 7)
set(OBSW_VERSION_MINOR 1)
set(OBSW_VERSION_MINOR 2)
set(OBSW_VERSION_REVISION 0)
# set(CMAKE_VERBOSE TRUE)

7
bsp_hosted/fsfwconfig/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 314 translations.
* @brief Auto-generated event translation file. Contains 315 translations.
* @details
* Generated on: 2023-10-13 15:23:30
* Generated on: 2023-10-27 14:24:05
*/
#include "translateEvents.h"
@ -319,6 +319,7 @@ const char *DUMP_HK_CANCELLED_STRING = "DUMP_HK_CANCELLED";
const char *DUMP_CFDP_CANCELLED_STRING = "DUMP_CFDP_CANCELLED";
const char *TEMPERATURE_ALL_ONES_START_STRING = "TEMPERATURE_ALL_ONES_START";
const char *TEMPERATURE_ALL_ONES_RECOVERY_STRING = "TEMPERATURE_ALL_ONES_RECOVERY";
const char *FAULT_HANDLER_TRIGGERED_STRING = "FAULT_HANDLER_TRIGGERED";
const char *translateEvents(Event event) {
switch ((event & 0xFFFF)) {
@ -950,6 +951,8 @@ const char *translateEvents(Event event) {
return TEMPERATURE_ALL_ONES_START_STRING;
case (14501):
return TEMPERATURE_ALL_ONES_RECOVERY_STRING;
case (14600):
return FAULT_HANDLER_TRIGGERED_STRING;
default:
return "UNKNOWN_EVENT";
}

7
bsp_hosted/fsfwconfig/objects/translateObjects.cpp
View File

@ -1,8 +1,8 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 174 translations.
* Generated on: 2023-10-13 15:23:30
* Contains 175 translations.
* Generated on: 2023-10-27 14:24:05
*/
#include "translateObjects.h"
@ -161,6 +161,7 @@ const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
const char *CFDP_HANDLER_STRING = "CFDP_HANDLER";
const char *CFDP_DISTRIBUTOR_STRING = "CFDP_DISTRIBUTOR";
const char *CFDP_FAULT_HANDLER_STRING = "CFDP_FAULT_HANDLER";
const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
@ -493,6 +494,8 @@ const char *translateObject(object_id_t object) {
return CFDP_HANDLER_STRING;
case 0x73000206:
return CFDP_DISTRIBUTOR_STRING;
case 0x73000207:
return CFDP_FAULT_HANDLER_STRING;
case 0x73010000:
return EIVE_SYSTEM_STRING;
case 0x73010001:

6
common/config/devices/addresses.h
View File

@ -54,6 +54,9 @@ enum I2cAddress : address_t {
};
enum spiAddresses : address_t {
RTD_IC_0,
RTD_IC_1,
RTD_IC_2,
RTD_IC_3,
RTD_IC_4,
RTD_IC_5,
@ -67,9 +70,6 @@ enum spiAddresses : address_t {
RTD_IC_13,
RTD_IC_14,
RTD_IC_15,
RTD_IC_16,
RTD_IC_17,
RTD_IC_18,
RW1,
RW2,
RW3,

6
common/config/devices/gpioIds.h
View File

@ -37,6 +37,9 @@ enum gpioId_t {
TEST_ID_0,
TEST_ID_1,
RTD_IC_0,
RTD_IC_1,
RTD_IC_2,
RTD_IC_3,
RTD_IC_4,
RTD_IC_5,
@ -50,9 +53,6 @@ enum gpioId_t {
RTD_IC_13,
RTD_IC_14,
RTD_IC_15,
RTD_IC_16,
RTD_IC_17,
RTD_IC_18,
CS_SUS_0,
CS_SUS_1,

1
common/config/eive/eventSubsystemIds.h
View File

@ -41,6 +41,7 @@ enum : uint8_t {
PERSISTENT_TM_STORE = 143,
SYRLINKS_COM = 144,
SUS_HANDLER = 145,
CFDP_APP = 146,
COMMON_SUBSYSTEM_ID_END
};

1
common/config/eive/objects.h
View File

@ -166,6 +166,7 @@ enum commonObjects : uint32_t {
CFDP_TM_FUNNEL = 0x73000102,
CFDP_HANDLER = 0x73000205,
CFDP_DISTRIBUTOR = 0x73000206,
CFDP_FAULT_HANDLER = 0x73000207,
MISC_TM_STORE = 0x73020001,
OK_TM_STORE = 0x73020002,
NOT_OK_TM_STORE = 0x73020003,

3
generators/bsp_hosted_events.csv
View File

@ -312,4 +312,5 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
14313;0x37e9;DUMP_HK_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
14314;0x37ea;DUMP_CFDP_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
14500;0x38a4;TEMPERATURE_ALL_ONES_START;MEDIUM;Detected invalid values, starting invalid message counting;mission/acs/SusHandler.h
14501;0x38a5;TEMPERATURE_ALL_ONES_RECOVERY;INFO;Detected valid values again, resetting invalid message counter. P1: Invalid message counter.;mission/acs/SusHandler.h
14501;0x38a5;TEMPERATURE_ALL_ONES_RECOVERY;INFO;Detected valid values for a prolonged time again, resetting all counters. P1: Number of periods with invalid messages. P2: Maximum invalid message counter.;mission/acs/SusHandler.h
14600;0x3908;FAULT_HANDLER_TRIGGERED;LOW;P1: CFDP fault handler code. P2: CFDP condition code.;mission/cfdp/defs.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
312 14313 0x37e9 DUMP_HK_CANCELLED LOW P1: Number of dumped packets. P2: Total dumped bytes. mission/persistentTmStoreDefs.h
313 14314 0x37ea DUMP_CFDP_CANCELLED LOW P1: Number of dumped packets. P2: Total dumped bytes. mission/persistentTmStoreDefs.h
314 14500 0x38a4 TEMPERATURE_ALL_ONES_START MEDIUM Detected invalid values, starting invalid message counting mission/acs/SusHandler.h
315 14501 0x38a5 TEMPERATURE_ALL_ONES_RECOVERY INFO Detected valid values for a prolonged time again, resetting all counters. P1: Number of periods with invalid messages. P2: Maximum invalid message counter. mission/acs/SusHandler.h
316 14600 0x3908 FAULT_HANDLER_TRIGGERED LOW P1: CFDP fault handler code. P2: CFDP condition code. mission/cfdp/defs.h

1
generators/bsp_hosted_objects.csv
View File

@ -153,6 +153,7 @@
0x73000102;CFDP_TM_FUNNEL
0x73000205;CFDP_HANDLER
0x73000206;CFDP_DISTRIBUTOR
0x73000207;CFDP_FAULT_HANDLER
0x73010000;EIVE_SYSTEM
0x73010001;ACS_SUBSYSTEM
0x73010002;PL_SUBSYSTEM

1 0x42694269 TEST_TASK
153 0x73000102 CFDP_TM_FUNNEL
154 0x73000205 CFDP_HANDLER
155 0x73000206 CFDP_DISTRIBUTOR
156 0x73000207 CFDP_FAULT_HANDLER
157 0x73000207 0x73010000 CFDP_FAULT_HANDLER EIVE_SYSTEM
158 0x73010000 0x73010001 EIVE_SYSTEM ACS_SUBSYSTEM
159 0x73010001 0x73010002 ACS_SUBSYSTEM PL_SUBSYSTEM

1
generators/bsp_hosted_subsystems.csv
View File

@ -61,3 +61,4 @@
143;PERSISTENT_TM_STORE
144;SYRLINKS_COM
145;SUS_HANDLER
146;CFDP_APP

1 22 MEMORY
61 143 PERSISTENT_TM_STORE
62 144 SYRLINKS_COM
63 145 SUS_HANDLER
64 146 CFDP_APP

3
generators/bsp_q7s_events.csv
View File

@ -312,4 +312,5 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
14313;0x37e9;DUMP_HK_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
14314;0x37ea;DUMP_CFDP_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
14500;0x38a4;TEMPERATURE_ALL_ONES_START;MEDIUM;Detected invalid values, starting invalid message counting;mission/acs/SusHandler.h
14501;0x38a5;TEMPERATURE_ALL_ONES_RECOVERY;INFO;Detected valid values again, resetting invalid message counter. P1: Invalid message counter.;mission/acs/SusHandler.h
14501;0x38a5;TEMPERATURE_ALL_ONES_RECOVERY;INFO;Detected valid values for a prolonged time again, resetting all counters. P1: Number of periods with invalid messages. P2: Maximum invalid message counter.;mission/acs/SusHandler.h
14600;0x3908;FAULT_HANDLER_TRIGGERED;LOW;P1: CFDP fault handler code. P2: CFDP condition code.;mission/cfdp/defs.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
312 14313 0x37e9 DUMP_HK_CANCELLED LOW P1: Number of dumped packets. P2: Total dumped bytes. mission/persistentTmStoreDefs.h
313 14314 0x37ea DUMP_CFDP_CANCELLED LOW P1: Number of dumped packets. P2: Total dumped bytes. mission/persistentTmStoreDefs.h
314 14500 0x38a4 TEMPERATURE_ALL_ONES_START MEDIUM Detected invalid values, starting invalid message counting mission/acs/SusHandler.h
315 14501 0x38a5 TEMPERATURE_ALL_ONES_RECOVERY INFO Detected valid values for a prolonged time again, resetting all counters. P1: Number of periods with invalid messages. P2: Maximum invalid message counter. mission/acs/SusHandler.h
316 14600 0x3908 FAULT_HANDLER_TRIGGERED LOW P1: CFDP fault handler code. P2: CFDP condition code. mission/cfdp/defs.h

1
generators/bsp_q7s_objects.csv
View File

@ -158,6 +158,7 @@
0x73000102;CFDP_TM_FUNNEL
0x73000205;CFDP_HANDLER
0x73000206;CFDP_DISTRIBUTOR
0x73000207;CFDP_FAULT_HANDLER
0x73010000;EIVE_SYSTEM
0x73010001;ACS_SUBSYSTEM
0x73010002;PL_SUBSYSTEM

1 0x00005060 P60DOCK_TEST_TASK
158 0x73000102 CFDP_TM_FUNNEL
159 0x73000205 CFDP_HANDLER
160 0x73000206 CFDP_DISTRIBUTOR
161 0x73000207 CFDP_FAULT_HANDLER
162 0x73000207 0x73010000 CFDP_FAULT_HANDLER EIVE_SYSTEM
163 0x73010000 0x73010001 EIVE_SYSTEM ACS_SUBSYSTEM
164 0x73010001 0x73010002 ACS_SUBSYSTEM PL_SUBSYSTEM

1
generators/bsp_q7s_subsystems.csv
View File

@ -61,3 +61,4 @@
143;PERSISTENT_TM_STORE
144;SYRLINKS_COM
145;SUS_HANDLER
146;CFDP_APP

1 22 MEMORY
61 143 PERSISTENT_TM_STORE
62 144 SYRLINKS_COM
63 145 SUS_HANDLER
64 146 CFDP_APP

7
generators/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 314 translations.
* @brief Auto-generated event translation file. Contains 315 translations.
* @details
* Generated on: 2023-10-13 15:23:30
* Generated on: 2023-10-27 14:24:05
*/
#include "translateEvents.h"
@ -319,6 +319,7 @@ const char *DUMP_HK_CANCELLED_STRING = "DUMP_HK_CANCELLED";
const char *DUMP_CFDP_CANCELLED_STRING = "DUMP_CFDP_CANCELLED";
const char *TEMPERATURE_ALL_ONES_START_STRING = "TEMPERATURE_ALL_ONES_START";
const char *TEMPERATURE_ALL_ONES_RECOVERY_STRING = "TEMPERATURE_ALL_ONES_RECOVERY";
const char *FAULT_HANDLER_TRIGGERED_STRING = "FAULT_HANDLER_TRIGGERED";
const char *translateEvents(Event event) {
switch ((event & 0xFFFF)) {
@ -950,6 +951,8 @@ const char *translateEvents(Event event) {
return TEMPERATURE_ALL_ONES_START_STRING;
case (14501):
return TEMPERATURE_ALL_ONES_RECOVERY_STRING;
case (14600):
return FAULT_HANDLER_TRIGGERED_STRING;
default:
return "UNKNOWN_EVENT";
}

7
generators/objects/translateObjects.cpp
View File

@ -1,8 +1,8 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 178 translations.
* Generated on: 2023-10-13 15:23:30
* Contains 179 translations.
* Generated on: 2023-10-27 14:24:05
*/
#include "translateObjects.h"
@ -166,6 +166,7 @@ const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
const char *CFDP_HANDLER_STRING = "CFDP_HANDLER";
const char *CFDP_DISTRIBUTOR_STRING = "CFDP_DISTRIBUTOR";
const char *CFDP_FAULT_HANDLER_STRING = "CFDP_FAULT_HANDLER";
const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
@ -507,6 +508,8 @@ const char *translateObject(object_id_t object) {
return CFDP_HANDLER_STRING;
case 0x73000206:
return CFDP_DISTRIBUTOR_STRING;
case 0x73000207:
return CFDP_FAULT_HANDLER_STRING;
case 0x73010000:
return EIVE_SYSTEM_STRING;
case 0x73010001:

46
linux/ObjectFactory.cpp
View File

@ -206,74 +206,78 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_3, gpioRtdIc0);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_0, gpioRtdIc0);
GpioCallback* gpioRtdIc1 = new GpioCallback("Chip select RTD IC1", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_4, gpioRtdIc1);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_1, gpioRtdIc1);
GpioCallback* gpioRtdIc2 = new GpioCallback("Chip select RTD IC2", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_5, gpioRtdIc2);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_2, gpioRtdIc2);
GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_6, gpioRtdIc3);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_3, gpioRtdIc3);
GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_7, gpioRtdIc4);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_4, gpioRtdIc4);
GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_8, gpioRtdIc5);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_5, gpioRtdIc5);
GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_9, gpioRtdIc6);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_6, gpioRtdIc6);
GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_10, gpioRtdIc7);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_7, gpioRtdIc7);
GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_11, gpioRtdIc8);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_8, gpioRtdIc8);
GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_12, gpioRtdIc9);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_9, gpioRtdIc9);
GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_13, gpioRtdIc10);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_10, gpioRtdIc10);
GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_14, gpioRtdIc11);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_11, gpioRtdIc11);
GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_15, gpioRtdIc12);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_12, gpioRtdIc12);
GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_16, gpioRtdIc13);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_13, gpioRtdIc13);
GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_17, gpioRtdIc14);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_14, gpioRtdIc14);
GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_18, gpioRtdIc15);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_15, gpioRtdIc15);
gpioChecker(gpioComIF->addGpios(rtdGpioCookie), "RTDs");
#if OBSW_ADD_RTD_DEVICES == 1
using namespace EiveMax31855;
// ! NOTE !
// The chip selects for device 9 and 11 are swapped here. It is strongly suspected the cables
// for those devices were swapped during integration. This is probably the easiest way to
// fix the issue.
std::array<std::pair<address_t, gpioId_t>, NUM_RTDS> cookieArgs = {{
{addresses::RTD_IC_0, gpioIds::RTD_IC_0},
{addresses::RTD_IC_1, gpioIds::RTD_IC_1},
{addresses::RTD_IC_2, gpioIds::RTD_IC_2},
{addresses::RTD_IC_3, gpioIds::RTD_IC_3},
{addresses::RTD_IC_4, gpioIds::RTD_IC_4},
{addresses::RTD_IC_5, gpioIds::RTD_IC_5},
{addresses::RTD_IC_6, gpioIds::RTD_IC_6},
{addresses::RTD_IC_7, gpioIds::RTD_IC_7},
{addresses::RTD_IC_8, gpioIds::RTD_IC_8},
{addresses::RTD_IC_9, gpioIds::RTD_IC_9},
{addresses::RTD_IC_10, gpioIds::RTD_IC_10},
{addresses::RTD_IC_11, gpioIds::RTD_IC_11},
{addresses::RTD_IC_10, gpioIds::RTD_IC_10},
{addresses::RTD_IC_9, gpioIds::RTD_IC_9},
{addresses::RTD_IC_12, gpioIds::RTD_IC_12},
{addresses::RTD_IC_13, gpioIds::RTD_IC_13},
{addresses::RTD_IC_14, gpioIds::RTD_IC_14},
{addresses::RTD_IC_15, gpioIds::RTD_IC_15},
{addresses::RTD_IC_16, gpioIds::RTD_IC_16},
{addresses::RTD_IC_17, gpioIds::RTD_IC_17},
{addresses::RTD_IC_18, gpioIds::RTD_IC_18},
}};
// HSPD: Heatspreader

84
linux/callbacks/gpioCallbacks.cpp
View File

@ -21,6 +21,18 @@ void gpioCallbacks::spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gp
if (value == gpio::Levels::HIGH) {
switch (gpioId) {
case (gpioIds::RTD_IC_0): {
disableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_1): {
disableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_2): {
disableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_3): {
disableDecoderTcsIc1(gpioIF);
break;
@ -42,15 +54,15 @@ void gpioCallbacks::spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gp
break;
}
case (gpioIds::RTD_IC_8): {
disableDecoderTcsIc1(gpioIF);
disableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_9): {
disableDecoderTcsIc1(gpioIF);
disableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_10): {
disableDecoderTcsIc1(gpioIF);
disableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_11): {
@ -73,18 +85,6 @@ void gpioCallbacks::spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gp
disableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_16): {
disableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_17): {
disableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_18): {
disableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::CS_SUS_0): {
disableDecoderInterfaceBoardIc1(gpioIF);
break;
@ -154,82 +154,82 @@ void gpioCallbacks::spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gp
}
} else if (value == gpio::Levels::LOW) {
switch (gpioId) {
case (gpioIds::RTD_IC_3): {
case (gpioIds::RTD_IC_0): {
selectY7(gpioIF);
enableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_1): {
selectY6(gpioIF);
enableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_2): {
selectY5(gpioIF);
enableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_3): {
selectY4(gpioIF);
enableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_4): {
selectY6(gpioIF);
selectY3(gpioIF);
enableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_5): {
selectY5(gpioIF);
selectY2(gpioIF);
enableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_6): {
selectY4(gpioIF);
selectY1(gpioIF);
enableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_7): {
selectY3(gpioIF);
enableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_8): {
selectY2(gpioIF);
enableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_9): {
selectY1(gpioIF);
enableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_10): {
selectY0(gpioIF);
enableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_11): {
case (gpioIds::RTD_IC_8): {
selectY7(gpioIF);
enableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_12): {
case (gpioIds::RTD_IC_9): {
selectY6(gpioIF);
enableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_13): {
case (gpioIds::RTD_IC_10): {
selectY5(gpioIF);
enableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_14): {
case (gpioIds::RTD_IC_11): {
selectY4(gpioIF);
enableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_15): {
case (gpioIds::RTD_IC_12): {
selectY3(gpioIF);
enableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_16): {
case (gpioIds::RTD_IC_13): {
selectY2(gpioIF);
enableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_17): {
case (gpioIds::RTD_IC_14): {
selectY1(gpioIF);
enableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_18): {
case (gpioIds::RTD_IC_15): {
selectY0(gpioIF);
enableDecoderTcsIc2(gpioIF);
break;

7
linux/fsfwconfig/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 314 translations.
* @brief Auto-generated event translation file. Contains 315 translations.
* @details
* Generated on: 2023-10-13 15:23:30
* Generated on: 2023-10-27 14:24:05
*/
#include "translateEvents.h"
@ -319,6 +319,7 @@ const char *DUMP_HK_CANCELLED_STRING = "DUMP_HK_CANCELLED";
const char *DUMP_CFDP_CANCELLED_STRING = "DUMP_CFDP_CANCELLED";
const char *TEMPERATURE_ALL_ONES_START_STRING = "TEMPERATURE_ALL_ONES_START";
const char *TEMPERATURE_ALL_ONES_RECOVERY_STRING = "TEMPERATURE_ALL_ONES_RECOVERY";
const char *FAULT_HANDLER_TRIGGERED_STRING = "FAULT_HANDLER_TRIGGERED";
const char *translateEvents(Event event) {
switch ((event & 0xFFFF)) {
@ -950,6 +951,8 @@ const char *translateEvents(Event event) {
return TEMPERATURE_ALL_ONES_START_STRING;
case (14501):
return TEMPERATURE_ALL_ONES_RECOVERY_STRING;
case (14600):
return FAULT_HANDLER_TRIGGERED_STRING;
default:
return "UNKNOWN_EVENT";
}

7
linux/fsfwconfig/objects/translateObjects.cpp
View File

@ -1,8 +1,8 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 178 translations.
* Generated on: 2023-10-13 15:23:30
* Contains 179 translations.
* Generated on: 2023-10-27 14:24:05
*/
#include "translateObjects.h"
@ -166,6 +166,7 @@ const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
const char *CFDP_HANDLER_STRING = "CFDP_HANDLER";
const char *CFDP_DISTRIBUTOR_STRING = "CFDP_DISTRIBUTOR";
const char *CFDP_FAULT_HANDLER_STRING = "CFDP_FAULT_HANDLER";
const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
@ -507,6 +508,8 @@ const char *translateObject(object_id_t object) {
return CFDP_HANDLER_STRING;
case 0x73000206:
return CFDP_DISTRIBUTOR_STRING;
case 0x73000207:
return CFDP_FAULT_HANDLER_STRING;
case 0x73010000:
return EIVE_SYSTEM_STRING;
case 0x73010001:

13
mission/acs/SusHandler.cpp
View File

@ -97,7 +97,7 @@ ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8
// appear sometimes for the SUS device: Allow invalid message up to a certain threshold
// before triggering FDIR reactions.
if (reply->tempRaw == 0xfff and not waitingForRecovery) {
if (invalidMsgCounter == 0) {
if (invalidMsgCounter == 0 and invalidMsgPeriodCounter == 0) {
triggerEvent(TEMPERATURE_ALL_ONES_START);
} else if (invalidMsgCounter == susMax1227::MAX_INVALID_MSG_COUNT) {
triggerEvent(DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT);
@ -110,8 +110,17 @@ ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8
return returnvalue::OK;
}
if (invalidMsgCounter > 0) {
triggerEvent(TEMPERATURE_ALL_ONES_RECOVERY, invalidMsgCounter);
invalidMsgPeriodCounter++;
if (invalidMsgCounter > invalidMsgCounterMax) {
invalidMsgCounterMax = invalidMsgCounter;
}
invalidMsgCounter = 0;
invalidMsgCountdown.resetTimer();
}
if (invalidMsgCountdown.hasTimedOut() and invalidMsgPeriodCounter > 0) {
triggerEvent(TEMPERATURE_ALL_ONES_RECOVERY, invalidMsgPeriodCounter, invalidMsgCounterMax);
invalidMsgPeriodCounter = 0;
invalidMsgCounterMax = 0;
}
dataset.setValidity(true, true);
dataset.tempC = max1227::getTemperature(reply->tempRaw);

10
mission/acs/SusHandler.h
View File

@ -20,8 +20,9 @@ class SusHandler : public DeviceHandlerBase {
//! [EXPORT] : [COMMENT] Detected invalid values, starting invalid message counting
static constexpr Event TEMPERATURE_ALL_ONES_START =
event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
//! [EXPORT] : [COMMENT] Detected valid values again, resetting invalid message counter.
//! P1: Invalid message counter.
//! [EXPORT] : [COMMENT] Detected valid values for a prolonged time again, resetting all counters.
//! P1: Number of periods with invalid messages.
//! P2: Maximum invalid message counter.
static constexpr Event TEMPERATURE_ALL_ONES_RECOVERY =
event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO);
@ -54,8 +55,13 @@ class SusHandler : public DeviceHandlerBase {
susMax1227::SusDataset dataset;
acs::SusRequest request{};
uint8_t susIdx;
// After 1 minute, trigger the event for the invalid messages.
Countdown invalidMsgCountdown = Countdown(60000);
bool waitingForRecovery = true;
uint32_t invalidMsgCounter = 0;
uint32_t invalidMsgCounterMax = 0;
uint32_t invalidMsgPeriodCounter = 0;
uint32_t transitionDelay = 1000;
bool goToNormalMode = false;

642
mission/acs/str/StarTrackerHandler.cpp
View File

@ -49,6 +49,13 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
subscriptionSet(this),
logSubscriptionSet(this),
debugCameraSet(this),
autoBlobSet(this),
matchedCentroidsSet(this),
blobSet(this),
blobsSet(this),
centroidSet(this),
centroidsSet(this),
contrastSet(this),
strHelper(strHelper),
paramJsonFile(jsonFileStr),
powerSwitch(powerSwitch) {
@ -59,6 +66,8 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
sif::error << "StarTrackerHandler: Invalid str image loader" << std::endl;
}
eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
additionalRequestedTm.emplace(startracker::REQ_TEMPERATURE);
currentSecondaryTmIter = additionalRequestedTm.begin();
}
StarTrackerHandler::~StarTrackerHandler() {}
@ -165,6 +174,35 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
ReturnValue_t result = returnvalue::OK;
switch (actionId) {
case (startracker::ADD_SECONDARY_TM_TO_NORMAL_MODE): {
if (size < 4) {
return HasActionsIF::INVALID_PARAMETERS;
}
DeviceCommandId_t idToAdd;
result =
SerializeAdapter::deSerialize(&idToAdd, data, &size, SerializeIF::Endianness::NETWORK);
if (result != returnvalue::OK) {
return result;
}
addSecondaryTmForNormalMode(idToAdd);
return EXECUTION_FINISHED;
}
case (startracker::RESET_SECONDARY_TM_SET): {
resetSecondaryTmSet();
return EXECUTION_FINISHED;
}
case (startracker::READ_SECONDARY_TM_SET): {
std::vector<uint8_t> dataVec(additionalRequestedTm.size() * 4);
unsigned idx = 0;
size_t serLen = 0;
for (const auto& cmd : additionalRequestedTm) {
SerializeAdapter::serialize(&cmd, dataVec.data() + idx * 4, &serLen, dataVec.size(),
SerializeIF::Endianness::NETWORK);
idx++;
}
actionHelper.reportData(commandedBy, actionId, dataVec.data(), dataVec.size());
return EXECUTION_FINISHED;
}
case (startracker::STOP_IMAGE_LOADER): {
strHelper->stopProcess();
return EXECUTION_FINISHED;
@ -306,13 +344,20 @@ ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id
return NOTHING_TO_SEND;
}
switch (normalState) {
case NormalState::TEMPERATURE_REQUEST:
*id = startracker::REQ_TEMPERATURE;
case NormalState::SECONDARY_REQUEST:
if (additionalRequestedTm.size() == 0) {
break;
}
*id = *currentSecondaryTmIter;
currentSecondaryTmIter++;
if (currentSecondaryTmIter == additionalRequestedTm.end()) {
currentSecondaryTmIter = additionalRequestedTm.begin();
}
normalState = NormalState::SOLUTION_REQUEST;
break;
case NormalState::SOLUTION_REQUEST:
*id = startracker::REQ_SOLUTION;
normalState = NormalState::TEMPERATURE_REQUEST;
normalState = NormalState::SECONDARY_REQUEST;
break;
default:
sif::debug << "StarTrackerHandler::buildNormalDeviceCommand: Invalid normal step"
@ -472,6 +517,18 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
prepareTimeRequest();
return returnvalue::OK;
}
case (startracker::REQ_CENTROID): {
prepareRequestCentroidTm();
return returnvalue::OK;
}
case (startracker::REQ_CENTROIDS): {
prepareRequestCentroidsTm();
return returnvalue::OK;
}
case (startracker::REQ_CONTRAST): {
prepareRequestContrastTm();
return returnvalue::OK;
}
case (startracker::BOOT): {
prepareBootCommand();
return returnvalue::OK;
@ -607,6 +664,22 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
result = prepareRequestLisaParams();
return result;
}
case (startracker::REQ_MATCHED_CENTROIDS): {
result = prepareRequestMatchedCentroidsTm();
return result;
}
case (startracker::REQ_BLOB): {
result = prepareRequestBlobTm();
return result;
}
case (startracker::REQ_BLOBS): {
result = prepareRequestBlobsTm();
return result;
}
case (startracker::REQ_AUTO_BLOB): {
result = prepareRequestAutoBlobTm();
return returnvalue::OK;
}
case (startracker::REQ_MATCHING): {
result = prepareRequestMatchingParams();
return result;
@ -729,6 +802,20 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::REQ_DEBUG_CAMERA, 3, &debugCameraSet,
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::REQ_AUTO_BLOB, 3, &autoBlobSet,
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::REQ_MATCHED_CENTROIDS, 3, &matchedCentroidsSet,
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::REQ_BLOB, 3, &blobSet,
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::REQ_BLOBS, 3, &blobsSet,
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::REQ_CENTROID, 3, &centroidSet,
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::REQ_CENTROIDS, 3, &centroidsSet,
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::REQ_CONTRAST, 3, &contrastSet,
startracker::MAX_FRAME_SIZE * 2 + 2);
}
ReturnValue_t StarTrackerHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
@ -860,6 +947,74 @@ void StarTrackerHandler::setUpJsonCfgs(JsonConfigs& cfgs, const char* paramJsonF
JCFG_DONE = true;
}
ReturnValue_t StarTrackerHandler::statusFieldCheck(const uint8_t* rawFrame) {
uint8_t status = startracker::getStatusField(rawFrame);
if (status != startracker::STATUS_OK) {
sif::warning << "StarTrackerHandler::handleTm: Reply error: "
<< static_cast<unsigned int>(status) << std::endl;
return REPLY_ERROR;
}
return returnvalue::OK;
}
void StarTrackerHandler::addSecondaryTmForNormalMode(DeviceCommandId_t cmd) {
additionalRequestedTm.emplace(cmd);
}
void StarTrackerHandler::resetSecondaryTmSet() {
additionalRequestedTm.clear();
additionalRequestedTm.emplace(startracker::REQ_TEMPERATURE);
currentSecondaryTmIter = additionalRequestedTm.begin();
{
PoolReadGuard pg(&autoBlobSet);
if (pg.getReadResult() == returnvalue::OK) {
autoBlobSet.setValidity(false, true);
}
}
{
PoolReadGuard pg(&matchedCentroidsSet);
if (pg.getReadResult() == returnvalue::OK) {
matchedCentroidsSet.setValidity(false, true);
}
}
{
PoolReadGuard pg(&blobSet);
if (pg.getReadResult() == returnvalue::OK) {
blobSet.setValidity(false, true);
}
}
{
PoolReadGuard pg(&blobsSet);
if (pg.getReadResult() == returnvalue::OK) {
blobsSet.setValidity(false, true);
}
}
{
PoolReadGuard pg(&centroidSet);
if (pg.getReadResult() == returnvalue::OK) {
centroidSet.setValidity(false, true);
}
}
{
PoolReadGuard pg(&contrastSet);
if (pg.getReadResult() == returnvalue::OK) {
contrastSet.setValidity(false, true);
}
}
{
PoolReadGuard pg(&centroidsSet);
if (pg.getReadResult() == returnvalue::OK) {
centroidsSet.setValidity(false, true);
}
}
{
PoolReadGuard pg(&histogramSet);
if (pg.getReadResult() == returnvalue::OK) {
histogramSet.setValidity(false, true);
}
}
}
void StarTrackerHandler::bootBootloader() {
if (internalState == InternalState::IDLE) {
internalState = InternalState::BOOT_BOOTLOADER;
@ -896,24 +1051,24 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t rema
}
case TMTC_ACTIONREPLY: {
*foundLen = remainingSize;
fullPacketLen = remainingSize;
return scanForActionReply(startracker::getId(start), foundId);
break;
}
case TMTC_SETPARAMREPLY: {
*foundLen = remainingSize;
fullPacketLen = remainingSize;
return scanForSetParameterReply(startracker::getId(start), foundId);
break;
}
case TMTC_PARAMREPLY: {
*foundLen = remainingSize;
fullPacketLen = remainingSize;
return scanForGetParameterReply(startracker::getId(start), foundId);
break;
}
case TMTC_TELEMETRYREPLYA:
case TMTC_TELEMETRYREPLY: {
*foundLen = remainingSize;
fullPacketLen = remainingSize;
return scanForTmReply(startracker::getId(start), foundId);
break;
}
default: {
sif::debug << "StarTrackerHandler::scanForReply: Reply has invalid type id" << std::endl;
@ -933,7 +1088,7 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
break;
}
case (startracker::REQ_TIME): {
result = handleTm(packet, timeSet, startracker::TimeSet::SIZE, "REQ_TIME");
result = handleTm(packet, timeSet, "REQ_TIME");
break;
}
case (startracker::PING_REQUEST): {
@ -948,7 +1103,7 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
break;
}
case (startracker::REQ_VERSION): {
result = handleTm(packet, versionSet, startracker::VersionSet::SIZE, "REQ_VERSION");
result = handleTm(packet, versionSet, "REQ_VERSION");
if (result != returnvalue::OK) {
return result;
}
@ -959,23 +1114,51 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
break;
}
case (startracker::REQ_INTERFACE): {
result = handleTm(packet, interfaceSet, startracker::InterfaceSet::SIZE, "REQ_INTERFACE");
result = handleTm(packet, interfaceSet, "REQ_INTERFACE");
break;
}
case (startracker::REQ_POWER): {
result = handleTm(packet, powerSet, startracker::PowerSet::SIZE, "REQ_POWER");
result = handleTm(packet, powerSet, "REQ_POWER");
break;
}
case (startracker::REQ_SOLUTION): {
result = handleTm(packet, solutionSet, startracker::SolutionSet::SIZE, "REQ_SOLUTION");
result = handleTm(packet, solutionSet, "REQ_SOLUTION");
break;
}
case (startracker::REQ_CONTRAST): {
result = handleTm(packet, contrastSet, "REQ_CONTRAST");
break;
}
case (startracker::REQ_AUTO_BLOB): {
result = handleAutoBlobTm(packet);
break;
}
case (startracker::REQ_MATCHED_CENTROIDS): {
result = handleMatchedCentroidTm(packet);
break;
}
case (startracker::REQ_BLOB): {
result = handleBlobTm(packet);
break;
}
case (startracker::REQ_BLOBS): {
result = handleBlobsTm(packet);
break;
}
case (startracker::REQ_CENTROID): {
result = handleCentroidTm(packet);
break;
}
case (startracker::REQ_CENTROIDS): {
result = handleCentroidsTm(packet);
break;
}
case (startracker::REQ_TEMPERATURE): {
result = handleTm(packet, temperatureSet, startracker::TemperatureSet::SIZE, "REQ_TEMP");
result = handleTm(packet, temperatureSet, "REQ_TEMP");
break;
}
case (startracker::REQ_HISTOGRAM): {
result = handleTm(packet, histogramSet, startracker::HistogramSet::SIZE, "REQ_HISTO");
result = handleTm(packet, histogramSet, "REQ_HISTO");
break;
}
case (startracker::SUBSCRIPTION):
@ -1329,6 +1512,56 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
localDataPoolMap.emplace(startracker::CHKSUM, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(startracker::TICKS_AUTO_BLOB, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(startracker::TIME_AUTO_BLOB, new PoolEntry<uint64_t>());
localDataPoolMap.emplace(startracker::AUTO_BLOB_THRESHOLD, new PoolEntry<float>());
localDataPoolMap.emplace(startracker::PoolIds::NUM_MATCHED_CENTROIDS, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(startracker::PoolIds::MATCHED_CENTROIDS_STAR_IDS,
new PoolEntry<uint32_t>(16));
localDataPoolMap.emplace(startracker::PoolIds::MATCHED_CENTROIDS_X_COORDS,
new PoolEntry<float>(16));
localDataPoolMap.emplace(startracker::PoolIds::MATCHED_CENTROIDS_Y_COORDS,
new PoolEntry<float>(16));
localDataPoolMap.emplace(startracker::PoolIds::MATCHED_CENTROIDS_X_ERRORS,
new PoolEntry<float>(16));
localDataPoolMap.emplace(startracker::PoolIds::MATCHED_CENTROIDS_Y_ERRORS,
new PoolEntry<float>(16));
localDataPoolMap.emplace(startracker::PoolIds::TICKS_MATCHED_CENTROIDS,
new PoolEntry<uint32_t>());
localDataPoolMap.emplace(startracker::PoolIds::TIME_MATCHED_CENTROIDS, new PoolEntry<uint64_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOB_TICKS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOB_TIME, new PoolEntry<uint64_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOB_COUNT, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOBS_TICKS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOBS_TIME, new PoolEntry<uint64_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOBS_COUNT, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOBS_COUNT_USED, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOBS_NR_4LINES_SKIPPED,
new PoolEntry<uint16_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOBS_X_COORDS, new PoolEntry<uint16_t>(8));
localDataPoolMap.emplace(startracker::PoolIds::BLOBS_Y_COORDS, new PoolEntry<uint16_t>(8));
localDataPoolMap.emplace(startracker::PoolIds::CENTROID_TICKS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(startracker::PoolIds::CENTROID_TIME, new PoolEntry<uint64_t>());
localDataPoolMap.emplace(startracker::PoolIds::CENTROID_COUNT, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_TICKS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_TIME, new PoolEntry<uint64_t>());
localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_COUNT, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_X_COORDS, new PoolEntry<float>(16));
localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_Y_COORDS, new PoolEntry<float>(16));
localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_MAGNITUDES, new PoolEntry<uint8_t>(16));
localDataPoolMap.emplace(startracker::PoolIds::CONTRAST_TICKS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(startracker::PoolIds::CONTRAST_TIME, new PoolEntry<uint64_t>());
localDataPoolMap.emplace(startracker::PoolIds::CONTRAST_A, new PoolEntry<uint32_t>(9));
localDataPoolMap.emplace(startracker::PoolIds::CONTRAST_B, new PoolEntry<uint32_t>(9));
localDataPoolMap.emplace(startracker::PoolIds::CONTRAST_C, new PoolEntry<uint32_t>(9));
localDataPoolMap.emplace(startracker::PoolIds::CONTRAST_D, new PoolEntry<uint32_t>(9));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(temperatureSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
@ -1343,6 +1576,20 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
subdp::RegularHkPeriodicParams(histogramSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(lisaSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(autoBlobSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(matchedCentroidsSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(blobSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(blobsSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(centroidSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(centroidsSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(contrastSet.getSid(), false, 10.0));
return returnvalue::OK;
}
@ -1584,8 +1831,36 @@ ReturnValue_t StarTrackerHandler::scanForTmReply(uint8_t replyId, DeviceCommandI
*foundId = startracker::REQ_SOLUTION;
break;
}
case (startracker::ID::BLOB): {
*foundId = startracker::REQ_BLOB;
break;
}
case (startracker::ID::BLOBS): {
*foundId = startracker::REQ_BLOBS;
break;
}
case (startracker::ID::CENTROID): {
*foundId = startracker::REQ_CENTROID;
break;
}
case (startracker::ID::CENTROIDS): {
*foundId = startracker::REQ_CENTROIDS;
break;
}
case (startracker::ID::AUTO_BLOB): {
*foundId = startracker::REQ_AUTO_BLOB;
break;
}
case (startracker::ID::MATCHED_CENTROIDS): {
*foundId = startracker::REQ_MATCHED_CENTROIDS;
break;
}
case (startracker::ID::CONTRAST): {
*foundId = startracker::REQ_CONTRAST;
break;
}
default: {
sif::debug << "StarTrackerHandler::scanForTmReply: Reply contains invalid reply id: "
sif::debug << "StarTrackerHandler::scanForTmReply: Reply contains invalid reply ID: "
<< static_cast<unsigned int>(replyId) << std::endl;
return returnvalue::FAILED;
break;
@ -1760,6 +2035,62 @@ void StarTrackerHandler::prepareHistogramRequest() {
rawPacketLen = length;
}
ReturnValue_t StarTrackerHandler::prepareRequestAutoBlobTm() {
uint32_t length = 0;
arc_tm_pack_autoblob_req(commandBuffer, &length);
rawPacket = commandBuffer;
rawPacketLen = length;
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::prepareRequestMatchedCentroidsTm() {
uint32_t length = 0;
arc_tm_pack_matchedcentroids_req(commandBuffer, &length);
rawPacket = commandBuffer;
rawPacketLen = length;
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::prepareRequestBlobTm() {
uint32_t length = 0;
arc_tm_pack_blob_req(commandBuffer, &length);
rawPacket = commandBuffer;
rawPacketLen = length;
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::prepareRequestBlobsTm() {
uint32_t length = 0;
arc_tm_pack_blobs_req(commandBuffer, &length);
rawPacket = commandBuffer;
rawPacketLen = length;
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::prepareRequestCentroidTm() {
uint32_t length = 0;
arc_tm_pack_centroid_req(commandBuffer, &length);
rawPacket = commandBuffer;
rawPacketLen = length;
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::prepareRequestCentroidsTm() {
uint32_t length = 0;
arc_tm_pack_centroids_req(commandBuffer, &length);
rawPacket = commandBuffer;
rawPacketLen = length;
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::prepareRequestContrastTm() {
uint32_t length = 0;
arc_tm_pack_contrast_req(commandBuffer, &length);
rawPacket = commandBuffer;
rawPacketLen = length;
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData,
size_t commandDataLen,
ArcsecJsonParamBase& paramSet,
@ -2038,13 +2369,10 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
}
ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
size_t size, const char* context) {
ReturnValue_t result = returnvalue::OK;
uint8_t status = startracker::getStatusField(rawFrame);
if (status != startracker::STATUS_OK) {
sif::warning << "StarTrackerHandler::handleTm: Reply error: "
<< static_cast<unsigned int>(status) << std::endl;
return REPLY_ERROR;
const char* context) {
ReturnValue_t result = statusFieldCheck(rawFrame);
if (result != returnvalue::OK) {
return result;
}
result = dataset.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
if (result != returnvalue::OK) {
@ -2052,10 +2380,11 @@ ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDat
}
const uint8_t* reply = rawFrame + TICKS_OFFSET;
dataset.setValidityBufferGeneration(false);
result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE);
size_t sizeLeft = fullPacketLen;
result = dataset.deSerialize(&reply, &sizeLeft, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
sif::warning << "StarTrackerHandler::handleTm: Deserialization failed for " << context
<< std::endl;
sif::warning << "StarTrackerHandler::handleTm: Deserialization failed for " << context << ": 0x"
<< std::hex << std::setw(4) << result << std::dec << std::endl;
}
dataset.setValidityBufferGeneration(true);
dataset.setValidity(true, true);
@ -2069,6 +2398,262 @@ ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDat
return result;
}
ReturnValue_t StarTrackerHandler::handleAutoBlobTm(const uint8_t* rawFrame) {
ReturnValue_t result = statusFieldCheck(rawFrame);
if (result != returnvalue::OK) {
return result;
}
rawFrame += TICKS_OFFSET;
size_t remainingLen = fullPacketLen;
PoolReadGuard pg(&autoBlobSet);
result = pg.getReadResult();
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&autoBlobSet.ticks, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&autoBlobSet.timeUs, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&autoBlobSet.threshold, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
autoBlobSet.setValidity(true, true);
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::handleMatchedCentroidTm(const uint8_t* rawFrame) {
ReturnValue_t result = statusFieldCheck(rawFrame);
if (result != returnvalue::OK) {
return result;
}
rawFrame += TICKS_OFFSET;
size_t remainingLen = fullPacketLen;
PoolReadGuard pg(&matchedCentroidsSet);
result = pg.getReadResult();
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.ticks, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.timeUs, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.numberOfMatchedCentroids, &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
// Yeah, we serialize it like that because I can't model anything with that local datapool crap.
for (unsigned idx = 0; idx < 16; idx++) {
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.starIds[idx], &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.xCoords[idx], &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.yCoords[idx], &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.xErrors[idx], &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.yErrors[idx], &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
}
matchedCentroidsSet.setValidity(true, true);
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::handleBlobTm(const uint8_t* rawFrame) {
ReturnValue_t result = statusFieldCheck(rawFrame);
if (result != returnvalue::OK) {
return result;
}
rawFrame += TICKS_OFFSET;
size_t remainingLen = fullPacketLen;
PoolReadGuard pg(&blobsSet);
result = pg.getReadResult();
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobSet.ticks, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobSet.timeUs, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobSet.blobCount, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
blobSet.setValidity(true, true);
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::handleBlobsTm(const uint8_t* rawFrame) {
ReturnValue_t result = statusFieldCheck(rawFrame);
if (result != returnvalue::OK) {
return result;
}
rawFrame += TICKS_OFFSET;
size_t remainingLen = fullPacketLen;
PoolReadGuard pg(&blobsSet);
result = pg.getReadResult();
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobsSet.ticks, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobsSet.timeUs, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobsSet.blobsCount, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobsSet.blobsCountUsed, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobsSet.nr4LinesSkipped, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
for (unsigned idx = 0; idx < 8; idx++) {
result = SerializeAdapter::deSerialize(&blobsSet.xCoords[idx], &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobsSet.yCoords[idx], &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
}
blobsSet.setValidity(true, true);
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::handleCentroidTm(const uint8_t* rawFrame) {
ReturnValue_t result = statusFieldCheck(rawFrame);
if (result != returnvalue::OK) {
return result;
}
rawFrame += TICKS_OFFSET;
size_t remainingLen = fullPacketLen;
PoolReadGuard pg(&centroidsSet);
result = pg.getReadResult();
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&centroidSet.ticks, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&centroidSet.timeUs, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&centroidSet.centroidCount, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
centroidSet.setValidity(true, true);
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::handleCentroidsTm(const uint8_t* rawFrame) {
ReturnValue_t result = statusFieldCheck(rawFrame);
if (result != returnvalue::OK) {
return result;
}
rawFrame += TICKS_OFFSET;
size_t remainingLen = fullPacketLen;
PoolReadGuard pg(&centroidsSet);
result = pg.getReadResult();
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&centroidsSet.ticksCentroidsTm, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&centroidsSet.timeUsCentroidsTm, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&centroidsSet.centroidsCount, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
for (unsigned idx = 0; idx < 16; idx++) {
result = SerializeAdapter::deSerialize(&centroidsSet.centroidsXCoords[idx], &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&centroidsSet.centroidsYCoords[idx], &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&centroidsSet.centroidsMagnitudes[idx], &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
}
centroidsSet.setValidity(true, true);
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::handleActionReplySet(const uint8_t* rawFrame,
LocalPoolDataSetBase& dataset, size_t size) {
ReturnValue_t result = returnvalue::OK;
@ -2204,10 +2789,17 @@ ReturnValue_t StarTrackerHandler::checkCommand(ActionId_t actionId) {
case startracker::REQ_SUBSCRIPTION:
case startracker::REQ_LOG_SUBSCRIPTION:
case startracker::REQ_DEBUG_CAMERA:
case startracker::REQ_MATCHED_CENTROIDS:
case startracker::REQ_BLOB:
case startracker::REQ_BLOBS:
case startracker::REQ_CENTROID:
case startracker::REQ_CENTROIDS:
case startracker::REQ_CONTRAST: {
if (getMode() == MODE_ON and getSubmode() != startracker::Program::FIRMWARE) {
return STARTRACKER_NOT_RUNNING_FIRMWARE;
}
break;
}
case startracker::FIRMWARE_UPDATE:
case startracker::FLASH_READ:
if (getMode() != MODE_ON or getSubmode() != startracker::Program::BOOTLOADER) {

47
mission/acs/str/StarTrackerHandler.h
View File

@ -8,6 +8,7 @@
#include <mission/acs/str/strJsonCommands.h>
#include <thirdparty/sagittactl/wire/common/genericstructs.h>
#include <set>
#include <thread>
#include "OBSWConfig.h"
@ -151,6 +152,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
static const uint8_t PARAMS_OFFSET = 2;
static const uint8_t TICKS_OFFSET = 3;
static const uint8_t TIME_OFFSET = 7;
static const uint8_t TM_PARAM_OFFSET = 15;
static const uint8_t PARAMETER_ID_OFFSET = 1;
static const uint8_t ACTION_ID_OFFSET = 1;
static const uint8_t ACTION_DATA_OFFSET = 3;
@ -204,6 +206,13 @@ class StarTrackerHandler : public DeviceHandlerBase {
startracker::SubscriptionSet subscriptionSet;
startracker::LogSubscriptionSet logSubscriptionSet;
startracker::DebugCameraSet debugCameraSet;
startracker::AutoBlobSet autoBlobSet;
startracker::MatchedCentroidsSet matchedCentroidsSet;
startracker::BlobSet blobSet;
startracker::BlobsSet blobsSet;
startracker::CentroidSet centroidSet;
startracker::CentroidsSet centroidsSet;
startracker::ContrastSet contrastSet;
// Pointer to object responsible for uploading and downloading images to/from the star tracker
StrComHandler* strHelper = nullptr;
@ -239,9 +248,9 @@ class StarTrackerHandler : public DeviceHandlerBase {
std::string paramJsonFile;
enum class NormalState { TEMPERATURE_REQUEST, SOLUTION_REQUEST };
enum class NormalState { SECONDARY_REQUEST, SOLUTION_REQUEST };
NormalState normalState = NormalState::TEMPERATURE_REQUEST;
NormalState normalState = NormalState::SECONDARY_REQUEST;
enum class StartupState {
IDLE,
@ -297,6 +306,11 @@ class StarTrackerHandler : public DeviceHandlerBase {
const power::Switch_t powerSwitch = power::NO_SWITCH;
size_t fullPacketLen = 0;
std::set<DeviceCommandId_t> additionalRequestedTm{};
std::set<DeviceCommandId_t>::iterator currentSecondaryTmIter;
/**
* @brief Handles internal state
*/
@ -345,6 +359,18 @@ class StarTrackerHandler : public DeviceHandlerBase {
*/
ReturnValue_t executeFlashReadCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* Add a TM request to the list of telemetry which will be polled in the secondary step of
* the device communication.
* @param cmd
*/
void addSecondaryTmForNormalMode(DeviceCommandId_t cmd);
/**
* Reset the secondary set, which will only contain a TEMPERATURE set request after the reset.
*/
void resetSecondaryTmSet();
/**
* @brief Fills command buffer with data to boot image (works only when star tracker is
* in bootloader mode).
@ -429,6 +455,13 @@ class StarTrackerHandler : public DeviceHandlerBase {
ReturnValue_t prepareRequestCentroidingParams();
ReturnValue_t prepareRequestLisaParams();
ReturnValue_t prepareRequestMatchingParams();
ReturnValue_t prepareRequestAutoBlobTm();
ReturnValue_t prepareRequestMatchedCentroidsTm();
ReturnValue_t prepareRequestBlobTm();
ReturnValue_t prepareRequestBlobsTm();
ReturnValue_t prepareRequestCentroidTm();
ReturnValue_t prepareRequestCentroidsTm();
ReturnValue_t prepareRequestContrastTm();
ReturnValue_t prepareRequestTrackingParams();
ReturnValue_t prepareRequestValidationParams();
ReturnValue_t prepareRequestAlgoParams();
@ -477,6 +510,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
*/
void handleStartup(uint8_t tmType, uint8_t parameterId);
ReturnValue_t statusFieldCheck(const uint8_t* rawFrame);
/**
* @brief Handles telemtry replies and fills the appropriate dataset
*
@ -485,9 +519,16 @@ class StarTrackerHandler : public DeviceHandlerBase {
*
* @return returnvalue::OK if successful, otherwise error return value
*/
ReturnValue_t handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset, size_t size,
ReturnValue_t handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
const char* context);
ReturnValue_t handleAutoBlobTm(const uint8_t* rawFrame);
ReturnValue_t handleMatchedCentroidTm(const uint8_t* rawFrame);
ReturnValue_t handleBlobTm(const uint8_t* rawFrame);
ReturnValue_t handleBlobsTm(const uint8_t* rawFrame);
ReturnValue_t handleCentroidTm(const uint8_t* rawFrame);
ReturnValue_t handleCentroidsTm(const uint8_t* rawFrame);
/**
* @brief Checks if star tracker is in valid mode for executing the received command.
*

199
mission/acs/str/strHelpers.h
View File

@ -272,7 +272,50 @@ enum PoolIds : lp_id_t {
LOG_SUBSCRIPTION_LEVEL2,
LOG_SUBSCRIPTION_MODULE2,
DEBUG_CAMERA_TIMING,
DEBUG_CAMERA_TEST
DEBUG_CAMERA_TEST,
TICKS_AUTO_BLOB,
TIME_AUTO_BLOB,
AUTO_BLOB_THRESHOLD,
TICKS_MATCHED_CENTROIDS,
TIME_MATCHED_CENTROIDS,
NUM_MATCHED_CENTROIDS,
MATCHED_CENTROIDS_STAR_IDS,
MATCHED_CENTROIDS_X_COORDS,
MATCHED_CENTROIDS_Y_COORDS,
MATCHED_CENTROIDS_X_ERRORS,
MATCHED_CENTROIDS_Y_ERRORS,
BLOB_TICKS,
BLOB_TIME,
BLOB_COUNT,
BLOBS_TICKS,
BLOBS_TIME,
BLOBS_COUNT,
BLOBS_COUNT_USED,
BLOBS_NR_4LINES_SKIPPED,
BLOBS_X_COORDS,
BLOBS_Y_COORDS,
CENTROID_TICKS,
CENTROID_TIME,
CENTROID_COUNT,
CENTROIDS_TICKS,
CENTROIDS_TIME,
CENTROIDS_COUNT,
CENTROIDS_X_COORDS,
CENTROIDS_Y_COORDS,
CENTROIDS_MAGNITUDES,
CONTRAST_TICKS,
CONTRAST_TIME,
CONTRAST_A,
CONTRAST_B,
CONTRAST_C,
CONTRAST_D,
};
static const DeviceCommandId_t PING_REQUEST = 0;
@ -291,6 +334,7 @@ static const DeviceCommandId_t IMAGE_PROCESSOR = 19;
static const DeviceCommandId_t REQ_SOLUTION = 24;
static const DeviceCommandId_t REQ_TEMPERATURE = 25;
static const DeviceCommandId_t REQ_HISTOGRAM = 28;
static constexpr DeviceCommandId_t REQ_CONTRAST = 29;
static const DeviceCommandId_t LIMITS = 40;
static const DeviceCommandId_t MOUNTING = 41;
static const DeviceCommandId_t CAMERA = 42;
@ -328,6 +372,15 @@ static const DeviceCommandId_t DISABLE_TIMESTAMP_GENERATION = 85;
static const DeviceCommandId_t ENABLE_TIMESTAMP_GENERATION = 86;
static constexpr DeviceCommandId_t SET_TIME_FROM_SYS_TIME = 87;
static constexpr DeviceCommandId_t AUTO_THRESHOLD = 88;
static constexpr DeviceCommandId_t REQ_AUTO_BLOB = 89;
static constexpr DeviceCommandId_t REQ_MATCHED_CENTROIDS = 90;
static constexpr DeviceCommandId_t REQ_BLOB = 91;
static constexpr DeviceCommandId_t REQ_BLOBS = 92;
static constexpr DeviceCommandId_t REQ_CENTROID = 93;
static constexpr DeviceCommandId_t REQ_CENTROIDS = 94;
static constexpr DeviceCommandId_t ADD_SECONDARY_TM_TO_NORMAL_MODE = 95;
static constexpr DeviceCommandId_t RESET_SECONDARY_TM_SET = 96;
static constexpr DeviceCommandId_t READ_SECONDARY_TM_SET = 97;
static const DeviceCommandId_t NONE = 0xFFFFFFFF;
static const uint32_t VERSION_SET_ID = REQ_VERSION;
@ -352,6 +405,13 @@ static const uint32_t ALGO_SET_ID = REQ_ALGO;
static const uint32_t SUBSCRIPTION_SET_ID = REQ_SUBSCRIPTION;
static const uint32_t LOG_SUBSCRIPTION_SET_ID = REQ_LOG_SUBSCRIPTION;
static const uint32_t DEBUG_CAMERA_SET_ID = REQ_DEBUG_CAMERA;
static const uint32_t AUTO_BLOB_SET_ID = REQ_AUTO_BLOB;
static const uint32_t MATCHED_CENTROIDS_SET_ID = REQ_MATCHED_CENTROIDS;
static const uint32_t BLOB_SET_ID = REQ_BLOB;
static const uint32_t BLOBS_SET_ID = REQ_BLOBS;
static const uint32_t CENTROID_SET_ID = REQ_CENTROID;
static const uint32_t CENTROIDS_SET_ID = REQ_CENTROIDS;
static const uint32_t CONTRAST_SET_ID = REQ_CONTRAST;
/** Max size of unencoded frame */
static const size_t MAX_FRAME_SIZE = 1200;
@ -412,6 +472,12 @@ static const uint8_t LOG_LEVEL = 3;
static const uint8_t LOG_SUBSCRIPTION = 19;
static const uint8_t DEBUG_CAMERA = 20;
static const uint8_t AUTO_THRESHOLD = 23;
static constexpr uint8_t BLOB = 25;
static constexpr uint8_t BLOBS = 36;
static constexpr uint8_t CENTROID = 26;
static constexpr uint8_t CENTROIDS = 37;
static constexpr uint8_t AUTO_BLOB = 39;
static constexpr uint8_t MATCHED_CENTROIDS = 40;
} // namespace ID
namespace Program {
@ -474,8 +540,6 @@ static const uint32_t FLASH_REGION_SIZE = 0x20000;
*/
class TemperatureSet : public StaticLocalDataSet<TEMPERATURE_SET_ENTRIES> {
public:
static const size_t SIZE = 24;
TemperatureSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TEMPERATURE_SET_ID) {}
TemperatureSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TEMPERATURE_SET_ID)) {}
@ -505,8 +569,6 @@ class TemperatureSet : public StaticLocalDataSet<TEMPERATURE_SET_ENTRIES> {
*/
class VersionSet : public StaticLocalDataSet<VERSION_SET_ENTRIES> {
public:
static const size_t SIZE = 15;
VersionSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, VERSION_SET_ID) {}
VersionSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, VERSION_SET_ID)) {}
@ -536,8 +598,6 @@ class VersionSet : public StaticLocalDataSet<VERSION_SET_ENTRIES> {
*/
class InterfaceSet : public StaticLocalDataSet<INTERFACE_SET_ENTRIES> {
public:
static const size_t SIZE = 20;
InterfaceSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, REQ_INTERFACE) {}
InterfaceSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, REQ_INTERFACE)) {}
@ -565,8 +625,6 @@ class InterfaceSet : public StaticLocalDataSet<INTERFACE_SET_ENTRIES> {
*/
class PowerSet : public StaticLocalDataSet<POWER_SET_ENTRIES> {
public:
static const size_t SIZE = 76;
PowerSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, REQ_INTERFACE) {}
PowerSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, REQ_INTERFACE)) {}
@ -630,8 +688,6 @@ class PowerSet : public StaticLocalDataSet<POWER_SET_ENTRIES> {
*/
class TimeSet : public StaticLocalDataSet<TIME_SET_ENTRIES> {
public:
static const size_t SIZE = 24;
TimeSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TIME_SET_ID) {}
TimeSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TIME_SET_ID)) {}
@ -658,15 +714,13 @@ class TimeSet : public StaticLocalDataSet<TIME_SET_ENTRIES> {
*/
class SolutionSet : public StaticLocalDataSet<SOLUTION_SET_ENTRIES> {
public:
static const size_t SIZE = 79;
SolutionSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SOLUTION_SET_ID) {}
SolutionSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, SOLUTION_SET_ID)) {}
// Ticks timestamp
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_SOLUTION_SET, this);
/// Unix time stamp
// Unix time stamp
lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_SOLUTION_SET, this);
// Calibrated quaternion (takes into account the mounting quaternion), typically same as
// track q values
@ -1381,6 +1435,123 @@ class ValidationSet : public StaticLocalDataSet<VALIDATION_SET_ENTRIES> {
}
};
class AutoBlobSet : public StaticLocalDataSet<3> {
public:
AutoBlobSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, AUTO_BLOB_SET_ID) {}
// Ticks timestamp
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_AUTO_BLOB, this);
// Unix time stamp
lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_AUTO_BLOB, this);
lp_var_t<float> threshold = lp_var_t<float>(sid.objectId, PoolIds::AUTO_BLOB_THRESHOLD, this);
private:
};
class MatchedCentroidsSet : public StaticLocalDataSet<20> {
public:
MatchedCentroidsSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, MATCHED_CENTROIDS_SET_ID) {}
MatchedCentroidsSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, MATCHED_CENTROIDS_SET_ID)) {}
// Ticks timestamp
lp_var_t<uint32_t> ticks =
lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_MATCHED_CENTROIDS, this);
// Unix time stamp
lp_var_t<uint64_t> timeUs =
lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_MATCHED_CENTROIDS, this);
lp_var_t<uint8_t> numberOfMatchedCentroids =
lp_var_t<uint8_t>(sid.objectId, PoolIds::NUM_MATCHED_CENTROIDS, this);
lp_vec_t<uint32_t, 16> starIds =
lp_vec_t<uint32_t, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_STAR_IDS, this);
lp_vec_t<float, 16> xCoords =
lp_vec_t<float, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_X_COORDS, this);
lp_vec_t<float, 16> yCoords =
lp_vec_t<float, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_Y_COORDS, this);
lp_vec_t<float, 16> xErrors =
lp_vec_t<float, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_X_ERRORS, this);
lp_vec_t<float, 16> yErrors =
lp_vec_t<float, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_Y_ERRORS, this);
private:
};
class BlobSet : public StaticLocalDataSet<5> {
public:
BlobSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, BLOB_SET_ID) {}
// The blob count received from the Blob Telemetry Set (ID 25)
// Ticks timestamp
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOB_TICKS, this);
// Unix time stamp
lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::BLOB_TIME, this);
lp_var_t<uint32_t> blobCount = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOB_COUNT, this);
};
class BlobsSet : public StaticLocalDataSet<10> {
public:
BlobsSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, BLOBS_SET_ID) {}
// Ticks timestamp
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOBS_TICKS, this);
// Unix time stamp
lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::BLOBS_TIME, this);
lp_var_t<uint16_t> blobsCount = lp_var_t<uint16_t>(sid.objectId, PoolIds::BLOBS_COUNT, this);
lp_var_t<uint16_t> blobsCountUsed =
lp_var_t<uint16_t>(sid.objectId, PoolIds::BLOBS_COUNT_USED, this);
lp_var_t<uint16_t> nr4LinesSkipped =
lp_var_t<uint16_t>(sid.objectId, PoolIds::BLOBS_NR_4LINES_SKIPPED, this);
lp_vec_t<uint16_t, 8> xCoords =
lp_vec_t<uint16_t, 8>(sid.objectId, PoolIds::BLOBS_X_COORDS, this);
lp_vec_t<uint16_t, 8> yCoords =
lp_vec_t<uint16_t, 8>(sid.objectId, PoolIds::BLOBS_Y_COORDS, this);
};
class CentroidSet : public StaticLocalDataSet<5> {
public:
CentroidSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CENTROID_SET_ID) {}
// Data received from the Centroid Telemetry Set (ID 26)
// Ticks timestamp
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::CENTROID_TICKS, this);
// Unix time stamp
lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::CENTROID_TIME, this);
// The centroid count received from the Centroid Telemetry Set (ID 26)
lp_var_t<uint32_t> centroidCount =
lp_var_t<uint32_t>(sid.objectId, PoolIds::CENTROID_COUNT, this);
};
class CentroidsSet : public StaticLocalDataSet<10> {
public:
CentroidsSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CENTROIDS_SET_ID) {}
// Data received from the Centroids Telemetry Set (ID 37)
lp_var_t<uint32_t> ticksCentroidsTm =
lp_var_t<uint32_t>(sid.objectId, PoolIds::CENTROIDS_TICKS, this);
// Unix time stamp
lp_var_t<uint64_t> timeUsCentroidsTm =
lp_var_t<uint64_t>(sid.objectId, PoolIds::CENTROIDS_TIME, this);
lp_var_t<uint16_t> centroidsCount =
lp_var_t<uint16_t>(sid.objectId, PoolIds::CENTROIDS_COUNT, this);
lp_vec_t<float, 16> centroidsXCoords =
lp_vec_t<float, 16>(sid.objectId, PoolIds::CENTROIDS_X_COORDS, this);
lp_vec_t<float, 16> centroidsYCoords =
lp_vec_t<float, 16>(sid.objectId, PoolIds::CENTROIDS_Y_COORDS, this);
lp_vec_t<uint8_t, 16> centroidsMagnitudes =
lp_vec_t<uint8_t, 16>(sid.objectId, PoolIds::CENTROIDS_MAGNITUDES, this);
};
class ContrastSet : public StaticLocalDataSet<8> {
public:
ContrastSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CONTRAST_SET_ID) {}
// Data received from the Centroids Telemetry Set (ID 29)
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_TICKS, this);
// Unix time stamp
lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::CONTRAST_TIME, this);
lp_vec_t<uint32_t, 9> contrastA = lp_vec_t<uint32_t, 9>(sid.objectId, PoolIds::CONTRAST_A, this);
lp_vec_t<uint32_t, 9> contrastB = lp_vec_t<uint32_t, 9>(sid.objectId, PoolIds::CONTRAST_B, this);
lp_vec_t<uint32_t, 9> contrastC = lp_vec_t<uint32_t, 9>(sid.objectId, PoolIds::CONTRAST_C, this);
lp_vec_t<uint32_t, 9> contrastD = lp_vec_t<uint32_t, 9>(sid.objectId, PoolIds::CONTRAST_D, this);
};
/**
* @brief Will store the requested algo parameters
*/

9
mission/cfdp/CfdpFaultHandler.h
View File

@ -1,28 +1,35 @@
#ifndef MISSION_CFDP_CFDPFAULTHANDLER_H_
#define MISSION_CFDP_CFDPFAULTHANDLER_H_
#include "defs.h"
#include "fsfw/cfdp.h"
namespace cfdp {
class EiveFaultHandler : public cfdp::FaultHandlerBase {
class EiveFaultHandler : public cfdp::FaultHandlerBase, public SystemObject {
public:
EiveFaultHandler(object_id_t objectId) : SystemObject(objectId) {}
void noticeOfSuspensionCb(cfdp::TransactionId& id, cfdp::ConditionCode code) override {
sif::warning << "Notice of suspension detected for transaction " << id
<< " with condition code: " << cfdp::getConditionCodeString(code) << std::endl;
triggerEvent(cfdp::FAULT_HANDLER_TRIGGERED, FaultHandlerCode::NOTICE_OF_SUSPENSION, code);
}
void noticeOfCancellationCb(cfdp::TransactionId& id, cfdp::ConditionCode code) override {
sif::warning << "Notice of suspension detected for transaction " << id
<< " with condition code: " << cfdp::getConditionCodeString(code) << std::endl;
triggerEvent(cfdp::FAULT_HANDLER_TRIGGERED, FaultHandlerCode::NOTICE_OF_CANCELLATION, code);
}
void abandonCb(cfdp::TransactionId& id, cfdp::ConditionCode code) override {
sif::warning << "Transaction " << id
<< " was abandoned, condition code : " << cfdp::getConditionCodeString(code)
<< std::endl;
triggerEvent(cfdp::FAULT_HANDLER_TRIGGERED, FaultHandlerCode::ABANDON_TRANSACTION, code);
}
void ignoreCb(cfdp::TransactionId& id, cfdp::ConditionCode code) override {
sif::warning << "Fault ignored for transaction " << id
<< ", condition code: " << cfdp::getConditionCodeString(code) << std::endl;
triggerEvent(cfdp::FAULT_HANDLER_TRIGGERED, FaultHandlerCode::IGNORE_ERROR, code);
}
};

16
mission/cfdp/defs.h Normal file
View File

@ -0,0 +1,16 @@
#ifndef MISSION_CFDP_DEFS_H_
#define MISSION_CFDP_DEFS_H_
#include "eive/eventSubsystemIds.h"
#include "fsfw/events/Event.h"
namespace cfdp {
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CFDP_APP;
//! [EXPORT] : [COMMENT] P1: CFDP fault handler code. P2: CFDP condition code.
static constexpr Event FAULT_HANDLER_TRIGGERED = event::makeEvent(SUBSYSTEM_ID, 0, severity::LOW);
} // namespace cfdp
#endif /* MISSION_CFDP_DEFS_H_ */

14
mission/controller/PowerController.h
View File

@ -53,13 +53,13 @@ class PowerController : public ExtendedControllerBase, public ReceivesParameterM
ReturnValue_t calculateCoulombCounterChargeUpperThreshold();
// Parameters
float batteryInternalResistance = 70.0 / 2.0 / 1000.0; // [Ohm]
float batteryMaximumCapacity = 2.6 * 2; // [Ah]
float coulombCounterVoltageUpperThreshold = 16.2; // [V]
double maxAllowedTimeDiff = 1.5; // [s]
float payloadOpLimitOn = 0.90; // [%]
float payloadOpLimitLow = 0.75; // [%]
float higherModesLimit = 0.6; // [%]
float batteryInternalResistance = 0.06798200367; // [Ohm]
float batteryMaximumCapacity = 2.6 * 2; // [Ah]
float coulombCounterVoltageUpperThreshold = 16.2; // [V]
double maxAllowedTimeDiff = 1.5; // [s]
float payloadOpLimitOn = 0.90; // [%]
float payloadOpLimitLow = 0.75; // [%]
float higherModesLimit = 0.6; // [%]
// OCV Look-up-Table {[Ah],[V]}
static constexpr uint8_t LOOK_UP_TABLE_MAX_IDX = 99;

4
mission/genericFactory.cpp
View File

@ -86,7 +86,6 @@ EntityId REMOTE_CFDP_ID(UnsignedByteField<uint16_t>(config::EIVE_GROUND_CFDP_ENT
RemoteEntityCfg GROUND_REMOTE_CFG(REMOTE_CFDP_ID);
OneRemoteConfigProvider REMOTE_CFG_PROVIDER(GROUND_REMOTE_CFG);
HostFilesystem HOST_FS;
EiveFaultHandler EIVE_FAULT_HANDLER;
} // namespace cfdp
@ -290,7 +289,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
cfdp::EntityId localId(apid);
GROUND_REMOTE_CFG.defaultChecksum = cfdp::ChecksumType::CRC_32;
GROUND_REMOTE_CFG.maxFileSegmentLen = config::CFDP_MAX_FILE_SEGMENT_LEN;
CfdpHandlerCfg cfdpCfg(localId, indicationCfg, *eiveUserHandler, EIVE_FAULT_HANDLER, PACKET_LIST,
auto eiveFaultHandler = new EiveFaultHandler(objects::CFDP_FAULT_HANDLER);
CfdpHandlerCfg cfdpCfg(localId, indicationCfg, *eiveUserHandler, *eiveFaultHandler, PACKET_LIST,
LOST_SEGMENTS, REMOTE_CFG_PROVIDER);
auto* cfdpHandler = new CfdpHandler(params, cfdpCfg, signals::CFDP_CHANNEL_THROTTLE_SIGNAL);
// All CFDP packets arrive wrapped inside CCSDS space packets

12
mission/payload/PayloadPcduHandler.cpp
View File

@ -395,7 +395,6 @@ void PayloadPcduHandler::quickTransitionBackToOff(bool startTransitionToOff, boo
void PayloadPcduHandler::checkAdcValues() {
using namespace plpcdu;
checkJsonFileInit();
adcSet.processed[U_BAT_DIV_6] =
static_cast<float>(adcSet.channels[0]) * VOLTAGE_DIV / MAX122X_BIT * MAX122X_VREF;
adcSet.processed[U_NEG_V_FB] =
@ -529,6 +528,10 @@ void PayloadPcduHandler::checkJsonFileInit() {
params.initialize(sdcMan->getCurrentMountPrefix());
jsonFileInitComplete = true;
}
} else {
if (not sdcMan->isSdCardUsable(std::nullopt)) {
jsonFileInitComplete = false;
}
}
}
@ -564,6 +567,13 @@ bool PayloadPcduHandler::checkCurrent(float val, float upperBound, Event event)
return true;
}
ReturnValue_t PayloadPcduHandler::initialize() {
checkJsonFileInit();
return DeviceHandlerBase::initialize();
}
void PayloadPcduHandler::performOperationHook() { checkJsonFileInit(); }
ReturnValue_t PayloadPcduHandler::checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
uint32_t* msToReachTheMode) {
if (commandedMode != MODE_OFF) {

2
mission/payload/PayloadPcduHandler.h
View File

@ -67,7 +67,9 @@ class PayloadPcduHandler : public DeviceHandlerBase {
SdCardMountedIF* sdcMan, Stack5VHandler& stackHandler, bool periodicPrintout);
void setToGoToNormalModeImmediately(bool enable);
void performOperationHook() override;
void enablePeriodicPrintout(bool enable, uint8_t divider);
ReturnValue_t initialize() override;
#ifdef XIPHOS_Q7S
static ReturnValue_t extConvAsTwoCallback(SpiComIF* comIf, SpiCookie* cookie,

68
mission/system/EiveSystem.cpp
View File

@ -70,6 +70,9 @@ void EiveSystem::performChildOperation() {
}
pdecRecoveryLogic();
i2cRecoveryLogic();
if (forcePlOffState != ForcePlOffState::NONE) {
forceOffPayload();
}
}
ReturnValue_t EiveSystem::initialize() {
@ -203,10 +206,14 @@ void EiveSystem::handleEventMessages() {
break;
}
case power::POWER_LEVEL_LOW: {
forceOffPayload();
forcePlOffState = ForcePlOffState::FORCE_ALL_EXCEPT_SUPV_OFF;
break;
}
case power::POWER_LEVEL_CRITICAL:
case power::POWER_LEVEL_CRITICAL: {
// Force payload off in any case. It really should not be on when the power level
// becomes critical, but better be safe than sorry..
forcePlOffState = ForcePlOffState::FORCE_ALL_EXCEPT_SUPV_OFF;
// Also set the STR assembly to faulty, which should cause a fallback to SAFE mode.
CommandMessage msg;
HealthMessage::setHealthMessage(&msg, HealthMessage::HEALTH_SET, HasHealthIF::FAULTY);
ReturnValue_t result = MessageQueueSenderIF::sendMessage(
@ -216,6 +223,7 @@ void EiveSystem::handleEventMessages() {
<< std::endl;
}
break;
}
}
break;
default:
@ -403,37 +411,45 @@ void EiveSystem::pdecRecoveryLogic() {
void EiveSystem::forceOffPayload() {
CommandMessage msg;
ReturnValue_t result;
// set PL to faulty
HealthMessage::setHealthMessage(&msg, HealthMessage::HEALTH_SET, HasHealthIF::FAULTY);
ReturnValue_t result = commandQueue->sendMessage(plPcduQueueId, &msg);
if (result != returnvalue::OK) {
sif::error << "EIVE System: Sending FAULTY command to PL PCDU failed" << std::endl;
if (forcePlOffState == ForcePlOffState::FORCE_ALL_EXCEPT_SUPV_OFF) {
result = commandQueue->sendMessage(plocMpsocQueueId, &msg);
if (result != returnvalue::OK) {
sif::error << "EIVE System: Sending FAULTY command to PLOC MPSOC failed" << std::endl;
}
result = commandQueue->sendMessage(cameraQueueId, &msg);
if (result != returnvalue::OK) {
sif::error << "EIVE System: Sending FAULTY command to PL CAM failed" << std::endl;
}
result = commandQueue->sendMessage(scexQueueId, &msg);
if (result != returnvalue::OK) {
sif::error << "EIVE System: Sending FAULTY command to SCEX failed" << std::endl;
}
result = commandQueue->sendMessage(radSensorQueueId, &msg);
if (result != returnvalue::OK) {
sif::error << "EIVE System: Sending FAULTY command to RAD SENSOR failed" << std::endl;
}
result = commandQueue->sendMessage(plPcduQueueId, &msg);
if (result != returnvalue::OK) {
sif::error << "EIVE System: Sending FAULTY command to PL PCDU failed" << std::endl;
}
forcePlOffState = ForcePlOffState::WAITING;
supvOffDelay.resetTimer();
}
result = commandQueue->sendMessage(plocMpsocQueueId, &msg);
if (result != returnvalue::OK) {
sif::error << "EIVE System: Sending FAULTY command to PLOC MPSOC failed" << std::endl;
if (forcePlOffState == ForcePlOffState::WAITING and supvOffDelay.hasTimedOut()) {
forcePlOffState = ForcePlOffState::FORCE_SUPV_OFF;
}
result = commandQueue->sendMessage(plocSupervisorQueueId, &msg);
if (result != returnvalue::OK) {
sif::error << "EIVE System: Sending FAULTY command to PLOC SUPERVISOR failed" << std::endl;
}
result = commandQueue->sendMessage(cameraQueueId, &msg);
if (result != returnvalue::OK) {
sif::error << "EIVE System: Sending FAULTY command to PL CAM failed" << std::endl;
}
result = commandQueue->sendMessage(scexQueueId, &msg);
if (result != returnvalue::OK) {
sif::error << "EIVE System: Sending FAULTY command to SCEX failed" << std::endl;
}
result = commandQueue->sendMessage(radSensorQueueId, &msg);
if (result != returnvalue::OK) {
sif::error << "EIVE System: Sending FAULTY command to RAD SENSOR failed" << std::endl;
if (forcePlOffState == ForcePlOffState::FORCE_SUPV_OFF) {
result = commandQueue->sendMessage(plocSupervisorQueueId, &msg);
if (result != returnvalue::OK) {
sif::error << "EIVE System: Sending FAULTY command to PLOC SUPERVISOR failed" << std::endl;
}
forcePlOffState = ForcePlOffState::NONE;
}
}

7
mission/system/EiveSystem.h
View File

@ -22,6 +22,12 @@ class EiveSystem : public Subsystem, public HasActionsIF {
[[nodiscard]] MessageQueueId_t getCommandQueue() const override;
private:
enum class ForcePlOffState {
NONE,
FORCE_ALL_EXCEPT_SUPV_OFF,
WAITING,
FORCE_SUPV_OFF
} forcePlOffState = ForcePlOffState::NONE;
enum class I2cRebootState {
NONE,
SYSTEM_MODE_BOOT,
@ -37,6 +43,7 @@ class EiveSystem : public Subsystem, public HasActionsIF {
bool alreadyTriedI2cRecovery = false;
uint8_t frameDirtyErrorCounter = 0;
Countdown supvOffDelay = Countdown(3000);
Countdown frameDirtyCheckCd = Countdown(10000);
// If the PDEC reset was already attempted in the last 2 minutes, there is a high chance that
// only a full reboot will fix the issue.

2
tmtc

@ -1 +1 @@
Subproject commit 728b7c647cf826d0dd751126935c1cb559aa16ee
Subproject commit 92fe9d92def31d2f9d1c8cefe0ce4f244bcd1702