Change Log ======= All notable changes to this project will be documented in this file. The format is based on [Keep a Changelog](http://keepachangelog.com/). The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones) list yields a list of all related PRs for each release. Starting at v2.0.0, the following changes will consitute of a breaking change warranting a new major release: - The TMTC interface changes in any shape of form. - The behavour of the OBSW changes in a major shape or form relevant for operations # [unreleased] ## Added - Function for the ACS controller to command MTQ and RWs called by all subroutines - RwHandler now handles commanding of RW speeds via RwSpeedActuationSet ## Changed - Remove 2 TCS threads. - Move low level polling into ACS PST, move high level device handlers into TCS system task. - ActCmds now returns command vectors as integers as required by the actuators and scales them to the appropriate range - All RwHandler are now polled five times per ACS cycle ## Removed - lwgps dependency not compiled anymore, is not used # [v1.27.1] 2023-02-13 ## Fixed - Fix for SPI ComIF: Set transfer size to 0 for failed transfers - Fix shadowing issue with locks in MAX31865 low level handler # [v1.27.0] 2023-02-13 eive-tmtc: v2.12.5 Added EIVE system top mode component. Currently, only SAFE and IDLE mode are implemented, and the system does not do more than commanding TCS and ACS into the correct modes. It does not have a lot of mode tracking capabilities yet because the ACS controller might alternate between SAFE and DETUMBLE. It takes around 5-10 seconds for the EIVE system to reach the SAFE mode. The new system is used at software boot to command the satellite into safe mode on each reboot. This behaviour can be disabled with the `OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP` flag. ## Added - New EIVE system component like explained above. ## Changed - The satellite now commands itself into SAFE mode on each reboot, which triggers a lot of events on each SW reboot. The TCS subsystem will commanded to NORMAL mode immediately while the ACS subsystem will be commanded to SAFE mode. The payload subsystem will be commanded OFF. - `RELEASE_BUILD` flag moved to `commonConfig.h` - The ACS subsystem transitions are now staggered: The SUS board assembly is commanded as a separate transition. This reduces the risk of long bus lockups. - No INFO mode event translations for release builds to reduce number of printouts. - More granular locking inside the MAX31865 low level read handler. ## Fixed - More DHB thermal module fixes. - ACS PST frequency extended to 0.8 seconds in debug builds to avoid SPI bus lockups. - Local datapool fixes for the `PlocSupervisorHandler` # [v1.26.4] 2023-02-10 eive-tmtc: v2.12.3 ## Fixed - `SdCardManager.cpp` `isSdCardUsable`: Use `ext4` instead of `vfat` to check read-only state. # [v1.26.3] 2023-02-09 eive-tmtc: v2.12.2 ## Added - First version of a TCS controller heater control loop, but the loop is disabled for now. ## Changed - Reworked dummy handling for the TCS controller. - Generator scripts now generate files for hosted and for Q7S build. ## Fixed - GPS Controller: Set fix value to 0 when switching off to allow `GPS_FIX_CHANGE` to work when switching the GPS back on. # [v1.26.2] 2023-02-08 ## Changed - ACS Controller scheduling is now configurable via the `eive/definitions.h` file. Also ensured that scheduling is done in big blocks to reduce risk of missed deadlines. - Replaced chained locks for polling new sensor data to the `AcsController`. - Made TM store even larger. ## Fixed - Bugfix for PDEC handler which causes the PIR register of the PDEC to never be cleared on release builds. The dummy variable used to read the register needs to be declared volatile to avoid compiler optimizations. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/374 - Bumped FSFW for fix of possible memory leaks in TCP/IP TMTC bridge inside the FSFW. ## Added - Create TCS controller for EM build. # [v1.26.1] 2023-02-08 - Initialize parameter helper in ACS controller. # [v1.26.0] 2023-02-08 eive-tmtc v2.12.1 ## Changed ### ACS - Readded calibration matrices for MGM calibration. - Added calculation of satellite velocity vector from GPS position data - Added detumble mode using GYR values - Added inertial pointing mode - Added nadir pointing mode - Added ground station target mode - Added antistiction for RWs - Added `sunTargetSafe` differentiation for LEOP - Added check for existance of `SD_0_SKEWED_PTG_FILE` and `SD_1_SKEWED_PTG_FILE` to determine which `sunTargetSafe` to use - Added `gpsVelocity` and `gpsPosition` to `gpsProcessed` - Removed deprecated `OutputValues` - Added `HasParametersIF` to `AcsParameters` - Added `ReceivesParameterMessagesIF` and `ParameterHelper` to `AcsController` - Updated `AcsParameters` with actual values and changed structure - Sun vector model and magnetic field vector model calculations are always executed now - `domainId` is now used as identifier for parameter structs - Changed onboard GYR value handling from deg/s to rad/s ## Fixed - Single sourcing the version information into `CMakeLists.txt`. The `git describe` functionality is only used to retrieve the git SHA hash now. Also removed `OBSWVersion.h` accordingly. - Build system: Fixed small bug, where the version itself was stored as the git SHA hash in `commonConfig.h`. This will be an empty string now for regular versions. - Bump FSFW for important fix in PUS mode service. ### ACS - Bugfixes in 'SensorProcessing' where previously MGM values would be calibrated before being transformed in body RF. However, the calibration values are in the body RF. Also fixed the validity flag of 'mgmVecTotDerivative'. - Fixed calculation of model sun vector - Fixed calculation of model magnetic field vector - Fixed MEKF algorithm - Fixed several variable initializations - Fixed several variable types - Fixed use of `sunMagAngleMin` for safe mode - Fixed MEKF not using correct `sampleTime` - Fixed assignment of `SUS0` and `SUS6` calibration matrices due to wiring being mixed up - Various smaller bugfixes # [v1.25.0] 2023-02-06 eive-tmtc version: v2.12.0 ## Changed - Updated Subsystem mode IDs to avoid clashes with regular device handler modes. ## Fixed - `GpsHyperionLinuxController`: Fix `gpsd` polling by continuously calling `gps_read` in one cycle until it does not have any data left anymore. Also, the data is now polled in a permanent loop, where controller handling is done on 0.2 second timeouts. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/368 # [v1.24.0] 2023-02-03 - eive-tmtc v2.10.0 - `AcsSubsystem`: OFF, SAFE and DETUMBLE mode were tested. Auto-transitions SAFE <-> DETUMBLE tested as well. Other modes still need to be tested. ## Fixed - `AcsController`: Parameter fix in `DetumbleParameter`. - Set GPS set entries to invalid on MODE_OFF command. - Bump FSFW for bugfix in `setNormalDatapoolEntriesInvalid` where the validity was not set to false properly - Fixed usage of uint instead of int for commanding MTQ. Also fixed the range in which the ACS Ctrl commands the MTQ to match the actual commanding range. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/363 - Regression: Revert swap of SUS0 and SUS6. Those devices are on separate power lines. In a future fix, the calibration matrices of SUS0 and SUS6 will be swapped. ## Changed - Update ACS scheduling to represent the actual ACS design. There is one ACS PST now for all timing sensitive ACS operations. In the debug builds, the new ACS polling sequence table will have a period of 0.6 seconds, but will remain 0.4 seconds for the release build. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365 - `ACS::SensorValues` is now an ACS controller member to reduce the risk of stack overflow. - ACS Subsystem Sequence Mode IDs updated. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365 TMTC PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/130 - Update and tweak ACS subsystem to represent the actual ACS design - Event handling in the ACS subsystem for events triggered by the ACS controller. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365 # [v1.23.1] 2023-02-02 TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3 ## Fixed - Bugfix in FSFW where the sequence flags of the PUS packets were set to continuation segment (0b00) instead of unsegmented (0b11). - Bugfix in FSFW where the MGM RM3100 value Z axis data was parse incorrectly. PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/123 # [v1.23.0] 2023-02-01 TMTC version: v2.9.0 ## Changed - Bumped FSFW to include improvements and bugfix for Health Service. The health service now supports the announce all health info command. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725 ## Fixed - Bumped FSFW to include fixes in the time service. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726 - The CCSDS handler starts the transmitter timer each time it is commanded to MODE_ON and times out the timer when the handler is commanded to MODE_OFF - If the timer is timed out the CCSDS handler will disable the TX clock which will cause the syrlinks to got to standby mode - PDEC handler now parses the FAR register also in interrupt mode # [v1.22.1] 2023-01-30 ## Changed - Updated FSFW to include addition where the `SO_REUSEADDR` option is set on the TCP server, which should improve its ergonomics. # [v1.22.0] 2023-01-28 TMTC version: v2.6.1 ## Added - First COM subsystem implementation. It mirrors the Syrlinks mode/submodes but also takes care of commanding the CCSDS handler. It expects the Syrlinks submodes as mode commands. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/358 - The CCSDS handler has has a new submode (3) to configure the default datarate. - Default datarate parameter commanding moved to COM subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/358 # [v1.21.0] 2023-01-26 TMTC version: v2.5.0 Syrlinks PR: PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/353 ## Fixed - The `OBSW_SYRLINKS_SIMULATED` flag is set to 0 for for both EM and FM. - MGM4 handling in ACS sensor processing: Bugfix in `mulScalar` operation PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/354 - Subsystem ID clash: CORE subsystem ID was the same as Syrlinks subsystem ID. ## Changed - Startracker temperature set and PCDU switcher set are diagnostic now - `SyrlinksHkHandler` renamed to `SyrlinksHandler` to better reflect that it does more than just HK and is also responsible for setting the TX mode of the device. - `SyrlinksHandler`: Go to startup immediately because the Syrlinks device should always be on by default. - `SyrlinksHandler`: Go to normal mode at startup. ## Added - The Syrlinks handler has submodes for the TX mode now: RX Only (0), RX and TX default datarate (1), RX and TX Low Rate (2), RX and TX High Rate (3) and TX Carrier Wave (4). The submodes apply for both ON and NORMAL mode. The default datarate can be updated using a parameter command (domain ID 0 and unique ID 0) with value 0 for low rate and 1 for high rate. - The Syrlinks handler always sets TX to standby when switching off - The Syrlinks handler triggers a new TX_ON event when the transmitter was switched on successfully and a TX_OFF event when it was switched off successfully. - Startracker temperature set and PCDU switcher set are diagnostic now - The CCSDS handler can accept mode commands now. It accepts ON and OFF commands. Furthermore it has a submode for low datarate (1) and high datarate (2) for the ON command. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/352 # [v1.20.0] 2023-01-24 ## Added - The Q7S SW now checks for a file named `boot_delay_secs.txt` in the home directory. If it exists and the file is empty, it will delay for 6 seconds before continuing with the regular boot. It can also try to read delay seconds from the file. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/340. - Basic TCS Subsystem component. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/319 - Expose base set of STR periodic housekeeping packets ## Changed - Moved some PDEC/PTME configuration to `common/config/eive/definitions.h` PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/319 - The ACS Controller Gyro Sets (raw and processed) and the MEKF dataset are diagnostics now. - Bumped FSFW for Service 11 improvement which includes size and CRC check for contained TC - Syrlinks module now always included for both EM and FM - SA Deployment: Allow specifying the switch interval and the initial channel. This allows testing the new deployment procedure where each channel is burned for half of the whole burn duration. It also allows burning only one channel for the whole burn duration. The autonomous mechanism was adapted to burn each channel for half of the burn time by default. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/347 TMTC PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/127 - `Max31865RtdLowlevelHandler.cpp`: For each RTD device, the config is now re-written before every read. This seems to fix some issue with invalid temperature sensor readings. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/345 ## Fixed - `GyroADIS1650XHandler`: Updated handler to determine correct dynamic range from `RANG_MDL` register readout. This is because ADIS16505-3BMLZ devices are used on the ACS board and the previous range setting was wrong. Also fixed a small error properly set internal state on shut-down. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/342 - Syrlinks Handler: Read RX frequency shift as 24 bit signed number now. Also include validity handling for datasets. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/350 - `GyroADIS1650XHandler`: Changed calculation of angular rate to be sensitivity based instead of max. range based, as previous fix still left an margin of error between ADIS16505 sensors and L3GD20 sensors. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/346 # [v1.19.0] 2023-01-10 ## Changed - 5V stack is now off by default ## Fixed - PLOC SUPV: Minor adaptions and important bugfix for UART manager - Allow cloning and building the hosted OBSW version without proprietary libraries, which also avoids the need to have a Gitea account. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/337 ## Added - First version of ACS controller PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/329 - Allow commanding the 5V stack internally in software PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/334 - Add automatic 5V stack commanding for all connected devices PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/335 # [v1.18.0] 2022-12-01 ## Changed - PLOC Supervisor: Changes baudrate to 921600 - Renamed `/dev/ul-plsv` to `/dev/ploc_supv`, is not a UART lite anymore - Renamed `/dev/i2c_eive` to `/dev/i2c_pl` and `/dev/i2c-2` to `/dev/i2c_ps`. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/328 # [v1.17.0] 2022-11-28 ## Added - PLOC Supervisor Update: Update SW to use newest PLOC SUPV version by TAS PR 1: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/316 PR 2: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/324 PR 3: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/326 # [v1.16.0] 2022-11-18 - It is now possible to compile Linux components for the hosted build conditionally PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/322 - ACS Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/231 - Payload Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/231 - Add IRQ mode for PDEC handler. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/310 - Extended TM funnels to allow multiple TM recipients. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/312 - DHB: Transitions to normal mode now possible directly, which simplifies subsystem implementations PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/313 - MAX3185 Low Level Handler and Device Handler: Simplifications and bugfixes to allow switching off without triggering unrequested replies PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/313 - Add remaining missing TMP1075 device handlers. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/318 # [v1.15.0] 2022-10-27 - Consistent device file naming - Remove rad sensor from EM build, lead to weird bugs on EM which prevented `xsc_boot_copy` from working properly - CFDP closure handling is now working PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/307 - Safety mechanism for SD card handling on graceful reboots PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/308 - Solar Array Deployment handler update PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/305 - IMTQ updates as preparation for ACS controller expansion PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/306 - P60 Module: Reduce number of set IDs, use same set IDs for core, auxiliary and config HK set across the three PCDU modules # [v1.14.1] 11.10.2022 - Various bugfixes and regression fixes - General file handling at program initialization now works properly again - Scratch buffer preferred SD card handling works again - Use scoped locks in TCS controller to avoid deadlocks # [v1.14.0] 10.10.2022 - Provide full SW update capability for the OBSW. This includes very basic CFDP integration, a software update procedure specified in detail in the README and some high level commands to make this easier for operators. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/302 - Update for FSFW: `HasReturnvaluesIF` class replaced by namespace `returnvalue` - Add some GomSpace clients as a submodule dependency. Use this dependency to deserialize the GomSpace TM tables - Add API to retrieve GomSpace device parameter tables PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/287 - Add API to save and load GomSpace config tables PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/293 - Increase number of allowed consescutive action commands from 3 to 16 PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/294 - Fix for EM SW: Always create ACS Task - Added Scex device handler and Scex uart reader PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/303 - ACS Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/228 # [v1.13.0] 24.08.2022 - Added first version of ACS Controller with gathers MGM data in a set - Some tweaks for IMTQ handler # [v1.12.1] 05.07.2022 - Disable periodic TCS controller HK generation by default # [v1.12.0] 04.07.2022 ## Added - Dummy components to run OBSW without relying on external hardware PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/266 - Basic Thermal Controller PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/266 - PUS11 TC scheduler PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/259 - Regular reboot command PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/242 - Commands for individual RTD devices PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/84 - `RwAssembly` added to system components. Assembly works in principle, issues making 4 consecutives RWs communicate at once.. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/224 - Adds a yocto helper script which is able to install the release build binaries (OBSW and Watchdog) into the `q7s-yocto` repository as long as the `q7s-package` or `q7s-yocto` repo was cloned in the same directory the EIVE OBSW repo. This makes updating the root filesystem a lot easier. It also creates and installs a version file. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/248 - Create the generic image by default for the Q7S build. The unique binary with the username appended at the end is created as a side-product now PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/248 ## Fixed - `q7s-cp.py` bugfix PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/256 - Generator scripts output now produce platform-independent artifacts PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/267 ### Heater - Adds `HealthIF` to heaters. Heaters are own system object with queues now which allows to set them faulty. - SW will attempt to shut down heaters which are on but marked faulty - Some simplifications for `HeaterHandler`, use `std::vector` instead of `std::unordered_map` for primary container. Using the heater indexes 0 to 7 allows to use natural array indexing - Some additional input sanity checks in `executeAction` PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/236 ## Changed - CCSDS handler improvements PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/268 - Build unittest as default side product of hosted builds PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/244 - Let CI/CD build host build and run unittest side product in same step - Catch2 pre-installed in CI/CD docker container, Xiphos SDK installed in CI/CD docker PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/247 - Sun Sensors have names denoting their location and poiting in the satellite now PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/245 - Better RTD names denoting their purpose (and location consequently) PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/246 # [v1.11.0] ## Fixed - Host build working again ## Added - Custom Syrlinks FDIR which disabled most of the default FDIR functionality PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/232 - Custom Gomspace FDIR which disabled most of the default FDIR functionality - Custom Syrlinks FDIR which disabled most of the default FDIR functionality ## Changed - PCDU handler only called once in PST, but can handle multiple messages now PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/221 Bugfix: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/235 - Update rootfs base of Linux, all related OBSW changes - Add `/usr/local/bin` to PATH. All shell scripts are there now - Add Syrlinks and TMP devices to Software by default - Update GPS Linux Hyperion Handler to use socket interface. Still allows switching back to SHM interface, but the SHM interface is a possible cause of SW crashes - Updated code for changed FSFW HAL GPIO API: `readGpio` prototype has changed PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/240 and https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/76 ### GPS PRs: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/239 - Rename GPS device to `/dev/gps0` - Use gpsd version 3.17 now. Includes API changes ### EM and FM splitup & Build Workflow improvements PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/238 - Split up `bsp_q7s` in separate EM and FM build with module loading set to different default values. The EM object factory is unique which allows building a parallel setup with dummy components - All major BSPs have an own `OBSWConfig.h.in` file which simplifies the file significantly - Renamed Q7S primary build folders: - `cmake-build-debug-q7s` for primary development build - `cmake-build-release-q7s` for primary release build - `cmake-build-debug-q7s-em` for primary development build of the EM software - `cmake-build-release-q7s-em` for primary release build of the EM software - Refactored Q7S helper script handling. It is now intended and preferred to copy the environment script to the same folder level as the `eive-obsw` and source it. This will also add the path containing the shell helper scripts to `PATH` - The actual helper shell scripts were renamed as well to `q7s--.sh` # [v1.10.1] Version bump # [v1.10.0] For all releases equal or prior to v1.10.0, see [milestones](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)