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initialize ACS controller
2023-02-08 15:02:56 +01:00

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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]
# [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-<buildSystem>-<buildType>.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)
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