Updated messages to test with commander and added debug messages

apps/fac/fsw/platform_inc/fac_msgids.h

@@ -5,11 +5,14 @@
 extern "C" {
 #endif
 
+#include <msg_ids.h>
+/*
 #define FAC_CMD_MID                                 0x1c42
 #define FAC_SEND_HK_MID                             0x1c43
 #define FAC_RUN_CONTROLLER_MID                      0x1c44
 
 #define FAC_HK_TLM_MID                              0x0c46
+*/
 
 #ifdef __cplusplus
 }

apps/fac/fsw/platform_inc/fac_platform_cfg.h

@@ -73,13 +73,27 @@ extern "C" {
 */
 #define FAC_CMD_PIPE_DEPTH             (15)
 
-/** \brief Pipe name for the Scheduler pipe 
+/** \brief Pipe name for the command pipe
 **
 **  \par Limits:
 **       Note, this name must fit in OS_MAX_API_NAME.
 */
 #define FAC_CMD_PIPE_NAME              ("FAC_CMD_PIPE")
 
+/** \brief Pipe depth for the data pipe
+**
+**  \par Limits:
+**       minimum of 1, max of CFE_SB_MAX_PIPE_DEPTH.
+*/
+#define FAC_DATA_PIPE_DEPTH             (8)
+
+/** \brief Pipe name for the data pipe
+**
+**  \par Limits:
+**       Note, this name must fit in OS_MAX_API_NAME.
+*/
+#define FAC_DATA_PIPE_NAME              ("FAC_DATA_PIPE")
+
 /** \brief The config table default filename
 **
 **  \par Limits:

apps/fac/fsw/src/fac_app.cpp

@@ -429,13 +429,19 @@ int32 FAC::RcvSchPipeMsg(int32 iBlocking)
         {
             case FAC_SEND_HK_MID:
             {
+                (void) CFE_EVS_SendEvent(FAC_INF_EID, CFE_EVS_INFORMATION,
+                                  "Recvd FAC_SEND_HK_MID cmd (%u)",
+                                  (unsigned int)MsgId);
                 ProcessNewCmds();
                 ReportHousekeeping();
                 break;
             }
 
             case FAC_RUN_CONTROLLER_MID:
             {
+                (void) CFE_EVS_SendEvent(FAC_INF_EID, CFE_EVS_INFORMATION,
+                                  "Recvd FAC_RUN_CONTROLLER_MID cmd (%u)",
+                                  (unsigned int)MsgId);
             	if(ProcessIncomingData() == true)
             	{
                     RunController();

apps/fac/fsw/src/fac_app.hpp

@@ -80,22 +80,6 @@ enum vtol_type {
 };
 
 
-/** \brief Pipe name for the Scheduler pipe
-**
-**  \par Limits:
-**       Note, this name must fit in OS_MAX_API_NAME.
-*/
-#define FAC_DATA_PIPE_NAME             ("FAC_DATA_PIPE")
-
-
-/** \brief Pipe depth for the data pipe
-**
-**  \par Limits:
-**       minimum of 1, max of CFE_SB_MAX_PIPE_DEPTH.
-*/
-#define FAC_DATA_PIPE_DEPTH            (8)
-
-
 /************************************************************************
  ** Local Structure Definitions
  *************************************************************************/

apps/fac/wh_design.yaml

@@ -4,91 +4,94 @@
   module_type: CFE_APP
   commander:
     displays: cdr
-  events: 
-    MAC_INF_EID: 
+  events:
+    FAC_INF_EID:
       id: 1
-    MAC_INIT_INF_EID: 
+    FAC_INIT_INF_EID:
       id: 2
-    MAC_CMD_INF_EID: 
+    FAC_CMD_INF_EID:
       id: 3
-    MAC_INIT_ERR_EID: 
+    FAC_INIT_ERR_EID:
       id: 4
-    MAC_CONFIG_TABLE_ERR_EID: 
+    FAC_CONFIG_TABLE_ERR_EID:
       id: 5
-    MAC_PIPE_ERR_EID: 
+    FAC_PIPE_ERR_EID:
       id: 6
-    MAC_MSGID_ERR_EID: 
+    FAC_MSGID_ERR_EID:
       id: 7
-    MAC_MSGLEN_ERR_EID: 
+    FAC_MSGLEN_ERR_EID:
       id: 8
-    MAC_TBL_VALIDATE_ERR_EID: 
+    FAC_TBL_VALIDATE_ERR_EID:
       id: 9
-  telemetry: 
-    MAC_HK_TLM_MID: 
-      msgID: 
-      struct: MAC_HkTlm_t
-  commands: 
-    MAC_CMD_MID: 
-      msgID: 
-      commands: 
-        Noop: 
+  telemetry:
+    FAC_HK_TLM_MID:
+      msgID:
+      struct: FAC_HkTlm_t
+  commands:
+    FAC_CMD_MID:
+      msgID:
+      commands:
+        Noop:
           cc: 0
           struct: CFE_SB_CmdHdr_t
-        Reset: 
+        Reset:
           cc: 1
           struct: CFE_SB_CmdHdr_t
-    MAC_RUN_CONTROLLER_MID: 
-      msgID: 
-      commands: 
-        RunController: 
+    FAC_RUN_CONTROLLER_MID:
+      msgID:
+      commands:
+        RunController:
           cc: 0
           struct: CFE_SB_CmdHdr_t
-    MAC_SEND_HK_MID: 
-      msgID: 
-      commands: 
-        SendHK: 
+    FAC_SEND_HK_MID:
+      msgID:
+      commands:
+        SendHK:
           cc: 0
           struct: CFE_SB_CmdHdr_t
-  perfids: 
-    MAC_MAIN_TASK_PERF_ID: 
-      id: 
-  config: 
-    MAC_SB_TIMEOUT: 
-      name: MAC_SB_TIMEOUT
+  perfids:
+    FAC_MAIN_TASK_PERF_ID:
+      id:
+  config:
+    FAC_SB_TIMEOUT:
+      name: FAC_SB_TIMEOUT
       value: CFE_SB_PEND_FOREVER
-    MAC_MISSION_REV: 
-      name: MAC_MISSION_REV
+    FAC_MISSION_REV:
+      name: FAC_MISSION_REV
       value: 0
-    MAC_SCH_PIPE_DEPTH: 
-      name: MAC_SCH_PIPE_DEPTH
+    FAC_SCH_PIPE_DEPTH:
+      name: FAC_SCH_PIPE_DEPTH
       value: 15
-    MAC_SCH_PIPE_NAME: 
-      name: MAC_SCH_PIPE_NAME
-      value: MAC_SCH_PIPE
-    MAC_SCH_PIPE_PEND_TIME: 
-      name: MAC_SCH_PIPE_PEND_TIME
+    FAC_SCH_PIPE_NAME:
+      name: FAC_SCH_PIPE_NAME
+      value: FAC_SCH_PIPE
+    FAC_SCH_PIPE_PEND_TIME:
+      name: FAC_SCH_PIPE_PEND_TIME
       value: 2000
-    MAC_WAKEUP_MID_MAX_MSG_COUNT: 
-      name: MAC_WAKEUP_MID_MAX_MSG_COUNT
-      value: 1
-    MAC_SEND_HK_MID_MAX_MSG_COUNT: 
-      name: MAC_SEND_HK_MID_MAX_MSG_COUNT
-      value: 1
-    MAC_CMD_PIPE_DEPTH: 
-      name: MAC_CMD_PIPE_DEPTH
+    FAC_SCH_PIPE_WAKEUP_RESERVED:
+        name: FAC_SCH_PIPE_WAKEUP_RESERVED
+        value: 1
+    FAC_SCH_PIPE_SEND_HK_RESERVED:
+        name: FAC_SCH_PIPE_SEND_HK_RESERVED
+        value: 1
+    FAC_CMD_PIPE_DEPTH:
+      name: FAC_CMD_PIPE_DEPTH
       value: 15
-    MAC_CMD_PIPE_NAME: 
-      name: MAC_CMD_PIPE_NAME
-      value: MAC_CMD_PIPE
-    MAC_DATA_PIPE_DEPTH: 
-      name: MAC_DATA_PIPE_DEPTH
-      value: 4
-    MAC_DATA_PIPE_NAME: 
-      name: MAC_DATA_PIPE_NAME
-      value: MAC_DATA_PIPE
-    MAC_CONFIG_TABLE_FILENAME: 
-      name: MAC_CONFIG_TABLE_FILENAME
+    FAC_CMD_PIPE_NAME:
+      name: FAC_CMD_PIPE_NAME
+      value: FAC_CMD_PIPE
+    FAC_DATA_PIPE_DEPTH:
+      name: FAC_DATA_PIPE_DEPTH
+      value: 8
+    FAC_DATA_PIPE_NAME:
+      name: FAC_DATA_PIPE_NAME
+      value: FAC_DATA_PIPE
+    FAC_PARAM_TABLE_FILENAME:
+      name: FAC_PARAM_TABLE_FILENAME
       value: /cf/apps/fac_param.tbl
-    MAC_STARTUP_TIMEOUT_MSEC: 
-      name: MAC_STARTUP_TIMEOUT_MSEC
+    FAC_STARTUP_TIMEOUT_MSEC:
+      name: FAC_STARTUP_TIMEOUT_MSEC
       value: 1000
+    FAC_CUSTOM_DEV_PATH:
+        name: FAC_CUSTOM_DEV_PATH
+        value: /tmp/ttyS0

config/obc/fixedwing/cpd/sitl/target/CMakeLists.txt

@@ -58,13 +58,13 @@ buildliner_add_app(
     DEFINITION ${PROJECT_SOURCE_DIR}/apps/sliplib/fsw/for_build
 )
 
-buildliner_add_app(
-    pq_lib
-    EMBEDDED
-    DEFINITION ${PROJECT_SOURCE_DIR}/apps/pq_lib/fsw/for_build
-    # TODO move this table build to sbn module?
-    CONFIG     ${CMAKE_CURRENT_SOURCE_DIR}/../../apps/pq_lib
-)
+#buildliner_add_app(
+#    pq_lib
+#    EMBEDDED
+#    DEFINITION ${PROJECT_SOURCE_DIR}/apps/pq_lib/fsw/for_build
+#    # TODO move this table build to sbn module?
+#    CONFIG     ${CMAKE_CURRENT_SOURCE_DIR}/../../apps/pq_lib
+#)
 
 buildliner_add_app(
     sedlib
@@ -138,10 +138,3 @@ buildliner_add_app(
     DEFINITION ${PROJECT_SOURCE_DIR}/apps/fac/fsw/for_build
     CONFIG     ${PROJECT_SOURCE_DIR}/config/shared/apps/fac
 )
-
-buildliner_add_app(
-    aspd4525
-    EMBEDDED
-    DEFINITION ${PROJECT_SOURCE_DIR}/apps/aspd4525/fsw/for_build
-    CONFIG     ${PROJECT_SOURCE_DIR}/config/obc/fixedwing/cpd/apps/aspd4525
-)

config/obc/fixedwing/cpd/sitl/target/cfe_es_startup.scr

@@ -1,59 +1,13 @@
 CFE_LIB, /embedded/CFS_LIB.so,   CFS_LibInit,     CFS_LIB,    0,     0, 0x0, 0, 0;
 CFE_LIB, /embedded/MBP_LIB.so,   MBP_LibInit,     MBP_LIB,    0,     0, 0x0, 0, 0;
-CFE_LIB, /embedded/SED_LIB.so,   SEDLIB_LibInit,  SED_LIB,    0,     0, 0x0, 0, 0;
 CFE_LIB, /embedded/SLIP_LIB.so,  SLIP_LibInit,    SLIP_LIB,   0,     0, 0x0, 0, 0;
+CFE_LIB, /embedded/SED_LIB.so,   SEDLIB_LibInit,  SED_LIB,    0,     0, 0x0, 0, 0;
 CFE_LIB, /embedded/IO_LIB.so,    IO_LibInit,      IO_LIB,     0,     0, 0x0, 0, 0;
-CFE_LIB, /embedded/IPC_LIB.so,   IPC_LibInit,     IPC_LIB,    0,     0, 0x0, 0, 0;
-CFE_APP, /embedded/HS.so,        HS_AppMain,      HS,       105, 32768, 0x0, 0, 0;
-CFE_APP, /embedded/SENS.so,      SENS_AppMain,    SENS,      20, 65536, 0x0, 0, 0;
-CFE_APP, /embedded/LD.so,        LD_AppMain,      LD,        55, 65536, 0x0, 0, 0;
-CFE_APP, /embedded/QAE.so,       QAE_AppMain,     QAE,       25, 65536, 0x0, 0, 0;
-CFE_APP, /embedded/PE.so,        PE_AppMain,      PE,        70, 65536, 0x0, 0, 0;
-CFE_APP, /embedded/AMC.so,       AMC_AppMain,     AMC,       40, 65536, 0x0, 0, 0;
-CFE_APP, /embedded/NAV.so,       NAV_AppMain,     NAV,       50, 65536, 0x0, 0, 0;
-CFE_APP, /embedded/FAC.so,       FAC_AppMain,     FAC,       30, 65536, 0x0, 0, 0;
-CFE_APP, /embedded/FPC.so,       FPC_AppMain,     FPC,       35, 65536, 0x0, 0, 0;
-CFE_APP, /embedded/VM.so,        VM_AppMain,      VM,        45, 65536, 0x0, 0, 0;
-CFE_APP, /embedded/SBND.so,      SBND_AppMain,    SBND,      60, 32768, 0x0, 0, 0;
-CFE_APP, /embedded/FM.so,        FM_AppMain,      FM,       115, 32768, 0x0, 0, 0;
-CFE_APP, /embedded/MM.so,        MM_AppMain,      MM,       125, 32768, 0x0, 0, 0;
-CFE_APP, /embedded/MD.so,        MD_AppMain,      MD,       130, 32768, 0x0, 0, 0;
-CFE_APP, /embedded/SC.so,        SC_AppMain,      SC,       120, 32768, 0x0, 0, 0;
-CFE_APP, /embedded/ZUSUP.so,     ZUSUP_AppMain,   ZUSUP,    240, 32768, 0x0, 0, 0;
+CFE_LIB, /embedded/PX4LIB.so,    PX4LIB_LibInit,  PX4LIB,     0,     0, 0x0, 0, 2;
 CFE_APP, /embedded/CF.so,        CF_AppMain,      CF,       110, 32768, 0x0, 0, 0;
-CFE_APP, /embedded/ICM20689.so,  ICM20689_AppMain, ICM20689, 48, 32768, 0x0, 0, 2;
-CFE_APP, /embedded/HMC5883.so,   HMC5883_AppMain, HMC5883,   53, 32768, 0x0, 0, 2;
-CFE_APP, /embedded/MS5611.so,    MS5611_AppMain,  MS5611,    57, 32768, 0x0, 0, 2;
-CFE_APP, /embedded/RCIN.so,      RCIN_AppMain,    RCIN,      63, 32768, 0x0, 0, 2;
-CFE_APP, /embedded/GPS.so,       GPS_AppMain,     GPS,       67, 32768, 0x0, 0, 2;
-CFE_APP, /embedded/CI.so,        CI_AppMain,      CI,      115, 32768, 0x0, 0, 0;
-CFE_APP, /embedded/TO.so,        TO_AppMain,      TO,        124, 32768, 0x0, 0, 2;
-CFE_APP, /embedded/SCH.so,       SCH_AppMain,     SCH,       10, 40960, 0x0, 0, 0;
-!CFE_APP, /embedded/SBN.so,       SBN_AppMain,     SBN,       37, 32768, 0x0, 0, 2;
-!CFE_LIB, /embedded/PRMLIB.so,    PRMLIB_LibInit,  PRMLIB,      0,     0, 0x0, 0, 2;
-CFE_LIB, /embedded/PX4LIB.so,    PX4LIB_LibInit,  PX4LIB,    0,     0, 0x0, 0, 2;
-CFE_APP, /embedded/MPU9250.so,   MPU9250_AppMain,     MPU9250,      46, 327680, 0x0, 0, 2;
-CFE_APP, /embedded/HMC5883.so,   HMC5883_AppMain,     HMC5883,      49, 327680, 0x0, 0, 2;
-CFE_APP, /embedded/MS5611.so,    MS5611_AppMain,      MS5611,       82, 327680, 0x0, 0, 2;
-CFE_APP, /embedded/GPS.so,       GPS_AppMain,     GPS,       97, 32768, 0x0, 0, 2;
-CFE_APP, /embedded/TO.so,        TO_AppMain,      TO,        124, 32768, 0x0, 0, 2;
-CFE_APP, /embedded/CF.so,        CF_AppMain,      CF,        157, 32768, 0x0, 0, 2;
-CFE_APP, /embedded/BAT.so,       BAT_AppMain,     BAT,       106, 32768, 0x0, 0, 2;
-CFE_APP, /embedded/FM.so,        FM_AppMain,      FM,        163, 32768, 0x0, 0, 2;
-CFE_APP, /embedded/LC.so,        LC_AppMain,      LC,        178, 32768, 0x0, 0, 2;
-CFE_APP, /embedded/MM.so,        MM_AppMain,      MM,        172, 32768, 0x0, 0, 2;
-CFE_APP, /embedded/SC.so,        SC_AppMain,      SC,        175, 32768, 0x0, 0, 2;
-CFE_APP, /embedded/MD.so,        MD_AppMain,      MD,        169, 32768, 0x0, 0, 2;
-CFE_APP, /embedded/CS.so,        CS_AppMain,      CS,        160, 32768, 0x0, 0, 2;
-CFE_APP, /embedded/RCIN.so,      RCIN_AppMain,    RCIN,      88, 32768, 0x0, 0, 2;
-CFE_APP, /embedded/RGBLED.so,    RGBLED_AppMain,  RGBLED,   151, 32768, 0x0, 0, 2;
-CFE_APP, /embedded/SCH.so,       SCH_AppMain,     SCH,       34,  40960, 0x0, 0, 2;
-!CFE_LIB, /embedded/schlib.so,    SCH_LibInit,     SCH_LIB,    0,     0, 0x0, 0, 2;
-CFE_APP, /embedded/VC.so,        VC_AppMain,      VC,       181, 32768, 0x0, 0, 2;
-CFE_APP, /embedded/FLOW.so,      FLOW_AppMain,    FLOW,      80, 32768, 0x0, 0, 2;
-CFE_APP, /embedded/HS.so,        HS_AppMain,      HS,       123, 32768, 0x0, 0, 2;
-!CFE_APP, /embedded/ETA.so,     ETA_AppMain,     ETA,      100, 32768, 0x0, 0, 2;
-!CFE_APP, /embedded/SBN.so,     SBN_AppMain,     SBN,       37, 32768, 0x0, 0, 2;
+CFE_APP, /embedded/CI.so,        CI_AppMain,      CI,       115, 32768, 0x0, 0, 0;
+CFE_APP, /embedded/TO.so,        TO_AppMain,      TO,       124, 32768, 0x0, 0, 2;
+CFE_APP, /embedded/FAC.so,       FAC_AppMain,     FAC,       30, 65536, 0x0, 0, 0;
 !
 ! Startup script fields:
 ! 1. Object Type      -- CFE_APP for an Application, or CFE_LIB for a library.

config/obc/fixedwing/cpd/wh_config.yaml

@@ -206,19 +206,17 @@ modules:
         definition: ${PROJECT_SOURCE_DIR}/apps/fac/wh_design.yaml
         telemetry:
           FAC_HK_TLM_MID:
-            msgID: 0x0B58
-          FAC_OUT_DATA_MID:
-            msgID: 0x0B59
+            msgID: 0x0B62
         commands:
           FAC_CMD_MID:
-            msgID: 0x1B5A
+            msgID: 0x1B63
+          FAC_RUN_CONTROLLER_MID:
+            msgID: 0x1B64
           FAC_SEND_HK_MID:
-            msgID: 0x1B5B
-          FAC_WAKEUP_MID:
-            msgID: 0x1B5C
+            msgID: 0x1B65
         perfids:
           FAC_MAIN_TASK_PERF_ID:
-            id: 50
+            id: 68
 
       fm:
         definition: ${PROJECT_SOURCE_DIR}/apps/fm/wh_design.yaml

config/obc/fixedwing/inc/msg_ids.h

@@ -39,12 +39,6 @@
 #define MAC_RUN_CONTROLLER_MID                    CMD_MSG(  144 )  /* 0x090 */
 #define MAC_SEND_HK_MID                           CMD_MSG(  145 )  /* 0x091 */
 
-/* FAC                                                                      */
-#define FAC_HK_TLM_MID                            TLM_MSG(  142 )  /* 0x08e */
-#define FAC_CMD_MID                               CMD_MSG(  143 )  /* 0x08f */
-#define FAC_RUN_CONTROLLER_MID                    CMD_MSG(  144 )  /* 0x090 */
-#define FAC_SEND_HK_MID                           CMD_MSG(  145 )  /* 0x091 */
-
 
 /* MPC                                                                      */
 #define MPC_DIAG_TLM_MID                          TLM_MSG(  146 )  /* 0x092 */
@@ -332,4 +326,10 @@
 #define FPC_SEND_HK_MID                           CMD_MSG(  352 )  /* 0x160 */
 #define FPC_WAKEUP_MID                            CMD_MSG(  353 )  /* 0x161 */
 
+/* FAC                                                                      */
+#define FAC_HK_TLM_MID                            TLM_MSG(  354 )  /* 0x162 */
+#define FAC_CMD_MID                               CMD_MSG(  355 )  /* 0x163 */
+#define FAC_RUN_CONTROLLER_MID                    CMD_MSG(  356 )  /* 0x164 */
+#define FAC_SEND_HK_MID                           CMD_MSG(  357 )  /* 0x165 */
+
 #endif