Antenna deploy startup sequence

firmware/Core/Inc/rtos_tasks/rtos_tasks.h

@@ -14,5 +14,6 @@ void TASK_handle_uart_telecommands(void *argument);
 void TASK_execute_telecommands(void *argument);
 
 void TASK_monitor_freertos_memory(void *argument);
+void TASK_bootup(void *argument);
 
 #endif // __INCLUDE_GUARD__RTOS_TASKS_H__

firmware/Core/Inc/startup_sequence/antenna_deploy_startup.h

@@ -0,0 +1,7 @@
+#ifndef __INCLUDE_GUARD__ANTENNA_DEPLOY_STARTUP_H__
+#define __INCLUDE_GUARD__ANTENNA_DEPLOY_STARTUP_H__
+#include <stdint.h>
+int16_t START_antenna_deploy();
+
+
+#endif  // __INCLUDE_GUARD__ANTENNA_DEPLOY_STARTUP_H__

firmware/Core/Src/main.c

@@ -32,6 +32,8 @@
 #include "adcs_drivers/adcs_internal_drivers.h"
 #include "littlefs/flash_driver.h"
 
+#include "startup_sequence/antenna_deploy_startup.h"
+
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -121,6 +123,13 @@ const osThreadAttr_t TASK_time_sync_Attributes = {
   .priority = (osPriority_t) osPriorityNormal, //TODO: Figure out which priority makes sense for this task
 };
 
+osThreadId_t TASK_bootup_Handle;
+const osThreadAttr_t TASK_bootup_Attributes = {
+  .name = "TASK_bootup",
+  .stack_size = 1024, //in bytes. 512 is tool small and will cause crashes when lfs_close() is called!
+  .priority = (osPriority_t) osPriorityNormal, //TODO: Figure out which priority makes sense for this task
+};
+
 osThreadId_t TASK_monitor_freertos_memory_Handle;
 const osThreadAttr_t TASK_monitor_freertos_memory_Attributes = {
   .name = "TASK_monitor_freertos_memory",
@@ -294,6 +303,8 @@ int main(void)
   TASK_service_eps_watchdog_Handle = osThreadNew(TASK_service_eps_watchdog, NULL, &TASK_service_eps_watchdog_Attributes);
 
   TASK_time_sync_Handle = osThreadNew(TASK_time_sync, NULL, &TASK_time_sync_Attributes);
+
+  TASK_bootup_Handle = osThreadNew(TASK_bootup, NULL, &TASK_bootup_Attributes);
   /* USER CODE END RTOS_THREADS */
 
   /* USER CODE BEGIN RTOS_EVENTS */

firmware/Core/Src/rtos_tasks/rtos_tasks.c

@@ -12,6 +12,7 @@
 #include "log/log.h"
 #include "config/configuration.h"
 #include "eps_drivers/eps_commands.h"
+#include "startup_sequence/antenna_deploy_startup.h"
 
 #include "cmsis_os.h"
 
@@ -222,3 +223,21 @@ void TASK_monitor_freertos_memory(void *argument) {
 
 	} /* End Task's Main Loop */
 }
+/// @brief Completes all tasks which are nesssary after the obc is powered on(or rebooted)
+/// @param argument 
+void TASK_bootup(void *argument) {
+	TASK_HELP_start_of_task();
+
+	uint8_t ant_deploy_complete = 0;
+	uint32_t delay_ms = 100;
+	while (1) {
+		//TODO: What should the delay be here? 
+		osDelay(delay_ms);
+		delay_ms = 60000;
+		if (!ant_deploy_complete) {
+			if (START_antenna_deploy() == 0) {
+				ant_deploy_complete = 1;	
+			}
+		}
+	} /* End Task's Main Loop */
+}

firmware/Core/Src/startup_sequence/antenna_deploy_startup.c

@@ -0,0 +1,232 @@
+#include "startup_sequence/antenna_deploy_startup.h"
+#include "littlefs/littlefs_helper.h"
+#include "littlefs/lfs.h"
+#include "log/log.h"
+#include "antenna_deploy_drivers/ant_commands.h"
+#include "antenna_deploy_drivers/ant_internal_drivers.h"
+/// @brief Attempts to read to the file "lifecycle/deploy_antenna_on_boot_enabled.bool".
+/// If 1 is stored in the file then it attempts to deploy the antenna. If the file did not
+/// exist: then it creates the file, stores a 1 in it, and attempts to deploy.
+/// @return 0 on success, <0 on failure
+int16_t START_antenna_deploy() {
+    //TODO: remove after validation
+    LOG_message(
+        LOG_SYSTEM_LFS, 
+        LOG_SEVERITY_NORMAL, 
+        LOG_SINK_ALL, 
+        "Starting Antenna Deploy"
+    );
+
+    uint8_t LFS_unmount_on_completion = 0;
+    if (!LFS_is_lfs_mounted) {
+        if (lfs_mount(&LFS_filesystem, &LFS_cfg) != 0) {
+            return -1;
+        }
+        LFS_unmount_on_completion = 1;
+    }
+
+    // Create lifecycle directory if it doesn't exist
+    const int16_t mkdir_result = lfs_mkdir(&LFS_filesystem, "lifecycle");
+    if(mkdir_result == LFS_ERR_EXIST) {
+        LOG_message(
+            LOG_SYSTEM_LFS, 
+            LOG_SEVERITY_NORMAL, 
+            LOG_SINK_ALL, 
+            "lifecycle directory already exists. Skipping creation."
+        );
+    }
+
+    if(mkdir_result != LFS_ERR_EXIST && mkdir_result != 0) {
+        LOG_message(
+            LOG_SYSTEM_LFS, 
+            LOG_SEVERITY_NORMAL, 
+            LOG_SINK_ALL, 
+            "Error %d creating lifecycle directory.",
+            mkdir_result
+        );
+        return -2;
+    }
+
+    //TODO: remove after validation
+    if(mkdir_result == 0) {
+        LOG_message(
+            LOG_SYSTEM_LFS, 
+            LOG_SEVERITY_NORMAL, 
+            LOG_SINK_ALL, 
+            "lifecycle directory created."
+        );
+    }
+    // At this point the lifecycle directory exists or has been created
+
+
+    // Create deploy_antenna_on_boot_enabled.bool file if it doesn't exist
+    lfs_file_t file;
+    int16_t open_result = lfs_file_opencfg(&LFS_filesystem, &file, "lifecycle/deploy_antenna_on_boot_enabled.bool", LFS_O_RDONLY, &LFS_file_cfg);
+    if ( open_result == LFS_ERR_NOENT) {
+
+        // if file doesn't exist, create it and open for writing and write 1 
+        open_result = lfs_file_opencfg(&LFS_filesystem, &file, "lifecycle/deploy_antenna_on_boot_enabled.bool", LFS_O_WRONLY | LFS_O_CREAT, &LFS_file_cfg);
+        if(open_result != 0) {
+        LOG_message(
+            LOG_SYSTEM_LFS, 
+            LOG_SEVERITY_WARNING, 
+            LOG_SINK_ALL, 
+            "Error %d opening/creating deploy_antenna_on_boot_enabled.bool file.",
+            open_result
+        );
+        return open_result;
+        }
+
+        uint8_t buff = 1;
+        int32_t write_result = lfs_file_write(&LFS_filesystem, &file, &buff, sizeof(buff));
+        if(write_result < 0) {
+            LOG_message(
+                LOG_SYSTEM_LFS, 
+                LOG_SEVERITY_WARNING, 
+                LOG_SINK_ALL, 
+                "Error %ld writing to newly created deploy_antenna_on_boot_enabled.bool file.",
+                write_result
+            );
+            return write_result;
+        }
+
+        //TODO: remove after validation
+        LOG_message(
+            LOG_SYSTEM_LFS, 
+            LOG_SEVERITY_NORMAL, 
+            LOG_SINK_ALL, 
+            "file did not exist, created deploy_antenna_on_boot_enabled.bool file."
+        );
+
+        int32_t close_result = lfs_file_close(&LFS_filesystem, &file);
+        if(close_result != 0) {
+            LOG_message(
+                LOG_SYSTEM_LFS, 
+                LOG_SEVERITY_WARNING, 
+                LOG_SINK_ALL, 
+                "Error %ld closing newly created deploy_antenna_on_boot_enabled.bool file.",
+                close_result
+            );
+            return close_result;
+        }
+
+        // the file has been created and 1 has been written to it, open for reading
+        open_result = lfs_file_opencfg(&LFS_filesystem, &file, "lifecycle/deploy_antenna_on_boot_enabled.bool", LFS_O_RDONLY, &LFS_file_cfg);
+        if (open_result != 0) {
+            LOG_message(
+                LOG_SYSTEM_LFS, 
+                LOG_SEVERITY_WARNING, 
+                LOG_SINK_ALL, 
+                "Error %d opening/creating deploy_antenna_on_boot_enabled.bool file.",
+                open_result
+            );
+            return -5 ;
+        }
+        LOG_message(
+            LOG_SYSTEM_LFS, 
+            LOG_SEVERITY_NORMAL, 
+            LOG_SINK_ALL, 
+            "new file created, 1 written, opend for reading."
+        );
+    }
+
+
+    //TODO: remove after validation
+    else if (open_result == 0) {
+        LOG_message(
+            LOG_SYSTEM_LFS, 
+            LOG_SEVERITY_NORMAL, 
+            LOG_SINK_ALL, 
+            "deploy_antenna_on_boot_enabled.bool file opened."
+        );
+    }
+
+    // At this point the depoy_antenna_on_boot_enabled.bool file is open 
+    uint8_t deploy_antenna_on_boot_enabled;
+    int32_t num_bytes_read = lfs_file_read(&LFS_filesystem, &file, &deploy_antenna_on_boot_enabled, sizeof(deploy_antenna_on_boot_enabled));
+    if(num_bytes_read < 0) { 
+        LOG_message(
+            LOG_SYSTEM_LFS, 
+            LOG_SEVERITY_WARNING, 
+            LOG_SINK_ALL, 
+            "Error %ld reading deploy_antenna_on_boot_enabled.bool file.",
+            num_bytes_read
+        );
+        return num_bytes_read;
+    }
+    //TODO: remove after validation
+    if(num_bytes_read == 0) {
+        LOG_message(
+            LOG_SYSTEM_LFS, 
+            LOG_SEVERITY_NORMAL, 
+            LOG_SINK_ALL, 
+            "deploy_antenna_on_boot_enabled.bool file is empty."
+        );
+    }
+    //TODO: remove after validation
+    if(num_bytes_read > 0) {
+        LOG_message(
+            LOG_SYSTEM_LFS, 
+            LOG_SEVERITY_NORMAL, 
+            LOG_SINK_ALL, 
+            "read %ld bytes from deploy_antenna_on_boot_enabled.bool. Result: %d",
+            num_bytes_read,
+            deploy_antenna_on_boot_enabled
+        );
+    }
+    //reading the file is done now,  close the file and unmount lfs if needed
+    int16_t close_status = lfs_file_close(&LFS_filesystem, &file);
+    if( close_status != 0) {
+        LOG_message(
+            LOG_SYSTEM_LFS, 
+            LOG_SEVERITY_ERROR, 
+            LOG_SINK_ALL, 
+            "Error %d closing deploy_antenna_on_boot_enabled.bool file.",
+            close_status
+        );
+        return close_status;
+    }
+
+    if(LFS_unmount_on_completion) {
+        int16_t unmount_status = lfs_unmount(&LFS_filesystem);
+        if (unmount_status != 0) {
+            LOG_message(
+                LOG_SYSTEM_LFS, 
+                LOG_SEVERITY_ERROR, 
+                LOG_SINK_ALL, 
+                "Error %d unmounting lfs.",
+                unmount_status
+            );
+            return unmount_status;
+        }
+    }
+
+    if(deploy_antenna_on_boot_enabled == 1) {
+        //TODO: which mcu should be armed on the antenna deploy system? Error handling. How long to activate?
+        uint8_t arm_result = ANT_CMD_arm_antenna_system(ANT_I2C_BUS_A_MCU_A);
+        if (arm_result != 0) {
+            LOG_message(
+                LOG_SYSTEM_ANTENNA_DEPLOY, 
+                LOG_SEVERITY_ERROR, 
+                LOG_SINK_ALL, 
+                "Error %d arming antenna deploy system.",
+                arm_result
+            );
+            return arm_result;
+        }
+
+        uint8_t deploy_result = ANT_CMD_start_automated_sequential_deployment(ANT_I2C_BUS_A_MCU_A, 7);
+        if (deploy_result != 0) {
+            LOG_message(
+                LOG_SYSTEM_ANTENNA_DEPLOY, 
+                LOG_SEVERITY_ERROR, 
+                LOG_SINK_ALL, 
+                "Error %d deploying antennas.",
+                deploy_result
+            );
+            return deploy_result;
+        }
+    }
+
+    return 0;
+}