Operation/antenna deployment routine

radsat-sk/operation/subsystems/RAntenna.c

@@ -130,24 +130,27 @@ int antennaDeploymentAttempt(void) {
 					// TODO: record errors (if present) to System Manager
 					return error;
 				}
-
-				// Disarm A Side Antenna system
-				error = IsisAntS_setArmStatus(ANTENNA_INDEX, isisants_sideA, isisants_disarm);
-
-				// Check if disarm failed
-				if(error != 0) {
-
-					// TODO: record errors (if present) to System Manager
-					return error;
-				}
 			}
 		}
 
 		// Increment deployment attempts for side A
 		antennaDeploymentAttempts += 1;
+
+		// Wait between deployment attempts to ensure disarming doesn't happen too quickly
+		vTaskDelay(INTER_DEPLOYMENT_DELAY_MS);
 	}
 
-	// reset_t attempt counter for Side B
+	// Disarm A Side Antenna system
+	error = IsisAntS_setArmStatus(ANTENNA_INDEX, isisants_sideA, isisants_disarm);
+
+	// Check if disarm failed
+	if(error != 0) {
+
+		// TODO: record errors (if present) to System Manager
+		return error;
+	}
+
+	// reset attempt counter for Side B
 	antennaDeploymentAttempts = 0;
 
 	// B Side deployment Attempt
@@ -209,21 +212,23 @@ int antennaDeploymentAttempt(void) {
 					// TODO: record errors (if present) to System Manager
 					return error;
 				}
-
-				//disarm B Side Antenna system
-				error = IsisAntS_setArmStatus(ANTENNA_INDEX, isisants_sideB, isisants_disarm);
-
-				// Check if disarm failed
-				if(error != 0) {
-
-					// TODO: record errors (if present) to System Manager
-					return error;
-				}
 			}
-
 		}
 		// Increment deployment attempts for side B
 		antennaDeploymentAttempts += 1;
+
+		// Wait between deployment attempts to ensure disarming doesn't happen too quickly
+		vTaskDelay(INTER_DEPLOYMENT_DELAY_MS);
+	}
+
+	//disarm B Side Antenna system
+	error = IsisAntS_setArmStatus(ANTENNA_INDEX, isisants_sideB, isisants_disarm);
+
+	// Check if disarm failed
+	if(error != 0) {
+
+	// TODO: record errors (if present) to System Manager
+		return error;
 	}
 
 

radsat-sk/operation/subsystems/RAntenna.h

@@ -28,6 +28,9 @@
 /** Max Time allowed for a deployment for an Antenna in seconds */
 #define MAX_DEPLOYMENT_TIMEOUT 60
 
+/** Time delay between deployment attempts in milliseconds */
+#define INTER_DEPLOYMENT_DELAY_MS 2*1000
+
 /** Antenna Deployment status Struct */
 typedef struct _antenna_deployment_status_t {
 	int DeployedAntennaOne;

radsat-sk/src/main.c

@@ -25,6 +25,7 @@
 #include <RUart.h>
 
 #include <RTransceiver.h>
+#include <RAntenna.h>
 #include <RCommon.h>
 
 #include <RCommunicationTasks.h>
@@ -114,11 +115,10 @@ int main(void) {
 
 #else	/* TEST */
 
-	// TODO: Antenna Diagnostic & Deployment (if necessary)
-
 	// TODO: Satellite Diagnostic Check (if applicable - may be done later instead)
 
 	// initialize the Mission Initialization Task
+	// Antenna Deployment happens in here.
 	error = xTaskCreate(MissionInitTask,
 						(const signed char*)"Mission Initialization Task",
 						DEFAULT_TASK_STACK_SIZE,
@@ -220,6 +220,22 @@ static int initTime(void) {
 }
 
 
+/**
+ * Attempt to deploy the antenna.
+ */
+static int attemptAntennaDeployment(void) {
+
+	int error = SUCCESS;
+
+	error = antennaDeploymentAttempt();
+	if (error != SUCCESS)
+		debugPrint("attemptAntennaDeployment(): failed to deploy antenna.\n");
+
+	return error;
+}
+
+
+
 /**
  * Initialize external subsystem modules and the Satellite Subsystem Interface library.
  */
@@ -234,6 +250,13 @@ static int initSubsystems(void) {
 		return error;
 	}
 
+	// initialize the antenna module
+	error = antennaInit();
+	if (error != SUCCESS){
+		debugPrint("initSubsystems(): failed to initialized Antenna subsystem.\n");
+		return error;
+	}
+
 	// TODO: initialize the other subsystems that require explicit initialization
 
 	return error;
@@ -414,6 +437,13 @@ void MissionInitTask(void* parameters) {
 		debugPrint("MissionInitTask(): failed to initialize the time.\n");
 	}
 
+	// attempt to deploy the antenna
+	error = attemptAntennaDeployment();
+	if (error != SUCCESS) {
+		// TODO: report system manager
+		debugPrint("attemptAntennaDeployment(): failed to deploy the antenna.\n");
+	}
+
 	// initialize the FreeRTOS Tasks used for typical mission operation
 	initMissionTasks();
 	if (error != SUCCESS) {