Flight planning (csp_proc)

csp_proc is the library responsible for low-level flight planning / orchestration of the CSP nodes for scientific observations. It provides a set of general instructions that can be used to set libparam parameters with simple synchronization and conditional logic. The library is described in more detail on its own documentation page at https://discosat.github.io/csp_proc/ - which is also embedded as the following sub-pages.

In the context of DISCO-II, csp_proc lives on the Cortex-M7 node, and the parameters it exposes can be seen on the Cortex-M7 page.

A simple observation sequence based on time might simply look like the following. Nodes are abbreviated so $M7 is the Cortex-M7 node, $A53 is the Cortex-A53 node, $CAM is the camera control node and $DIPP is the image processing node.

proc new

# [START] Observation procedure
proc set p_uint32[0] 1744407764 $M7  # This is the GNSS time we want to start the observation
proc block gnss_time >= p_uint32[0] $M7
proc set wake_a53 1 $M7

proc set p_uint8[0] 1 $M7  # Use GPR for following comparison
proc block a53_status == p_uint8[0] $M7
proc set mng_camera_control $CAM $A53  # Start camera control node
proc set mng_dipp $DIPP $A53  # Start image processing node

proc unop gnss_time idt p_uint32[1] $M7  # Log the time of the observation

proc set capture_param "CAMERA_TYPE=VMB;CAMERA_ID=1800 U-2040c;NUM_IMAGES=1;EXPOSURE=55000;ISO=0;" $CAM  # Take a single image
proc set pipeline_run 1 $DIPP  # Run image processing pipeline
proc set p_uint8[1] 0 $M7  # Use GPR for following comparison
proc block pipeline_run == 0 $DIPP  # Wait for image processing to finish

# Optionally kill camera control and dipp processes
proc set mng_camera_control 0 $A53  # Stop camera control node
proc set mng_dipp 0 $A53  # Stop image processing node

proc set suspend_a53 1 $A53  # Suspend A53 node
# [END] Observation procedure

proc push 42 $M7
proc run 42 $M7