eive-obsw/mission/controller/acs/SusConverter.cpp

#include "SusConverter.h"

#include <math.h>

uint64_t SusConverter::checkSunSensorData(const uint16_t susChannel[6]) {
  if (susChannel[0] <= SUS_CHANNEL_VALUE_LOW || susChannel[0] > SUS_CHANNEL_VALUE_HIGH ||
      susChannel[0] > susChannel[GNDREF]) {
    return 0;
  }
  if (susChannel[1] <= SUS_CHANNEL_VALUE_LOW || susChannel[1] > SUS_CHANNEL_VALUE_HIGH ||
      susChannel[1] > susChannel[GNDREF]) {
    return 0;
  };
  if (susChannel[2] <= SUS_CHANNEL_VALUE_LOW || susChannel[2] > SUS_CHANNEL_VALUE_HIGH ||
      susChannel[2] > susChannel[GNDREF]) {
    return 0;
  };
  if (susChannel[3] <= SUS_CHANNEL_VALUE_LOW || susChannel[3] > SUS_CHANNEL_VALUE_HIGH ||
      susChannel[3] > susChannel[GNDREF]) {
    return 0;
  };

  uint64_t susChannelValueSum =
      4 * susChannel[GNDREF] - (susChannel[0] + susChannel[1] + susChannel[2] + susChannel[3]);
  if (susChannelValueSum < SUS_ALBEDO_CHECK) {
    return 0;
  };
  return susChannelValueSum;
}

bool SusConverter::checkValidity(bool* susValid, const uint64_t brightness[12],
                                 const float threshold) {
  uint8_t maxBrightness = 0;
  VectorOperations<uint64_t>::maxValue(brightness, 12, &maxBrightness);
  if (brightness[maxBrightness] == 0) {
    return true;
  }
  for (uint8_t idx = 0; idx < 12; idx++) {
    if ((idx != maxBrightness) and (brightness[idx] < threshold * brightness[maxBrightness])) {
      susValid[idx] = false;
      continue;
    }
    susValid[idx] = true;
  }
  return false;
}

void SusConverter::calculateSunVector(float* sunVectorSensorFrame, const uint16_t susChannel[6]) {
  // Substract measurement values from GNDREF zero current threshold
  float ch0 = susChannel[GNDREF] - susChannel[0];
  float ch1 = susChannel[GNDREF] - susChannel[1];
  float ch2 = susChannel[GNDREF] - susChannel[2];
  float ch3 = susChannel[GNDREF] - susChannel[3];

  // Calculation of x and y
  float xout = ((D - S) / 2) * (ch2 - ch3 - ch0 + ch1) / (ch0 + ch1 + ch2 + ch3);  //[mm]
  float yout = ((D - S) / 2) * (ch2 + ch3 - ch0 - ch1) / (ch0 + ch1 + ch2 + ch3);  //[mm]

  // Calculation of the angles
  sunVectorSensorFrame[0] = -xout;
  sunVectorSensorFrame[1] = -yout;
  sunVectorSensorFrame[2] = H;
  VectorOperations<float>::normalize(sunVectorSensorFrame, sunVectorSensorFrame, 3);
}