eive-obsw/mission/payload/PayloadPcduHandler.h

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#ifndef LINUX_DEVICES_PLPCDUHANDLER_H_
#define LINUX_DEVICES_PLPCDUHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include <fsfw/timemanager/Countdown.h>
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#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
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#include <mission/payload/payloadPcduDefinitions.h>
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#include <mission/system/objects/Stack5VHandler.h>
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#include "events/subsystemIdRanges.h"
#include "fsfw/FSFW.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "mission/memory/SdCardMountedIF.h"
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#include "mission/power/defs.h"
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#include "mission/system/DualLanePowerStateMachine.h"
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#ifdef FSFW_OSAL_LINUX
class SpiComIF;
class SpiCookie;
#endif
/**
* @brief Device handler for the EIVE Payload PCDU
* @details
* Documentation:
* https://egit.irs.uni-stuttgart.de/eive/eive_dokumente/src/branch/master/400_Raumsegment/412_PayloaPCDUDocumentation/release/EIVE-D-421-001_PLPCDU_Documentation.pdf
*
* Important components:
* - SSR - Solid State Relay: Decouples voltages from battery
* - DRO - Dielectric Resonsant Oscillator: Generates modulation signal
* - X8: Frequency X8 Multiplicator
* - TX: Transmitter/Sender module. Modulates data onto carrier signal
* - MPA - Medium Power Amplifier
* - HPA - High Power Amplifier
*/
class PayloadPcduHandler : public DeviceHandlerBase {
public:
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PL_PCDU_HANDLER;
//! [EXPORT] : [COMMENT] Could not transition properly and went back to ALL OFF
static constexpr Event TRANSITION_BACK_TO_OFF =
event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
//! [EXPORT] : [COMMENT] P1: 0 -> too low, 1 -> too high P2: Float value
static constexpr Event NEG_V_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 1, severity::MEDIUM);
//! [EXPORT] : [COMMENT] P1: 0 -> too low, 1 -> too high P2: Float value
static constexpr Event U_DRO_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
//! [EXPORT] : [COMMENT] P1: 0 -> too low, 1 -> too high P2: Float value
static constexpr Event I_DRO_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
//! [EXPORT] : [COMMENT] P1: 0 -> too low, 1 -> too high P2: Float value
static constexpr Event U_X8_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 4, severity::MEDIUM);
//! [EXPORT] : [COMMENT] P1: 0 -> too low, 1 -> too high P2: Float value
static constexpr Event I_X8_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 5, severity::MEDIUM);
//! [EXPORT] : [COMMENT] P1: 0 -> too low, 1 -> too high P2: Float value
static constexpr Event U_TX_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 6, severity::MEDIUM);
//! [EXPORT] : [COMMENT] P1: 0 -> too low, 1 -> too high P2: Float value
static constexpr Event I_TX_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 7, severity::MEDIUM);
//! [EXPORT] : [COMMENT] P1: 0 -> too low, 1 -> too high P2: Float value
static constexpr Event U_MPA_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 8, severity::MEDIUM);
//! [EXPORT] : [COMMENT] P1: 0 -> too low, 1 -> too high P2: Float value
static constexpr Event I_MPA_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 9, severity::MEDIUM);
//! [EXPORT] : [COMMENT] P1: 0 -> too low, 1 -> too high P2: Float value
static constexpr Event U_HPA_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 10, severity::MEDIUM);
//! [EXPORT] : [COMMENT] P1: 0 -> too low, 1 -> too high P2: Float value
static constexpr Event I_HPA_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 11, severity::MEDIUM);
PayloadPcduHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie, GpioIF* gpioIF,
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SdCardMountedIF* sdcMan, Stack5VHandler& stackHandler, bool periodicPrintout);
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void setToGoToNormalModeImmediately(bool enable);
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void performOperationHook() override;
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void enablePeriodicPrintout(bool enable, uint8_t divider);
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ReturnValue_t initialize() override;
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#ifdef XIPHOS_Q7S
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static ReturnValue_t extConvAsTwoCallback(SpiComIF* comIf, SpiCookie* cookie,
const uint8_t* sendData, size_t sendLen, void* args);
static ReturnValue_t transferAsTwo(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
size_t sendLen, bool tempOnly);
#endif
private:
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static constexpr bool NO_ADC_CHECKS = false;
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enum class States : uint8_t {
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PL_PCDU_OFF,
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STACK_5V_SWITCHING,
STACK_5V_PENDING,
STACK_5V_CORRECT,
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// Solid State Relay, enable battery voltages VBAT0 and VBAT1. This will also switch on
// the ADC
ON_TRANS_SSR,
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ON_TRANS_ADC_CLOSE_ZERO
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} state = States::PL_PCDU_OFF;
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duallane::Submodes pwrSubmode = duallane::Submodes::A_SIDE;
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enum class AdcMode { EXT_CONV, INT_CONV } adcMode = AdcMode::INT_CONV;
enum class MonitoringMode { NONE, CLOSE_TO_ZERO, NEGATIVE } monMode = MonitoringMode::NONE;
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enum class AdcState { OFF, BOOT_DELAY, SEND_SETUP, NORMAL } adcState = AdcState::OFF;
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bool goToNormalMode = false;
plpcdu::PlPcduAdcSet adcSet;
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Stack5VHandler& stackHandler;
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std::array<uint8_t, plpcdu::MAX_ADC_REPLY_SIZE> cmdBuf = {};
// This variable is tied to DRO +6 V voltage. Voltages, currents are monitored and the experiment
// is shut down immediately if there is a negative voltage.
bool transitionOk = false;
bool commandExecuted = false;
bool adcCmdExecuted = false;
bool periodicPrintout = false;
bool jsonFileInitComplete = false;
double doubleDummy = 0.0;
bool ssrToDroInjectionRequested = false;
bool droToX8InjectionRequested = false;
bool x8ToTxInjectionRequested = false;
bool txToMpaInjectionRequested = false;
bool mpaToHpaInjectionRequested = false;
bool allOnInjectRequested = false;
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bool clearSetOnOffFlag = true;
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bool toNormalOneShot = true;
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PeriodicOperationDivider opDivider = PeriodicOperationDivider(5);
uint8_t tempReadDivisor = 1;
Countdown countdown = Countdown(5000);
Countdown adcCountdown = Countdown(50);
GpioIF* gpioIF;
SdCardMountedIF* sdcMan;
plpcdu::PlPcduParameter params;
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bool quickTransitionAlreadyCalled = true;
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uint8_t diffMask = 0;
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PoolEntry<uint16_t> channelValues = PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0});
PoolEntry<float> processedValues =
PoolEntry<float>({0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0});
PoolEntry<float> tempC = PoolEntry<float>({0.0});
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/**
* This parameter disables all checks for the channels except the SSR on check. The SSR on check
* is kept to ensure that there is a common start point where the ADC is enabled.
*/
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uint8_t disableChannelOrderCheck = false;
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void updateSwitchGpio(gpioId_t id, gpio::Levels level);
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void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
void doStartUp() override;
void doShutDown() override;
// Main FDIR function which goes from any PL PCDU state back to all off
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void quickTransitionBackToOff(bool startTransitionToOff, bool notifyFdir);
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ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
void fillCommandAndReplyMap() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
size_t* foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues, uint16_t startAtIndex) override;
void handleExtConvRead(const uint8_t* bufStart);
void handlePrintout();
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void pullAllGpiosLow(uint32_t delayBeforeSwitchingOffDro);
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void checkAdcValues();
void handleOutOfBoundsPrintout();
void checkJsonFileInit();
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ReturnValue_t stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom);
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bool checkVoltage(float val, float lowerBound, float upperBound, Event event);
bool checkCurrent(float val, float upperBound, Event event);
void handleFailureInjection(std::string output, Event event);
ReturnValue_t serializeFloat(uint32_t& param, float val);
ReturnValue_t handleDoubleParamUpdate(std::string key, ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues);
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LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
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pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
uint32_t* msToReachTheMode) override;
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static bool ssrOnForSubmode(uint8_t submode);
static bool droOnForSubmode(uint8_t submode);
static bool x8OnForSubmode(uint8_t submode);
static bool txOnForSubmode(uint8_t submode);
static bool mpaOnForSubmode(uint8_t submode);
static bool hpaOnForSubmode(uint8_t submode);
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};
#endif /* LINUX_DEVICES_PLPCDUHANDLER_H_ */