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

/*
 * SusConverter.cpp
 *
 *  Created on: 17.01.2022
 *      Author: Timon Schwarz
 */

#include "SusConverter.h"
#include <math.h>  //for atan2
#include <iostream>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/LocalPoolVector.h>


void SunSensor::checkSunSensorData(uint8_t susNumber) {
  uint16_t channelValueSum;

  // Check individual channel values
  for (int k = 0; k < 4; k++) {  // iteration above all photodiode quarters

    if (susChannelValues[susNumber][k] <= channelValueCheckLow ||
        susChannelValues[susNumber][k] > channelValueCheckHigh) {  // Channel values out of range for 12 bit SUS
                                                    // channel measurement range?
      validFlag[susNumber] = returnvalue::FAILED;
    /*printf(
          "The value of channel %i from sun sensor %i is not inside the borders of valid data with "
          "a value of %i \n",
          k, susNumber, ChannelValue[k]);*/
    } else if (susChannelValues[susNumber][k] >
               susChannelValues[susNumber][4]) {  // Channel values higher than zero current threshold GNDREF?
      validFlag[susNumber] = returnvalue::FAILED;
    /*printf(
          "The value of channel %i from sun sensor %i is higher than the zero current threshold "
          "GNDREF\n",
          k, susNumber);*/
    };
  };

  // check sum of all channel values to check if sun sensor is illuminated by the sun (sum is
  // smaller than a treshold --> sun sensor is not illuminated by the sun, but by the moon
  // reflection or earth albedo)
  channelValueSum =
      4 * susChannelValues[susNumber][4] - (susChannelValues[susNumber][0] +
      susChannelValues[susNumber][1] + susChannelValues[susNumber][2] +
	  susChannelValues[susNumber][3]);
  if ((channelValueSum < channelValueSumHigh) && (channelValueSum > channelValueSumLow)) {
    validFlag[susNumber] = returnvalue::FAILED;
    //printf("Sun sensor %i is not illuminated by the sun\n", susNumber);
  };
}

void SunSensor::calcAngle(uint8_t susNumber) {
  float xout, yout;
  float s = 0.03;  // s=[mm] gap between diodes
  uint8_t d = 5;   // d=[mm] edge length of the quadratic aperture
  uint8_t h = 1;   // h=[mm] distance between diodes and aperture
  int ch0, ch1, ch2, ch3;
  // Substract measurement values from GNDREF zero current threshold
  ch0 = susChannelValues[susNumber][4] - susChannelValues[susNumber][0];
  ch1 = susChannelValues[susNumber][4] - susChannelValues[susNumber][1];
  ch2 = susChannelValues[susNumber][4] - susChannelValues[susNumber][2];
  ch3 = susChannelValues[susNumber][4] - susChannelValues[susNumber][3];

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

  // Calculation of the angles
  alphaBetaRaw[susNumber][0] = atan2(xout, h) * (180 / M_PI);  //[°]
  alphaBetaRaw[susNumber][1] = atan2(yout, h) * (180 / M_PI);  //[°]
}

void SunSensor::setCalibrationCoefficients(uint8_t susNumber) {
  switch (susNumber) {  // search for the correct calibration coefficients for each SUS

    case 0:
      for (uint8_t row = 0; row < 9;
           row++) {  // save the correct coefficients in the right SUS class
        for (uint8_t column = 0; column < 10; column++) {
          coeffAlpha[susNumber][row][column] = acsParameters.susHandlingParameters.sus0coeffAlpha[row][column];
          coeffBeta[susNumber][row][column] = acsParameters.susHandlingParameters.sus0coeffBeta[row][column];
        }
      }
      break;

    case 1:
      for (uint8_t row = 0; row < 9; row++) {
        for (uint8_t column = 0; column < 10; column++) {
          coeffAlpha[susNumber][row][column] = acsParameters.susHandlingParameters.sus1coeffAlpha[row][column];
          coeffBeta[susNumber][row][column] = acsParameters.susHandlingParameters.sus1coeffBeta[row][column];
        }
      }
      break;

    case 2:
      for (uint8_t row = 0; row < 9; row++) {
        for (uint8_t column = 0; column < 10; column++) {
          coeffAlpha[susNumber][row][column] = acsParameters.susHandlingParameters.sus2coeffAlpha[row][column];
          coeffBeta[susNumber][row][column] = acsParameters.susHandlingParameters.sus2coeffBeta[row][column];
        }
      }
      break;

    case 3:
      for (uint8_t row = 0; row < 9; row++) {
        for (uint8_t column = 0; column < 10; column++) {
          coeffAlpha[susNumber][row][column] = acsParameters.susHandlingParameters.sus3coeffAlpha[row][column];
          coeffBeta[susNumber][row][column] = acsParameters.susHandlingParameters.sus3coeffBeta[row][column];
        }
      }
      break;

    case 4:
      for (uint8_t row = 0; row < 9; row++) {
        for (uint8_t column = 0; column < 10; column++) {
          coeffAlpha[susNumber][row][column] = acsParameters.susHandlingParameters.sus4coeffAlpha[row][column];
          coeffBeta[susNumber][row][column] = acsParameters.susHandlingParameters.sus4coeffBeta[row][column];
        }
      }
      break;

    case 5:
      for (uint8_t row = 0; row < 9; row++) {
        for (uint8_t column = 0; column < 10; column++) {
          coeffAlpha[susNumber][row][column] = acsParameters.susHandlingParameters.sus5coeffAlpha[row][column];
          coeffBeta[susNumber][row][column] = acsParameters.susHandlingParameters.sus5coeffBeta[row][column];
        }
      }
      break;

    case 6:
      for (uint8_t row = 0; row < 9; row++) {
        for (uint8_t column = 0; column < 10; column++) {
          coeffAlpha[susNumber][row][column] = acsParameters.susHandlingParameters.sus6coeffAlpha[row][column];
          coeffBeta[susNumber][row][column] = acsParameters.susHandlingParameters.sus6coeffBeta[row][column];
        }
      }
      break;

    case 7:
      for (uint8_t row = 0; row < 9; row++) {
        for (uint8_t column = 0; column < 10; column++) {
          coeffAlpha[susNumber][row][column] = acsParameters.susHandlingParameters.sus7coeffAlpha[row][column];
          coeffBeta[susNumber][row][column] = acsParameters.susHandlingParameters.sus7coeffBeta[row][column];
        }
      }
      break;

    case 8:
      for (uint8_t row = 0; row < 9; row++) {
        for (uint8_t column = 0; column < 10; column++) {
          coeffAlpha[susNumber][row][column] = acsParameters.susHandlingParameters.sus8coeffAlpha[row][column];
          coeffBeta[susNumber][row][column] = acsParameters.susHandlingParameters.sus8coeffBeta[row][column];
        }
      }
      break;

    case 9:
      for (uint8_t row = 0; row < 9; row++) {
        for (uint8_t column = 0; column < 10; column++) {
          coeffAlpha[susNumber][row][column] = acsParameters.susHandlingParameters.sus9coeffAlpha[row][column];
          coeffBeta[susNumber][row][column] = acsParameters.susHandlingParameters.sus9coeffBeta[row][column];
        }
      }
      break;

    case 10:
      for (uint8_t row = 0; row < 9; row++) {
        for (uint8_t column = 0; column < 10; column++) {
          coeffAlpha[susNumber][row][column] = acsParameters.susHandlingParameters.sus10coeffAlpha[row][column];
          coeffBeta[susNumber][row][column] = acsParameters.susHandlingParameters.sus10coeffBeta[row][column];
        }
      }
      break;

    case 11:
      for (uint8_t row = 0; row < 9; row++) {
        for (uint8_t column = 0; column < 10; column++) {
          coeffAlpha[susNumber][row][column] = acsParameters.susHandlingParameters.sus11coeffAlpha[row][column];
          coeffBeta[susNumber][row][column] = acsParameters.susHandlingParameters.sus11coeffBeta[row][column];
        }
      }
      break;
  }
}

void SunSensor::Calibration(uint8_t susNumber) {
  float alpha_m, beta_m, alpha_calibrated, beta_calibrated, k, l;
  uint8_t index;

  alpha_m = alphaBetaRaw[susNumber][0];  //[°]
  beta_m = alphaBetaRaw[susNumber][1];   //[°]

  // while loop iterates above all calibration cells to use the different calibration functions in
  // each cell
  k = 0;
  while (k < 3) {
    k = k + 1;
    l = 0;
    while (l < 3) {
      l = l + 1;
      // if-condition to check in which cell the data point has to be
      if ((alpha_m > ((completeCellWidth * ((k - 1) / 3)) - halfCellWidth) &&
           alpha_m < ((completeCellWidth * (k / 3)) - halfCellWidth)) &&
          (beta_m > ((completeCellWidth * ((l - 1) / 3)) - halfCellWidth) &&
           beta_m < ((completeCellWidth * (l / 3)) - halfCellWidth))) {
        index = (3 * (k - 1) + l) - 1;  // calculate the index of the datapoint for the right cell
                                        // -> first cell has number 0
        alphaBetaCalibrated[susNumber][0] =
            coeffAlpha[susNumber][index][0] + coeffAlpha[susNumber][index][1] * alpha_m + coeffAlpha[susNumber][index][2] * beta_m +
            coeffAlpha[susNumber][index][3] * alpha_m * alpha_m + coeffAlpha[susNumber][index][4] * alpha_m * beta_m +
            coeffAlpha[susNumber][index][5] * beta_m * beta_m +
            coeffAlpha[susNumber][index][6] * alpha_m * alpha_m * alpha_m +
            coeffAlpha[susNumber][index][7] * alpha_m * alpha_m * beta_m +
            coeffAlpha[susNumber][index][8] * alpha_m * beta_m * beta_m +
            coeffAlpha[susNumber][index][9] * beta_m * beta_m * beta_m;  //[°]
        alphaBetaCalibrated[susNumber][1] =
        	coeffBeta[susNumber][index][0] + coeffBeta[susNumber][index][1] * alpha_m +
            coeffBeta[susNumber][index][2] * beta_m + coeffBeta[susNumber][index][3] * alpha_m * alpha_m +
            coeffBeta[susNumber][index][4] * alpha_m * beta_m +
            coeffBeta[susNumber][index][5] * beta_m * beta_m +
            coeffBeta[susNumber][index][6] * alpha_m * alpha_m * alpha_m +
            coeffBeta[susNumber][index][7] * alpha_m * alpha_m * beta_m +
            coeffBeta[susNumber][index][8] * alpha_m * beta_m * beta_m +
            coeffBeta[susNumber][index][9] * beta_m * beta_m * beta_m;  //[°]
      }
    }
  }
}

void SunSensor::CalculateSunVector(uint8_t susNumber) {
  float alpha, beta;
  alpha = alphaBetaCalibrated[susNumber][0];  //[°]
  beta = alphaBetaCalibrated[susNumber][1];   //[°]

  // Calculate the normalized Sun Vector
  sunVectorBodyFrame[susNumber][0] =
      (tan(alpha * (M_PI / 180)) /
       (sqrt((powf(tan(alpha * (M_PI / 180)), 2)) + powf(tan((beta * (M_PI / 180))), 2) + (1))));
  sunVectorBodyFrame[susNumber][1] =
      (tan(beta * (M_PI / 180)) /
       (sqrt(powf((tan(alpha * (M_PI / 180))), 2) + powf(tan((beta * (M_PI / 180))), 2) + (1))));
  sunVectorBodyFrame[susNumber][2] =
      (-1 /
       (sqrt(powf((tan(alpha * (M_PI / 180))), 2) + powf((tan(beta * (M_PI / 180))), 2) + (1))));
}

float* SunSensor::getSunVectorBodyFrame(uint8_t susNumber) {
  // return function for the sun vector in the body frame
  float* SunVectorBodyFrameReturn = 0;
  SunVectorBodyFrameReturn = new float[3];

  SunVectorBodyFrameReturn[0] = sunVectorBodyFrame[susNumber][0];
  SunVectorBodyFrameReturn[1] = sunVectorBodyFrame[susNumber][1];
  SunVectorBodyFrameReturn[2] = sunVectorBodyFrame[susNumber][2];

  return SunVectorBodyFrameReturn;
}

bool SunSensor::getValidFlag(uint8_t susNumber) {
  return validFlag[susNumber];
}

float* SunSensor::TransferSunVector() {
  float* sunVectorEIVE = 0;
  sunVectorEIVE = new float[3];

  uint8_t susAvail = 12;
  int8_t basisMatrixUse[3][3];
  float sunVectorMatrixEIVE[3][12] = {0};
  float sunVectorMatrixBodyFrame[3][12];

  for (uint8_t susNumber = 0; susNumber < 12;
       susNumber++) {  // save the sun vector of each SUS in their body frame into an array for
                          // further processing
    float* SunVectorBodyFrame = &SunVectorBodyFrame[susNumber];
    sunVectorMatrixBodyFrame[0][susNumber] = SunVectorBodyFrame[0];
    sunVectorMatrixBodyFrame[1][susNumber] = SunVectorBodyFrame[1];
    sunVectorMatrixBodyFrame[2][susNumber] = SunVectorBodyFrame[2];
  }

  for (uint8_t susNumber = 0; susNumber < 12; susNumber++) {
    if (getValidFlag(susNumber) == returnvalue::FAILED) {
      susAvail -= 1;
    }  // if the SUS data is not valid ->

    for (uint8_t c1 = 0; c1 < 3; c1++) {
      for (uint8_t c2 = 0; c2 < 3; c2++) {
        switch (susNumber) {

          case 0:
            basisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus0orientationMatrix[c1][c2];
            break;
          case 1:
            basisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus1orientationMatrix[c1][c2];
            break;
          case 2:
            basisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus2orientationMatrix[c1][c2];
            break;
          case 3:
            basisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus3orientationMatrix[c1][c2];
            break;
          case 4:
            basisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus4orientationMatrix[c1][c2];
            break;
          case 5:
            basisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus5orientationMatrix[c1][c2];
            break;
          case 6:
            basisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus6orientationMatrix[c1][c2];
            break;
          case 7:
            basisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus7orientationMatrix[c1][c2];
            break;
          case 8:
            basisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus8orientationMatrix[c1][c2];
            break;
          case 9:
            basisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus9orientationMatrix[c1][c2];
            break;
          case 10:
            basisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus10orientationMatrix[c1][c2];
            break;
          case 11:
            basisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus11orientationMatrix[c1][c2];
            break;
        }
      }
    }

    // matrix multiplication for transition in EIVE coordinatesystem
    for (uint8_t p = 0; p < 3; p++) {
      for (uint8_t q = 0; q < 3; q++) {
        // normal matrix multiplication
        sunVectorMatrixEIVE[p][susNumber] +=
            (basisMatrixUse[p][q] * sunVectorMatrixBodyFrame[q][susNumber]);
      }
    }
  }

  if (susAvail > 0) {  // Calculate one sun vector out of all sun vectors from the different SUS
    for (uint8_t i = 0; i < 3; i++) {
      float sum = 0;
      for (uint8_t susNumber = 0; susNumber < 12; susNumber++) {
        if (getValidFlag(susNumber) == returnvalue::OK){
          sum += sunVectorMatrixEIVE[i][susNumber];
          //printf("%f\n", SunVectorMatrixEIVE[i][susNumber]);
        }
      }
      // ToDo: decide on length on sun vector
      sunVectorEIVE[i] = sum;
    }
    VectorOperations<float>::normalize(sunVectorEIVE, sunVectorEIVE, 3);
  } else {
    // No sus is valid
    throw std::invalid_argument("No sun sensor is valid");  // throw error
  }

  return sunVectorEIVE;
}