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added some missing acs board ass code
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Robin Müller 2022-03-04 00:55:51 +01:00
parent 0595e29100
commit 120153e9c7
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GPG Key ID: 11D4952C8CCEF814
4 changed files with 133 additions and 19 deletions
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1
common/config/commonSubsystemIds.h
View File

@ -20,6 +20,7 @@ enum: uint8_t {
PDEC_HANDLER = 119,
STR_HELPER = 120,
PL_PCDU_HANDLER = 121,
ACS_BOARD_ASS = 122,
COMMON_SUBSYSTEM_ID_END
};
}

2
fsfw

@ -1 +1 @@
Subproject commit 75c56280ad139640d2c12ac4ab78ce66c25fb495
Subproject commit 4e6c1cb72ad623208ea8e08349f6ab39bfa45ed0

121
mission/system/AcsBoardAssembly.cpp
View File

@ -1,16 +1,20 @@
#include "AcsBoardAssembly.h"
#include <devices/gpioIds.h>
#include <fsfw/power/PowerSwitchIF.h>
#include <fsfw/serviceinterface.h>
AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId,
PowerSwitchIF* switcher, AcsBoardHelper helper)
: AssemblyBase(objectId, parentId), pwrSwitcher(switcher), helper(helper) {
PowerSwitchIF* switcher, AcsBoardHelper helper, GpioIF* gpioIF)
: AssemblyBase(objectId, parentId), pwrSwitcher(switcher), helper(helper), gpioIF(gpioIF) {
if (switcher == nullptr) {
sif::error << "AcsBoardAssembly::AcsBoardAssembly: Invalid Power Switcher "
"IF passed"
<< std::endl;
}
if (gpioIF == nullptr) {
sif::error << "AcsBoardAssembly::AcsBoardAssembly: Invalid GPIO IF passed" << std::endl;
}
ModeListEntry entry;
initModeTableEntry(helper.mgm0Lis3IdSideA, entry);
initModeTableEntry(helper.mgm1Rm3100IdSideA, entry);
@ -59,27 +63,34 @@ ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
refreshHelperModes();
if (wantedSubmode == A_SIDE) {
if (submode == A_SIDE) {
if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or
(helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode) or
helper.gpsMode != wantedMode) {
submode = B_SIDE;
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
return RETURN_OK;
} else if (wantedSubmode == B_SIDE) {
} else if (submode == B_SIDE) {
if ((helper.gyro2SideBMode != wantedMode and helper.gyro3SideBMode != wantedMode) or
(helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or
helper.gpsMode != wantedMode) {
submode = DUAL_MODE;
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
return RETURN_OK;
} else if (wantedSubmode == DUAL_MODE) {
} else if (submode == DUAL_MODE) {
if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode and
helper.gyro2AdisIdSideB != wantedMode and helper.gyro3SideBMode != wantedMode) or
(helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode and
helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or
helper.gpsMode != wantedMode) {
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
// Trigger event, but don't start any other transitions. This is the last fallback mode.
if (dualModeErrorSwitch) {
triggerEvent(NOT_ENOUGH_DEVICES_DUAL_MODE, 0, 0);
dualModeErrorSwitch = false;
}
return RETURN_OK;
}
return RETURN_OK;
}
@ -107,13 +118,20 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
}
}
};
switch (submode) {
switch (this->submode) {
case (A_SIDE): {
cmdSeq(helper.gyro0AdisIdSideA, helper.gyro0SideAMode, ModeTableIdx::GYRO_0_A);
cmdSeq(helper.gyro1L3gIdSideA, helper.gyro1SideAMode, ModeTableIdx::GYRO_1_A);
cmdSeq(helper.mgm0Lis3IdSideA, helper.mgm0SideAMode, ModeTableIdx::MGM_0_A);
cmdSeq(helper.mgm1Rm3100IdSideA, helper.mgm1SideAMode, ModeTableIdx::MGM_1_A);
cmdSeq(helper.gpsId, helper.gpsMode, ModeTableIdx::GPS);
ReturnValue_t result = gpioIF->pullLow(gpioIds::GNSS_SELECT);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select low"
<< std::endl;
#endif
}
modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
@ -130,6 +148,13 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
cmdSeq(helper.mgm2Lis3IdSideB, helper.mgm2SideBMode, ModeTableIdx::MGM_2_B);
cmdSeq(helper.mgm3Rm3100IdSideB, helper.mgm3SideBMode, ModeTableIdx::MGM_3_B);
cmdSeq(helper.gpsId, helper.gpsMode, ModeTableIdx::GPS);
gpioIF->pullHigh(gpioIds::GNSS_SELECT);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select high"
<< std::endl;
#endif
}
modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
@ -150,6 +175,18 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
cmdSeq(helper.gyro3L3gIdSideB, helper.gyro3SideBMode, ModeTableIdx::GYRO_3_B);
cmdSeq(helper.mgm2Lis3IdSideB, helper.mgm2SideBMode, ModeTableIdx::MGM_2_B);
cmdSeq(helper.mgm3Rm3100IdSideB, helper.mgm3SideBMode, ModeTableIdx::MGM_3_B);
if (defaultSubmode == Submodes::A_SIDE) {
result = gpioIF->pullLow(gpioIds::GNSS_SELECT);
} else {
result = gpioIF->pullHigh(gpioIds::GNSS_SELECT);
}
if (result != HasReturnvaluesIF::RETURN_OK) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select to"
"default side for dual mode"
<< std::endl;
#endif
}
return result;
}
default: {
@ -174,7 +211,7 @@ void AcsBoardAssembly::powerStateMachine(Mode_t mode, Submode_t submode) {
return;
}
} else {
switch (submode) {
switch (this->submode) {
case (A_SIDE): {
if (switchStateA == PowerSwitchIF::SWITCH_ON and
switchStateB == PowerSwitchIF::SWITCH_OFF) {
@ -307,14 +344,72 @@ bool AcsBoardAssembly::isUseable(object_id_t object, Mode_t mode) {
void AcsBoardAssembly::handleModeReached() {
AssemblyBase::handleModeReached();
state = States::IDLE;
tryingOtherSide = false;
dualModeErrorSwitch = true;
}
void AcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
// Some ACS board components are required for Safe-Mode. It would be good if the software
// transitions from A side to B side and from B side to dual mode autonomously
// to ensure that that enough sensors are available without an operators intervention.
// Therefore, the lost mode handler was overwritten to start these transitions
Submode_t nextSubmode = Submodes::A_SIDE;
if (submode == Submodes::A_SIDE) {
nextSubmode = Submodes::B_SIDE;
}
if (not tryingOtherSide) {
triggerEvent(CANT_KEEP_MODE, mode, submode);
startTransition(mode, nextSubmode);
tryingOtherSide = true;
} else {
// Not sure when this would happen. This flag is reset if the mode was reached. If it
// was not reached, the transition failure handler should be called.
sif::error << "AcsBoardAssembly::handleChildrenLostMode: Wrong handler called" << std::endl;
triggerEvent(TRANSITION_OTHER_SIDE_FAILED, mode, targetSubmode);
startTransition(mode, Submodes::DUAL_MODE);
}
}
void AcsBoardAssembly::handleModeTransitionFailed(ReturnValue_t result) {
// Some ACS board components are required for Safe-Mode. It would be good if the software
// transitions from A side to B side and from B side to dual mode autonomously
// to ensure that that enough sensors are available witout an operators intervention.
// Therefore, the failure handler is overriden to perform these steps.
// TODO: Implement transitions mentioned above
Submode_t nextSubmode = Submodes::A_SIDE;
if (submode == Submodes::A_SIDE) {
nextSubmode = Submodes::B_SIDE;
}
// Check whether the transition was started because the mode could not be kept (not commanded).
// If this is not the case, start transition to other side. If it is the case, start
// transition to dual mode.
if (not tryingOtherSide) {
triggerEvent(CANT_KEEP_MODE, mode, submode);
startTransition(mode, nextSubmode);
tryingOtherSide = true;
} else {
triggerEvent(TRANSITION_OTHER_SIDE_FAILED, mode, targetSubmode);
startTransition(mode, Submodes::DUAL_MODE);
}
}
void AcsBoardAssembly::setPreferredSide(Submodes submode) {
if (submode != Submodes::A_SIDE and submode != Submodes::B_SIDE) {
return;
}
this->defaultSubmode = submode;
}
void AcsBoardAssembly::selectGpsInDualMode(Submodes side) {
if (submode != Submodes::DUAL_MODE) {
return;
}
ReturnValue_t result = RETURN_OK;
if (side == Submodes::A_SIDE) {
result = gpioIF->pullLow(gpioIds::GNSS_SELECT);
} else {
result = gpioIF->pullHigh(gpioIds::GNSS_SELECT);
}
if (result != HasReturnvaluesIF::RETURN_OK) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::error << "AcsBoardAssembly::switchGpsInDualMode: Switching GPS failed" << std::endl;
#endif
}
}
void AcsBoardAssembly::refreshHelperModes() {

28
mission/system/AcsBoardAssembly.h
View File

@ -1,6 +1,7 @@
#ifndef MISSION_SYSTEM_ACSBOARDASSEMBLY_H_
#define MISSION_SYSTEM_ACSBOARDASSEMBLY_H_
#include <common/config/commonSubsystemIds.h>
#include <devices/powerSwitcherList.h>
#include <fsfw/devicehandlers/AssemblyBase.h>
#include <fsfw/objectmanager/frameworkObjects.h>
@ -54,17 +55,30 @@ enum ModeTableIdx : uint8_t {
};
class PowerSwitchIF;
class GpioIF;
class AcsBoardAssembly : public AssemblyBase {
public:
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_BOARD_ASS;
static constexpr Event TRANSITION_OTHER_SIDE_FAILED =
event::makeEvent(SUBSYSTEM_ID, 0, severity::HIGH);
static constexpr Event NOT_ENOUGH_DEVICES_DUAL_MODE =
event::makeEvent(SUBSYSTEM_ID, 1, severity::HIGH);
static constexpr uint8_t NUMBER_DEVICES_MODE_TABLE = 9;
static constexpr Submode_t A_SIDE = 0;
static constexpr Submode_t B_SIDE = 1;
static constexpr Submode_t DUAL_MODE = 2;
enum Submodes : Submode_t { A_SIDE = 0, B_SIDE = 1, DUAL_MODE = 2 };
AcsBoardAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
AcsBoardHelper helper);
AcsBoardHelper helper, GpioIF* gpioIF);
void setPreferredSide(Submodes submode);
/**
* In dual mode, the A side or the B side GPS device can be used, but not both.
* This function can be used to switch the used GPS device.
* @param side
*/
void selectGpsInDualMode(Submodes side);
private:
static constexpr pcduSwitches::Switches SWITCH_A =
@ -75,8 +89,11 @@ class AcsBoardAssembly : public AssemblyBase {
enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING } state = States::IDLE;
PowerSwitchIF* pwrSwitcher = nullptr;
bool tryingOtherSide = false;
AcsBoardHelper helper;
GpioIF* gpioIF = nullptr;
Submodes defaultSubmode = Submodes::A_SIDE;
bool dualModeErrorSwitch = true;
FixedArrayList<ModeListEntry, NUMBER_DEVICES_MODE_TABLE> modeTable;
ReturnValue_t initialize() override;
@ -87,6 +104,7 @@ class AcsBoardAssembly : public AssemblyBase {
ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
void handleModeReached() override;
void handleModeTransitionFailed(ReturnValue_t result) override;
void handleChildrenLostMode(ReturnValue_t result) override;
/**
* Check whether it makes sense to send mode commands to the device