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continue SA DEPL handler
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This commit is contained in:
Robin Müller
2022-10-12 17:18:57 +02:00
parent 2bc7c7b3ae
commit 15fb86ddb7
2 changed files with 235 additions and 177 deletions
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69
mission/devices/SolarArrayDeploymentHandler.h
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@ -3,8 +3,8 @@
#include <unordered_map>
#include "eive/definitions.h"
#include "devices/powerSwitcherList.h"
#include "eive/definitions.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/devicehandlers/CookieIF.h"
@ -34,11 +34,13 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
static constexpr DeviceCommandId_t FORCE_DEPLY_OFF = 0x07;
static constexpr uint32_t FIRST_BURN_START_TIME = config::SA_DEPL_BURN_TIME_SECS;
static constexpr uint32_t FIRST_BURN_END_TIME = FIRST_BURN_START_TIME + config::SA_DEPL_BURN_TIME_SECS;
static constexpr uint32_t FIRST_WAIT_START_TIME = FIRST_BURN_END_TIME;
static constexpr uint32_t FIRST_WAIT_END_TIME = FIRST_BURN_END_TIME + config::SA_DEPL_WAIT_TIME_SECS;
static constexpr uint32_t SECOND_BURN_START_TIME = FIRST_WAIT_END_TIME;
static constexpr uint32_t SECOND_BURN_END_TIME = SECOND_BURN_START_TIME + config::SA_DEPL_WAIT_TIME_SECS;
static constexpr uint32_t FIRST_BURN_END_TIME =
FIRST_BURN_START_TIME + config::SA_DEPL_BURN_TIME_SECS;
static constexpr uint32_t WAIT_START_TIME = FIRST_BURN_END_TIME;
static constexpr uint32_t WAIT_END_TIME = WAIT_START_TIME + config::SA_DEPL_WAIT_TIME_SECS;
static constexpr uint32_t SECOND_BURN_START_TIME = WAIT_END_TIME;
static constexpr uint32_t SECOND_BURN_END_TIME =
SECOND_BURN_START_TIME + config::SA_DEPL_WAIT_TIME_SECS;
static constexpr char SD_0_DEPL_FILE[] = "/mnt/sd0/conf/deployment";
static constexpr char SD_1_DEPL_FILE[] = "/mnt/sd1/conf/deployment";
@ -93,26 +95,32 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
static const Event DEPL_SA1_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(3, severity::HIGH);
static const Event DEPL_SA2_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(4, severity::HIGH);
enum AutonomousDeplState {
INIT,
FIRST_BURN,
WAIT,
SECOND_BURN,
DONE
enum AutonomousDeplState { INIT, FIRST_BURN, WAIT, SECOND_BURN, DONE };
enum StateMachine {
IDLE,
MAIN_POWER_ON,
MAIN_POWER_OFF,
WAIT_MAIN_POWER_ON,
WAIT_MAIN_POWER_OFF,
SWITCH_DEPL_GPIOS,
};
// enum StateMachine {
// WAIT_ON_DELOYMENT_COMMAND,
// SWITCH_8V_ON,
// WAIT_ON_8V_SWITCH,
// SWITCH_DEPL_GPIOS,
// WAIT_ON_DEPLOYMENT_FINISH,
// WAIT_FOR_MAIN_SWITCH_OFF
// };
//
// StateMachine stateMachine = WAIT_ON_DELOYMENT_COMMAND;
StateMachine stateMachine = IDLE;
bool actionActive = false;
ActionId_t activeCmd = HasActionsIF::INVALID_ACTION_ID;
std::optional<uint64_t> initUptime;
uint8_t retryCounter = 3;
struct FsmInfo {
// false if OFF, true is ON
bool sa1OnOff = false;
bool sa2OnOff = false;
} fsmInfo;
bool startFsm(std::optional<bool> sa1OnOff, std::optional<bool> sa2OnOff);
void finishFsm(ReturnValue_t resultForActionHelper);
ReturnValue_t performAutonomousDepl(sd::SdCard sdCard);
bool autonomousDeplForFile(const char* filename);
/**
* This countdown is used to check if the PCDU sets the 8V line on in the intended time.
*/
@ -121,7 +129,7 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
/**
* This countdown is used to wait for the burn wire being successful cut.
*/
// Countdown deploymentCountdown;
Countdown deploymentCountdown;
/**
* The message queue id of the component commanding an action will be stored in this variable.
@ -161,18 +169,15 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
* @brief This function polls the 8V switch state and changes the state machine when the
* switch has been enabled.
*/
void performWaitOn8VActions();
bool checkMainPowerOn();
bool checkMainPowerOff();
bool checkMainPower(bool onOff);
/**
* @brief This functions handles the switching of the solar array deployment transistors.
*/
void deploymentTransistorsOn();
/**
* @brief This function performs actions to finish the deployment. Essentially switches
* are turned of after the burn time has expired.
*/
// void handleDeploymentFinish();
ReturnValue_t deploymentTransistorsOn();
ReturnValue_t deploymentTransistorsOff();
};
#endif /* MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_ */