diff --git a/fsfwconfig/OBSWConfig.h b/fsfwconfig/OBSWConfig.h index 8df5371b..a26ea317 100644 --- a/fsfwconfig/OBSWConfig.h +++ b/fsfwconfig/OBSWConfig.h @@ -10,11 +10,12 @@ // These defines should be disabled for mission code but are useful for // debugging. -#define OBSW_ENHANCED_PRINTOUT 0 +#define OBSW_ENHANCED_PRINTOUT 1 #define TE0720 0 -#define PDU2_DEBUG 1 +#define PDU2_DEBUG 0 +#define PDU1_DEBUG 1 #include "OBSWVersion.h" diff --git a/fsfwconfig/devices/powerSwitcherList.h b/fsfwconfig/devices/powerSwitcherList.h index 6b3a4e11..b8e3f89f 100644 --- a/fsfwconfig/devices/powerSwitcherList.h +++ b/fsfwconfig/devices/powerSwitcherList.h @@ -15,6 +15,14 @@ namespace pcduSwitches { PAYLOAD_PCDU_CH6, ACS_BOARD_SIDE_B, PAYLOAD_CAMERA, + TCS_BOARD_3V3, + SYRLINKS, + STAR_TRACKER, + MGT, + SUS_NOMINAL, + SOLAR_CELL_EXP, + PLOC, + ACS_BORAD_SIDE_A, NUMBER_OF_SWITCHES }; @@ -36,6 +44,14 @@ namespace pcduSwitches { static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH6 = OFF; static const uint8_t INIT_STATE_ACS_BOARD_SIDE_B = OFF; static const uint8_t INIT_STATE_PAYLOAD_CAMERA = OFF; + static const uint8_t INIT_STATE_TCS_BOARD_3V3 = OFF; + static const uint8_t INIT_STATE_SYRLINKS = OFF; + static const uint8_t INIT_STATE_STAR_TRACKER = OFF; + static const uint8_t INIT_STATE_MGT = OFF; + static const uint8_t INIT_STATE_SUS_NOMINAL = OFF; + static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF; + static const uint8_t INIT_STATE_PLOC = OFF; + static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF; } diff --git a/mission/devices/PCDUHandler.cpp b/mission/devices/PCDUHandler.cpp index 7b534f1a..f6edc817 100644 --- a/mission/devices/PCDUHandler.cpp +++ b/mission/devices/PCDUHandler.cpp @@ -6,8 +6,8 @@ #include PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize) : - SystemObject(setObjectId), poolManager(this, nullptr), pdu2HkTableDataset(this), cmdQueueSize( - cmdQueueSize) { + SystemObject(setObjectId), poolManager(this, nullptr), pdu2HkTableDataset(this), pdu1HkTableDataset( + this), cmdQueueSize(cmdQueueSize) { commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE); @@ -40,6 +40,7 @@ ReturnValue_t PCDUHandler::initialize() { return result; } + /* Subscribing for housekeeping table update messages of the PDU2 */ HasLocalDataPoolIF* pdu2Handler = objectManager->get(objects::PDU2_HANDLER); if(pdu2Handler == nullptr) { sif::error << "PCDUHandler::initialize: Invalid pdu2Handler" << std::endl; @@ -53,6 +54,20 @@ ReturnValue_t PCDUHandler::initialize() { return result; } + /* Subscribing for housekeeping table update messages of the PDU1 */ + HasLocalDataPoolIF* pdu1Handler = objectManager->get(objects::PDU1_HANDLER); + if(pdu1Handler == nullptr) { + sif::error << "PCDUHandler::initialize: Invalid pdu1Handler" << std::endl; + return RETURN_FAILED; + } + result = pdu1Handler->getSubscriptionInterface()->subscribeForSetUpdateMessages( + PDU1::HK_TABLE_DATA_SET_ID, this->getObjectId(), commandQueue->getId(), true); + if (result != RETURN_OK) { + sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from " + << "PDU1Handler" << std::endl; + return result; + } + return RETURN_OK; } @@ -66,6 +81,14 @@ void PCDUHandler::initializeSwitchStates() { switchStates[pcduSwitches::PAYLOAD_PCDU_CH6] = pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH6; switchStates[pcduSwitches::ACS_BOARD_SIDE_B] = pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_B; switchStates[pcduSwitches::PAYLOAD_CAMERA] = pcduSwitches::INIT_STATE_PAYLOAD_CAMERA; + switchStates[pcduSwitches::TCS_BOARD_3V3] = pcduSwitches::INIT_STATE_TCS_BOARD_3V3; + switchStates[pcduSwitches::SYRLINKS] = pcduSwitches::INIT_STATE_SYRLINKS; + switchStates[pcduSwitches::STAR_TRACKER] = pcduSwitches::INIT_STATE_STAR_TRACKER; + switchStates[pcduSwitches::MGT] = pcduSwitches::INIT_STATE_MGT; + switchStates[pcduSwitches::SUS_NOMINAL] = pcduSwitches::INIT_STATE_SUS_NOMINAL; + switchStates[pcduSwitches::SOLAR_CELL_EXP] = pcduSwitches::INIT_STATE_SOLAR_CELL_EXP; + switchStates[pcduSwitches::PLOC] = pcduSwitches::INIT_STATE_PLOC; + switchStates[pcduSwitches::ACS_BORAD_SIDE_A] = pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_A; } void PCDUHandler::readCommandQueue() { @@ -90,36 +113,41 @@ MessageQueueId_t PCDUHandler::getCommandQueue() const { void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId) { if (sid == sid_t(objects::PDU2_HANDLER, PDU2::HK_TABLE_DATA_SET_ID)) { - updatePdu2HousekeepingDataset(storeId); + updateHkTableDataset(storeId, &pdu2HkTableDataset, &timeStampPdu2HkDataset); updatePdu2SwitchStates(); } + if (sid == sid_t(objects::PDU1_HANDLER, PDU1::HK_TABLE_DATA_SET_ID)) { + updateHkTableDataset(storeId, &pdu1HkTableDataset, &timeStampPdu1HkDataset); + updatePdu1SwitchStates(); + } else { sif::error << "PCDUHandler::handleChangedDataset: Invalid sid" << std::endl; } } -void PCDUHandler::updatePdu2HousekeepingDataset(store_address_t storeId) { +void PCDUHandler::updateHkTableDataset(store_address_t storeId, + LocalPoolDataSetBase* dataset, CCSDSTime::CDS_short* datasetTimeStamp) { ReturnValue_t result; - HousekeepingSnapshot packetUpdate(reinterpret_cast(&timeStampPdu2HkDataset), - sizeof(timeStampPdu2HkDataset), &pdu2HkTableDataset); + HousekeepingSnapshot packetUpdate(reinterpret_cast(datasetTimeStamp), + sizeof(*datasetTimeStamp), dataset); const uint8_t* packet_ptr = NULL; size_t size; result = IPCStore->getData(storeId, &packet_ptr, &size); if (result != RETURN_OK) { - sif::error << "PCDUHandler::handleChangedDataset: Failed to get data from IPCStore." + sif::error << "PCDUHandler::updateHkTableDataset: Failed to get data from IPCStore." << std::endl; } - pdu2HkTableDataset.read(); + dataset->read(); result = packetUpdate.deSerialize(&packet_ptr, &size, SerializeIF::Endianness::MACHINE); if (result != RETURN_OK) { - sif::error << "PCDUHandler::handleChangedDataset: Failed to deserialize packet in " - << "pdu2HkTableDataset" << std::endl; + sif::error << "PCDUHandler::updateHkTableDataset: Failed to deserialize received packet " + "in hk table dataset"<< std::endl; } - pdu2HkTableDataset.commit(); + dataset->commit(); result = IPCStore->deleteData(storeId); if (result != RETURN_OK) { - sif::error << "PCDUHandler::handleChangedDataset: Failed to delete data in IPCStore" + sif::error << "PCDUHandler::updateHkTableDataset: Failed to delete data in IPCStore" << std::endl; } } @@ -145,7 +173,14 @@ void PCDUHandler::updatePdu2SwitchStates() { } void PCDUHandler::updatePdu1SwitchStates() { - + switchStates[pcduSwitches::TCS_BOARD_3V3] = pdu1HkTableDataset.voltageOutTCSBoard3V3.value; + switchStates[pcduSwitches::SYRLINKS] = pdu1HkTableDataset.voltageOutSyrlinks.value; + switchStates[pcduSwitches::STAR_TRACKER] = pdu1HkTableDataset.voltageOutStarTracker.value; + switchStates[pcduSwitches::MGT] = pdu1HkTableDataset.voltageOutMGT.value; + switchStates[pcduSwitches::SUS_NOMINAL] = pdu1HkTableDataset.voltageOutSUSNominal.value; + switchStates[pcduSwitches::SOLAR_CELL_EXP] = pdu1HkTableDataset.voltageOutSolarCellExp.value; + switchStates[pcduSwitches::PLOC] = pdu1HkTableDataset.voltageOutPLOC.value; + switchStates[pcduSwitches::ACS_BORAD_SIDE_A] = pdu1HkTableDataset.voltageOutACSBoardSideA.value; } LocalDataPoolManager* PCDUHandler::getHkManagerHandle() { @@ -342,6 +377,88 @@ ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool &localDat localDataPoolMap.emplace(P60System::PDU2_WDT_CSP_LEFT1, new PoolEntry( { 0 })); localDataPoolMap.emplace(P60System::PDU2_WDT_CSP_LEFT2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_TCS_BOARD_3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_SYRLINKS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_STAR_TRACKER, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_MGT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_SUS_NOMINAL, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_SOLAR_CELL_EXP, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_PLOC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_ACS_BOARD_SIDE_A, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_CHANNEL8, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_TCS_BOARD_3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_SYRLINKS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_STAR_TRACKER, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_MGT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_SUS_NOMINAL, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_SOLAR_CELL_EXP, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_PLOC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_ACS_BOARD_SIDE_A, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_CHANNEL8, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CONV_EN_1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CONV_EN_2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CONV_EN_3, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_TCS_BOARD_3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_SYRLINKS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_STAR_TRACKER, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_MGT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_SUS_NOMINAL, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_SOLAR_CELL_EXP, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_PLOC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_ACS_BOARD_SIDE_A, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_CHANNEL8, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_BOOTCAUSE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_BOOTCNT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_UPTIME, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_RESETCAUSE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_BATT_MODE, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_TCS_BOARD_3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_SYRLINKS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_STAR_TRACKER, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_MGT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_SUS_NOMINAL, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_SOLAR_CELL_EXP, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_PLOC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_ACS_BOARD_SIDE_A, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_CHANNEL8, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_DEVICE_0, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_4, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_5, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_6, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_7, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_DEVICE_0_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_1_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_2_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_3_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_4_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_5_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_6_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_7_STATUS, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_WDT_CNT_GND, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CNT_I2C, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CNT_CAN, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CNT_CSP1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CNT_CSP2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_GND_LEFT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_I2C_LEFT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CAN_LEFT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CSP_LEFT1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CSP_LEFT2, new PoolEntry( { 0 })); + return HasReturnvaluesIF::RETURN_OK; } diff --git a/mission/devices/PCDUHandler.h b/mission/devices/PCDUHandler.h index e315e139..f6b49dc0 100644 --- a/mission/devices/PCDUHandler.h +++ b/mission/devices/PCDUHandler.h @@ -64,9 +64,9 @@ private: CCSDSTime::CDS_short timeStampPdu2HkDataset; /** Hk table dataset of PDU1 */ -// PDU1::PDU1HkTableDataset pdu1HkTableDataset; -// /** The timeStamp of the current pdu1HkTableDataset */ -// CCSDSTime::CDS_short timeStampPdu1HkDataset; + PDU1::PDU1HkTableDataset pdu1HkTableDataset; + /** The timeStamp of the current pdu1HkTableDataset */ + CCSDSTime::CDS_short timeStampPdu1HkDataset; uint8_t switchStates[pcduSwitches::NUMBER_OF_SWITCHES]; /** @@ -99,17 +99,22 @@ private: */ void updatePdu2SwitchStates(); - /** - * @brief In case of an update snapshot message with a pdu2 hk table dataset, this function - * copies the updated values to the local pdu2HkTableDataset. - */ - void updatePdu2HousekeepingDataset(store_address_t storeId); - /** * @brief Updates all switchStates related to the PDU1. Called each time the PDU1Handler * sends a new hk dataset. */ void updatePdu1SwitchStates(); + + /** + * @brief In case of an update snapshot message this function handles the update of the + * local dataset. + * @param storeId Storage id of updated dataset. + * @param dataset Pointer to the local dataset. + * @param datasetTimeStamp Pointer to a variable which will hold the timestamp of the updated + * dataset. + */ + void updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset, + CCSDSTime::CDS_short* datasetTimeStamp); }; #endif /* MISSION_DEVICES_PCDUHANDLER_H_ */ diff --git a/mission/devices/PDU1Handler.cpp b/mission/devices/PDU1Handler.cpp index 1ae6bf30..b7b0bf6a 100644 --- a/mission/devices/PDU1Handler.cpp +++ b/mission/devices/PDU1Handler.cpp @@ -1,5 +1,6 @@ #include "PDU1Handler.h" #include +#include PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) : GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS, @@ -12,16 +13,282 @@ PDU1Handler::~PDU1Handler() { ReturnValue_t PDU1Handler::buildNormalDeviceCommand( DeviceCommandId_t * id) { -// *id = GOMSPACE::REQUEST_HK_TABLE; -// return buildCommandFromCommand(*id, NULL, 0); + *id = GOMSPACE::REQUEST_HK_TABLE; + return buildCommandFromCommand(*id, NULL, 0); return RETURN_OK; } void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) { -// const uint8_t* payloadPtr = packet + GOMSPACE::GS_HDR_LENGTH; -// size_t size = (size_t)hkTableSize; -// pdu1HkTableDataset.deSerialize(&payloadPtr, &size, SerializeIF::Endianness::BIG); -// FullTableReply fullTableReply(id, HK_TABLE_ID, &pdu1HkTableDataset); -// handleDeviceTM(&fullTableReply, id, true); + + parseHkTableReply(packet); + handleDeviceTM(&pdu1HkTableDataset, id, true); + +#if OBSW_ENHANCED_PRINTOUT == 1 && PDU1_DEBUG == 1 + pdu1HkTableDataset.read(); + sif::info << "PDU1 VCC: " << pdu1HkTableDataset.vcc << " mV" << std::endl; + float vbat = pdu1HkTableDataset.vbat.value * 0.1; + sif::info << "PDU1 VBAT: " << vbat << std::endl; + float temperatureC = pdu1HkTableDataset.temperature.value * 0.1; + sif::info << "PDU1 Temperature: " << temperatureC << " °C" << std::endl; + sif::info << "PDU1 csp1 watchdog pings before reboot: " + << unsigned(pdu1HkTableDataset.csp1WatchdogPingsLeft.value) << std::endl; + sif::info << "PDU1 csp2 watchdog pings before reboot: " + << unsigned(pdu1HkTableDataset.csp2WatchdogPingsLeft.value) << std::endl; + pdu1HkTableDataset.commit(); +#endif +} + +void PDU1Handler::parseHkTableReply(const uint8_t *packet) { + uint16_t dataOffset = 0; + pdu1HkTableDataset.read(); + /* Fist 10 bytes contain the gomspace header. Each variable is preceded by the 16-bit table + * address. */ + dataOffset += 12; + pdu1HkTableDataset.currentOutTCSBoard3V3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.currentOutSyrlinks = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.currentOutStarTracker = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.currentOutMGT = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.currentOutSUSNominal = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.currentOutSolarCellExp = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.currentOutPLOC = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.currentOutACSBoardSideA = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.currentOutChannel8 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + pdu1HkTableDataset.voltageOutTCSBoard3V3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.voltageOutSyrlinks = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.voltageOutStarTracker = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.voltageOutMGT = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.voltageOutSUSNominal = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.voltageOutSolarCellExp = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.voltageOutPLOC = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.voltageOutACSBoardSideA = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.voltageOutChannel8 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + pdu1HkTableDataset.vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.temperature = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + pdu1HkTableDataset.converterEnable1 = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.converterEnable2 = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.converterEnable3 = *(packet + dataOffset); + dataOffset += 3; + + pdu1HkTableDataset.outEnabledTCSBoard3V3 = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.outEnabledSyrlinks = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.outEnabledStarTracker = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.outEnabledMGT = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.outEnabledSUSNominal = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.outEnabledSolarCellExp = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.outEnabledPLOC = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.outEnabledAcsBoardSideA = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.outEnabledChannel8 = *(packet + dataOffset); + dataOffset += 3; + + pdu1HkTableDataset.bootcause = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu1HkTableDataset.bootcount = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu1HkTableDataset.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu1HkTableDataset.resetcause = *(packet + dataOffset + 1) << 8 | *(packet + dataOffset); + dataOffset += 4; + pdu1HkTableDataset.battMode = *(packet + dataOffset); + /* +10 because here begins the second gomspace csp packet */ + dataOffset += 3 + 10; + + pdu1HkTableDataset.latchupsTcsBoard3V3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.latchupsSyrlinks = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.latchupsStarTracker = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.latchupsMgt = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.latchupsSusNominal = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.latchupsSolarCellExp = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.latchupsPloc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.latchupsAcsBoardSideA = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + pdu1HkTableDataset.latchupsChannel8 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1); + dataOffset += 4; + + pdu1HkTableDataset.device0 = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device1 = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device2 = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device3 = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device4 = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device5 = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device6 = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device7 = *(packet + dataOffset); + dataOffset += 3; + + pdu1HkTableDataset.device0Status = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device1Status = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device2Status = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device3Status = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device4Status = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device5Status = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device6Status = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.device7Status = *(packet + dataOffset); + dataOffset += 3; + + pdu1HkTableDataset.gndWdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu1HkTableDataset.i2cWdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu1HkTableDataset.canWdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu1HkTableDataset.csp1WdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu1HkTableDataset.csp2WdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu1HkTableDataset.groundWatchdogSecondsLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu1HkTableDataset.i2cWatchdogSecondsLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu1HkTableDataset.canWatchdogSecondsLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); + dataOffset += 6; + pdu1HkTableDataset.csp1WatchdogPingsLeft = *(packet + dataOffset); + dataOffset += 3; + pdu1HkTableDataset.csp2WatchdogPingsLeft = *(packet + dataOffset); + + pdu1HkTableDataset.commit(); + pdu1HkTableDataset.setChanged(true); +} + +ReturnValue_t PDU1Handler::initializeLocalDataPool( + localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { + + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_TCS_BOARD_3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_SYRLINKS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_STAR_TRACKER, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_MGT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_SUS_NOMINAL, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_SOLAR_CELL_EXP, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_PLOC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_ACS_BOARD_SIDE_A, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_CHANNEL8, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_TCS_BOARD_3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_SYRLINKS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_STAR_TRACKER, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_MGT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_SUS_NOMINAL, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_SOLAR_CELL_EXP, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_PLOC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_ACS_BOARD_SIDE_A, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_CHANNEL8, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_VCC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_VBAT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CONV_EN_1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CONV_EN_2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_CONV_EN_3, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_TCS_BOARD_3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_SYRLINKS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_STAR_TRACKER, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_MGT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_SUS_NOMINAL, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_SOLAR_CELL_EXP, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_PLOC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_ACS_BOARD_SIDE_A, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_OUT_EN_CHANNEL8, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_BOOTCAUSE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_BOOTCNT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_UPTIME, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_RESETCAUSE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_BATT_MODE, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_TCS_BOARD_3V3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_SYRLINKS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_STAR_TRACKER, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_MGT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_SUS_NOMINAL, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_SOLAR_CELL_EXP, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_PLOC, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_ACS_BOARD_SIDE_A, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_LATCHUP_CHANNEL8, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_DEVICE_0, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_3, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_4, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_5, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_6, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_7, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_DEVICE_0_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_1_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_2_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_3_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_4_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_5_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_6_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_DEVICE_7_STATUS, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(P60System::PDU1_WDT_CNT_GND, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CNT_I2C, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CNT_CAN, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CNT_CSP1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CNT_CSP2, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_GND_LEFT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_I2C_LEFT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CAN_LEFT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CSP_LEFT1, new PoolEntry( { 0 })); + localDataPoolMap.emplace(P60System::PDU1_WDT_CSP_LEFT2, new PoolEntry( { 0 })); + + return HasReturnvaluesIF::RETURN_OK; } diff --git a/mission/devices/PDU1Handler.h b/mission/devices/PDU1Handler.h index 29b615d3..ed22a6ef 100644 --- a/mission/devices/PDU1Handler.h +++ b/mission/devices/PDU1Handler.h @@ -23,6 +23,9 @@ class PDU1Handler: public GomspaceDeviceHandler { public: PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie); virtual ~PDU1Handler(); + + virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, + LocalDataPoolManager& poolManager) override; protected: /** * @brief In MODE_NORMAL, a command will be built periodically by this function. @@ -33,6 +36,8 @@ protected: private: /** Dataset for the housekeeping table of the PDU1 */ PDU1::PDU1HkTableDataset pdu1HkTableDataset; + + void parseHkTableReply(const uint8_t *packet); }; #endif /* MISSION_DEVICES_PDU1Handler_H_ */ diff --git a/mission/devices/PDU2Handler.cpp b/mission/devices/PDU2Handler.cpp index 68a554b4..343c3919 100644 --- a/mission/devices/PDU2Handler.cpp +++ b/mission/devices/PDU2Handler.cpp @@ -243,7 +243,6 @@ ReturnValue_t PDU2Handler::initializeLocalDataPool( localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH1, new PoolEntry( { 0 })); localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_RW, new PoolEntry( { 0 })); localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_TCS_BOARD_HEATER_IN, new PoolEntry( { 0 })); - localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_TCS_BOARD_HEATER_IN, new PoolEntry( { 0 })); localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_SUS_REDUNDANT, new PoolEntry( { 0 })); localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_DEPLOYMENT_MECHANISM, new PoolEntry( { 0 })); localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH6, new PoolEntry( { 0 })); @@ -281,7 +280,6 @@ ReturnValue_t PDU2Handler::initializeLocalDataPool( localDataPoolMap.emplace(P60System::PDU2_LATCHUP_PAYLOAD_PCDU_CH1, new PoolEntry( { 0 })); localDataPoolMap.emplace(P60System::PDU2_LATCHUP_RW, new PoolEntry( { 0 })); localDataPoolMap.emplace(P60System::PDU2_LATCHUP_TCS_BOARD_HEATER_IN, new PoolEntry( { 0 })); - localDataPoolMap.emplace(P60System::PDU2_LATCHUP_TCS_BOARD_HEATER_IN, new PoolEntry( { 0 })); localDataPoolMap.emplace(P60System::PDU2_LATCHUP_SUS_REDUNDANT, new PoolEntry( { 0 })); localDataPoolMap.emplace(P60System::PDU2_LATCHUP_DEPLOYMENT_MECHANISM, new PoolEntry( { 0 })); localDataPoolMap.emplace(P60System::PDU2_LATCHUP_PAYLOAD_PCDU_CH6, new PoolEntry( { 0 })); diff --git a/mission/devices/devicedefinitions/GomspaceDefinitions.h b/mission/devices/devicedefinitions/GomspaceDefinitions.h index 4821b4c0..c10c109b 100644 --- a/mission/devices/devicedefinitions/GomspaceDefinitions.h +++ b/mission/devices/devicedefinitions/GomspaceDefinitions.h @@ -607,7 +607,7 @@ namespace PDU{ static const uint16_t MAX_REPLY_LENGTH = 318; static const uint16_t MAX_CONFIGTABLE_ADDRESS = 316; static const uint16_t MAX_HKTABLE_ADDRESS = 141; - /** The size of the reply containing the housekeeping table data */ + /** The size of the csp reply containing the housekeeping table data */ static const uint16_t HK_TABLE_REPLY_SIZE = 303; static const uint8_t HK_TABLE_ENTRIES = 73; }