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This commit is contained in:
Irini Kosmidou
2023-02-22 18:01:54 +01:00
parent b9a6425078 19d04c0023
commit 29179bde0c
156 changed files with 6400 additions and 3528 deletions
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196
mission/controller/ThermalController.cpp
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@@ -9,10 +9,10 @@
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
#include <mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h>
#include <mission/devices/devicedefinitions/GyroL3GD20Definitions.h>
#include <mission/devices/devicedefinitions/RwDefinitions.h>
#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
#include <mission/devices/devicedefinitions/imtqHandlerDefinitions.h>
#include <mission/devices/devicedefinitions/imtqHelpers.h>
#include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
#include <objects/systemObjectList.h>
ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater)
@@ -21,6 +21,7 @@ ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater
sensorTemperatures(this),
susTemperatures(this),
deviceTemperatures(this),
heaterInfo(this),
imtqThermalSet(objects::IMTQ_HANDLER, ThermalStateCfg()),
max31865Set0(objects::RTD_0_IC3_PLOC_HEATSPREADER,
EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
@@ -72,6 +73,9 @@ ReturnValue_t ThermalController::handleCommandMessage(CommandMessage* message) {
}
void ThermalController::performControlOperation() {
#if OBSW_THREAD_TRACING == 1
trace::threadTrace(opCounter, "TCS Task");
#endif
switch (internalState) {
case InternalState::STARTUP: {
initialCountdown.resetTimer();
@@ -110,108 +114,88 @@ void ThermalController::performControlOperation() {
}
}
std::array<HeaterHandler::SwitchState, 8> heaterStates;
heaterHandler.getAllSwitchStates(heaterStates);
{
PoolReadGuard pg(&heaterInfo);
std::memcpy(heaterInfo.heaterSwitchState.value, heaterStates.data(), 8);
{
PoolReadGuard pg2(&currentVecPdu2);
if (pg.getReadResult() == returnvalue::OK and pg2.getReadResult() == returnvalue::OK) {
heaterInfo.heaterCurrent.value = currentVecPdu2.value[PDU2::Channels::TCS_HEATER_IN];
}
}
}
performThermalModuleCtrl();
}
ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_PLOC_HEATSPREADER,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_PLOC_MISSIONBOARD,
new PoolEntry<float>({1.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_4K_CAMERA,
new PoolEntry<float>({2.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_DAC_HEATSPREADER,
new PoolEntry<float>({3.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_STARTRACKER,
new PoolEntry<float>({4.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_RW1, new PoolEntry<float>({5.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_DRO, new PoolEntry<float>({6.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_SCEX, new PoolEntry<float>({7.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_X8, new PoolEntry<float>({8.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_HPA, new PoolEntry<float>({9.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TX_MODUL,
new PoolEntry<float>({10.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_MPA, new PoolEntry<float>({11.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_ACU, new PoolEntry<float>({12.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_PLPCDU_HEATSPREADER,
new PoolEntry<float>({13.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TCS_BOARD,
new PoolEntry<float>({14.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_MAGNETTORQUER,
new PoolEntry<float>({15.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_TCS_0, &tmp1075Tcs0);
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_TCS_1, &tmp1075Tcs1);
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_PLPCDU_0, &tmp1075PlPcdu0);
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_PLPCDU_1, &tmp1075PlPcdu1);
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_IF_BOARD, &tmp1075IfBrd);
localDataPoolMap.emplace(tcsCtrl::SENSOR_PLOC_HEATSPREADER, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::SENSOR_PLOC_MISSIONBOARD, new PoolEntry<float>({1.0}));
localDataPoolMap.emplace(tcsCtrl::SENSOR_4K_CAMERA, new PoolEntry<float>({2.0}));
localDataPoolMap.emplace(tcsCtrl::SENSOR_DAC_HEATSPREADER, new PoolEntry<float>({3.0}));
localDataPoolMap.emplace(tcsCtrl::SENSOR_STARTRACKER, new PoolEntry<float>({4.0}));
localDataPoolMap.emplace(tcsCtrl::SENSOR_RW1, new PoolEntry<float>({5.0}));
localDataPoolMap.emplace(tcsCtrl::SENSOR_DRO, new PoolEntry<float>({6.0}));
localDataPoolMap.emplace(tcsCtrl::SENSOR_SCEX, new PoolEntry<float>({7.0}));
localDataPoolMap.emplace(tcsCtrl::SENSOR_X8, new PoolEntry<float>({8.0}));
localDataPoolMap.emplace(tcsCtrl::SENSOR_HPA, new PoolEntry<float>({9.0}));
localDataPoolMap.emplace(tcsCtrl::SENSOR_TX_MODUL, new PoolEntry<float>({10.0}));
localDataPoolMap.emplace(tcsCtrl::SENSOR_MPA, new PoolEntry<float>({11.0}));
localDataPoolMap.emplace(tcsCtrl::SENSOR_ACU, new PoolEntry<float>({12.0}));
localDataPoolMap.emplace(tcsCtrl::SENSOR_PLPCDU_HEATSPREADER, new PoolEntry<float>({13.0}));
localDataPoolMap.emplace(tcsCtrl::SENSOR_TCS_BOARD, new PoolEntry<float>({14.0}));
localDataPoolMap.emplace(tcsCtrl::SENSOR_MAGNETTORQUER, new PoolEntry<float>({15.0}));
localDataPoolMap.emplace(tcsCtrl::SENSOR_TMP1075_TCS_0, &tmp1075Tcs0);
localDataPoolMap.emplace(tcsCtrl::SENSOR_TMP1075_TCS_1, &tmp1075Tcs1);
localDataPoolMap.emplace(tcsCtrl::SENSOR_TMP1075_PLPCDU_0, &tmp1075PlPcdu0);
localDataPoolMap.emplace(tcsCtrl::SENSOR_TMP1075_PLPCDU_1, &tmp1075PlPcdu1);
localDataPoolMap.emplace(tcsCtrl::SENSOR_TMP1075_IF_BOARD, &tmp1075IfBrd);
localDataPoolMap.emplace(thermalControllerDefinitions::SUS_0_N_LOC_XFYFZM_PT_XF,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SUS_6_R_LOC_XFYBZM_PT_XF,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SUS_1_N_LOC_XBYFZM_PT_XB,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SUS_7_R_LOC_XBYBZM_PT_XB,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SUS_2_N_LOC_XFYBZB_PT_YB,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SUS_8_R_LOC_XBYBZB_PT_YB,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SUS_3_N_LOC_XFYBZF_PT_YF,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SUS_9_R_LOC_XBYBZB_PT_YF,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SUS_4_N_LOC_XMYFZF_PT_ZF,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SUS_10_N_LOC_XMYBZF_PT_ZF,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SUS_5_N_LOC_XFYMZB_PT_ZB,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SUS_11_R_LOC_XBYMZB_PT_ZB,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::SUS_0_N_LOC_XFYFZM_PT_XF, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::SUS_6_R_LOC_XFYBZM_PT_XF, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::SUS_1_N_LOC_XBYFZM_PT_XB, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::SUS_7_R_LOC_XBYBZM_PT_XB, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::SUS_2_N_LOC_XFYBZB_PT_YB, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::SUS_8_R_LOC_XBYBZB_PT_YB, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::SUS_3_N_LOC_XFYBZF_PT_YF, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::SUS_9_R_LOC_XBYBZB_PT_YF, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::SUS_4_N_LOC_XMYFZF_PT_ZF, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::SUS_10_N_LOC_XMYBZF_PT_ZF, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::SUS_5_N_LOC_XFYMZB_PT_ZB, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::SUS_11_R_LOC_XBYMZB_PT_ZB, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::COMPONENT_RW, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::COMPONENT_RW, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_Q7S, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::BATTERY_TEMP_1,
new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(thermalControllerDefinitions::BATTERY_TEMP_2,
new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(thermalControllerDefinitions::BATTERY_TEMP_3,
new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(thermalControllerDefinitions::BATTERY_TEMP_4,
new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_RW1, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_RW2, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_RW3, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_RW4, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_STAR_TRACKER,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_SYRLINKS_POWER_AMPLIFIER,
new PoolEntry<float>({0}));
localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_SYRLINKS_BASEBAND_BOARD,
new PoolEntry<float>({0}));
localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_MGT, new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_ACU, new PoolEntry<float>({0}));
localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_PDU1, new PoolEntry<float>({0}));
localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_PDU2, new PoolEntry<float>({0}));
localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_1_P60DOCK, new PoolEntry<float>({0}));
localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_2_P60DOCK, new PoolEntry<float>({0}));
localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_GYRO_0_SIDE_A,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_GYRO_1_SIDE_A,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_GYRO_2_SIDE_B,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_GYRO_3_SIDE_B,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_MGM_0_SIDE_A,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_MGM_2_SIDE_B,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_ADC_PAYLOAD_PCDU,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::TEMP_Q7S, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::BATTERY_TEMP_1, new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(tcsCtrl::BATTERY_TEMP_2, new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(tcsCtrl::BATTERY_TEMP_3, new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(tcsCtrl::BATTERY_TEMP_4, new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(tcsCtrl::TEMP_RW1, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(tcsCtrl::TEMP_RW2, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(tcsCtrl::TEMP_RW3, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(tcsCtrl::TEMP_RW4, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(tcsCtrl::TEMP_STAR_TRACKER, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::TEMP_SYRLINKS_POWER_AMPLIFIER, new PoolEntry<float>({0}));
localDataPoolMap.emplace(tcsCtrl::TEMP_SYRLINKS_BASEBAND_BOARD, new PoolEntry<float>({0}));
localDataPoolMap.emplace(tcsCtrl::TEMP_MGT, new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(tcsCtrl::TEMP_ACU, new PoolEntry<float>({0}));
localDataPoolMap.emplace(tcsCtrl::TEMP_PDU1, new PoolEntry<float>({0}));
localDataPoolMap.emplace(tcsCtrl::TEMP_PDU2, new PoolEntry<float>({0}));
localDataPoolMap.emplace(tcsCtrl::TEMP_1_P60DOCK, new PoolEntry<float>({0}));
localDataPoolMap.emplace(tcsCtrl::TEMP_2_P60DOCK, new PoolEntry<float>({0}));
localDataPoolMap.emplace(tcsCtrl::TEMP_GYRO_0_SIDE_A, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::TEMP_GYRO_1_SIDE_A, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::TEMP_GYRO_2_SIDE_B, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::TEMP_GYRO_3_SIDE_B, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::TEMP_MGM_0_SIDE_A, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::TEMP_MGM_2_SIDE_B, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::TEMP_ADC_PAYLOAD_PCDU, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(tcsCtrl::HEATER_SWITCH_LIST, &heaterSwitchStates);
localDataPoolMap.emplace(tcsCtrl::HEATER_CURRENT, &heaterCurrent);
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(sensorTemperatures.getSid(), false, 10.0));
@@ -219,17 +203,21 @@ ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& lo
subdp::RegularHkPeriodicParams(susTemperatures.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(deviceTemperatures.getSid(), false, 10.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(heaterInfo.getSid(), false, 10.0));
return returnvalue::OK;
}
LocalPoolDataSetBase* ThermalController::getDataSetHandle(sid_t sid) {
switch (sid.ownerSetId) {
case thermalControllerDefinitions::SENSOR_TEMPERATURES:
case tcsCtrl::SENSOR_TEMPERATURES:
return &sensorTemperatures;
case thermalControllerDefinitions::SUS_TEMPERATURES:
case tcsCtrl::SUS_TEMPERATURES:
return &susTemperatures;
case thermalControllerDefinitions::DEVICE_TEMPERATURES:
case tcsCtrl::DEVICE_TEMPERATURES:
return &deviceTemperatures;
case tcsCtrl::HEATER_SET:
return &heaterInfo;
default:
return nullptr;
}
@@ -687,7 +675,7 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, RwDefinitions::TEMPERATURE_C);
lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, rws::TEMPERATURE_C);
PoolReadGuard pg(&tempRw1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read reaction wheel 1 temperature" << std::endl;
@@ -700,7 +688,7 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, RwDefinitions::TEMPERATURE_C);
lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, rws::TEMPERATURE_C);
PoolReadGuard pg(&tempRw2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read reaction wheel 2 temperature" << std::endl;
@@ -713,7 +701,7 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, RwDefinitions::TEMPERATURE_C);
lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, rws::TEMPERATURE_C);
PoolReadGuard pg(&tempRw3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read reaction wheel 3 temperature" << std::endl;
@@ -726,7 +714,7 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int32_t> tempRw4 = lp_var_t<int32_t>(objects::RW4, RwDefinitions::TEMPERATURE_C);
lp_var_t<int32_t> tempRw4 = lp_var_t<int32_t>(objects::RW4, rws::TEMPERATURE_C);
PoolReadGuard pg(&tempRw4, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read reaction wheel 4 temperature" << std::endl;
@@ -783,7 +771,7 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int16_t> tempMgt = lp_var_t<int16_t>(objects::IMTQ_HANDLER, IMTQ::MCU_TEMPERATURE);
lp_var_t<int16_t> tempMgt = lp_var_t<int16_t>(objects::IMTQ_HANDLER, imtq::MCU_TEMPERATURE);
PoolReadGuard pg(&tempMgt, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read MGT temperature" << std::endl;