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split P60 dock HK into core and aux HK
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This commit is contained in:
Robin Müller
2022-04-07 12:22:08 +02:00
parent 68992e77dc
commit 4e3fa54ae2
13 changed files with 205 additions and 194 deletions
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175
mission/devices/P60DockHandler.cpp
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@ -6,9 +6,9 @@
P60DockHandler::P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
: GomspaceDeviceHandler(objectId, comIF, comCookie, P60Dock::MAX_CONFIGTABLE_ADDRESS,
P60Dock::MAX_HKTABLE_ADDRESS, P60Dock::HK_TABLE_REPLY_SIZE,
&p60dockHkTableDataset),
p60dockHkTableDataset(this) {}
P60Dock::MAX_HKTABLE_ADDRESS, P60Dock::HK_TABLE_REPLY_SIZE),
coreHk(this),
auxHk(this) {}
P60DockHandler::~P60DockHandler() {}
@ -23,7 +23,7 @@ void P60DockHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *
* Hk table will be sent to the commander if hk table request was not triggered by the
* P60DockHandler itself.
*/
handleDeviceTM(&p60dockHkTableDataset, id, true);
handleDeviceTM(&coreHk, id, true);
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_P60DOCK == 1
p60dockHkTableDataset.read();
@ -73,8 +73,12 @@ void P60DockHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *
void P60DockHandler::parseHkTableReply(const uint8_t *packet) {
using namespace P60Dock;
uint16_t dataOffset = 0;
PoolReadGuard pg(&p60dockHkTableDataset);
if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
PoolReadGuard pg0(&coreHk);
PoolReadGuard pg1(&auxHk);
if (pg0.getReadResult() != HasReturnvaluesIF::RETURN_OK or
pg1.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
coreHk.setValidity(false, true);
auxHk.setValidity(false, true);
return;
}
/**
@ -83,129 +87,116 @@ void P60DockHandler::parseHkTableReply(const uint8_t *packet) {
*/
dataOffset += 12;
for (uint8_t idx = 0; idx < hk::CHNLS_LEN; idx++) {
p60dockHkTableDataset.currents[idx] = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
coreHk.currents[idx] = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
}
for (uint8_t idx = 0; idx < hk::CHNLS_LEN; idx++) {
p60dockHkTableDataset.voltages[idx] = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
coreHk.voltages[idx] = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
}
for (uint8_t idx = 0; idx < hk::CHNLS_LEN; idx++) {
p60dockHkTableDataset.outputEnables[idx] = *(packet + dataOffset);
coreHk.outputEnables[idx] = *(packet + dataOffset);
dataOffset += 3;
}
p60dockHkTableDataset.temperature1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
coreHk.temperature1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
p60dockHkTableDataset.temperature2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
coreHk.temperature2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
p60dockHkTableDataset.bootcause = *(packet + dataOffset) << 24 |
auxHk.bootcause = *(packet + dataOffset) << 24 |
*(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
*(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 |
*(packet + dataOffset + 3);
dataOffset += 6;
p60dockHkTableDataset.bootCount = *(packet + dataOffset) << 24 |
*(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
coreHk.bootCount = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
dataOffset += 6;
p60dockHkTableDataset.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
auxHk.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
dataOffset += 6;
p60dockHkTableDataset.resetcause = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
auxHk.resetcause = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
p60dockHkTableDataset.battMode = *(packet + dataOffset);
coreHk.battMode = *(packet + dataOffset);
dataOffset += 3;
p60dockHkTableDataset.heaterOn = *(packet + dataOffset);
auxHk.heaterOn = *(packet + dataOffset);
/* + 13 because here begins a new gomspace csp data field */
dataOffset += 13;
p60dockHkTableDataset.converter5VStatus = *(packet + dataOffset);
auxHk.converter5VStatus = *(packet + dataOffset);
dataOffset += 3;
for (uint8_t idx = 0; idx < hk::CHNLS_LEN; idx++) {
p60dockHkTableDataset.latchups[idx] = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
auxHk.latchups[idx] = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
}
p60dockHkTableDataset.dockVbatVoltageValue =
*(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
auxHk.dockVbatVoltageValue = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
p60dockHkTableDataset.dockVccCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
auxHk.dockVccCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
p60dockHkTableDataset.batteryCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
coreHk.batteryCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
p60dockHkTableDataset.batteryVoltage = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
coreHk.batteryVoltage = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
p60dockHkTableDataset.batteryTemperature1 =
*(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
auxHk.batteryTemperature1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
p60dockHkTableDataset.batteryTemperature2 =
*(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
auxHk.batteryTemperature2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
for (uint8_t idx = 0; idx < NUM_DEVS; idx++) {
p60dockHkTableDataset.devicesType[idx] = *(packet + dataOffset);
auxHk.devicesType[idx] = *(packet + dataOffset);
dataOffset += 3;
}
for (uint8_t idx = 0; idx < NUM_DEVS; idx++) {
p60dockHkTableDataset.devicesStatus[idx] = *(packet + dataOffset);
auxHk.devicesStatus[idx] = *(packet + dataOffset);
dataOffset += 3;
}
p60dockHkTableDataset.dearmStatus = *(packet + dataOffset);
auxHk.dearmStatus = *(packet + dataOffset);
dataOffset += 3;
p60dockHkTableDataset.wdtCntGnd = *(packet + dataOffset) << 24 |
*(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
auxHk.wdtCntGnd = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
dataOffset += 6;
p60dockHkTableDataset.wdtCntI2c = *(packet + dataOffset) << 24 |
*(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
auxHk.wdtCntI2c = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
dataOffset += 6;
p60dockHkTableDataset.wdtCntCan = *(packet + dataOffset) << 24 |
*(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
auxHk.wdtCntCan = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
dataOffset += 6;
p60dockHkTableDataset.wdtCntCsp1 = *(packet + dataOffset) << 24 |
*(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
auxHk.wdtCntCsp1 = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
dataOffset += 6;
p60dockHkTableDataset.wdtCntCsp2 = *(packet + dataOffset) << 24 |
*(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
auxHk.wdtCntCsp2 = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
dataOffset += 6;
p60dockHkTableDataset.wdtGndLeft = *(packet + dataOffset) << 24 |
*(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
auxHk.wdtGndLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
dataOffset += 6;
p60dockHkTableDataset.wdtI2cLeft = *(packet + dataOffset) << 24 |
*(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
auxHk.wdtI2cLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
dataOffset += 6;
p60dockHkTableDataset.wdtCanLeft = *(packet + dataOffset) << 24 |
*(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
auxHk.wdtCanLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
/* +16 because here begins a new gomspace csp packet */
dataOffset += 16;
p60dockHkTableDataset.wdtCspLeft1 = *(packet + dataOffset);
auxHk.wdtCspLeft1 = *(packet + dataOffset);
dataOffset += 3;
p60dockHkTableDataset.wdtCspLeft2 = *(packet + dataOffset);
auxHk.wdtCspLeft2 = *(packet + dataOffset);
dataOffset += 3;
p60dockHkTableDataset.batteryChargeCurrent =
*(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
auxHk.batteryChargeCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
p60dockHkTableDataset.batteryDischargeCurrent =
*(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
auxHk.batteryDischargeCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
dataOffset += 4;
p60dockHkTableDataset.ant6Depl = *(packet + dataOffset);
auxHk.ant6Depl = *(packet + dataOffset);
dataOffset += 3;
p60dockHkTableDataset.ar6Depl = *(packet + dataOffset);
p60dockHkTableDataset.setValidity(true, true);
auxHk.ar6Depl = *(packet + dataOffset);
coreHk.setValidity(true, true);
auxHk.setValidity(true, true);
}
ReturnValue_t P60DockHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
@ -260,7 +251,8 @@ ReturnValue_t P60DockHandler::initializeLocalDataPool(localpool::DataPool &local
localDataPoolMap.emplace(pool::P60DOCK_ANT6_DEPL, new PoolEntry<int8_t>({0}));
localDataPoolMap.emplace(pool::P60DOCK_AR6_DEPL, new PoolEntry<int8_t>({0}));
poolManager.subscribeForPeriodicPacket(p60dockHkTableDataset.getSid(), false, 10.0, false);
poolManager.subscribeForPeriodicPacket(coreHk.getSid(), false, 10.0, false);
poolManager.subscribeForPeriodicPacket(auxHk.getSid(), false, 30.0, false);
return HasReturnvaluesIF::RETURN_OK;
}
@ -268,16 +260,17 @@ ReturnValue_t P60DockHandler::printStatus(DeviceCommandId_t cmd) {
ReturnValue_t result = RETURN_OK;
switch (cmd) {
case (GOMSPACE::PRINT_SWITCH_V_I): {
PoolReadGuard pg(&p60dockHkTableDataset);
result = pg.getReadResult();
if (result != HasReturnvaluesIF::RETURN_OK) {
PoolReadGuard pg0(&coreHk);
PoolReadGuard pg1(&auxHk);
if (pg0.getReadResult() != HasReturnvaluesIF::RETURN_OK or
pg1.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
break;
}
printHkTableSwitchIV();
return HasReturnvaluesIF::RETURN_OK;
}
case (GOMSPACE::PRINT_LATCHUPS): {
PoolReadGuard pg(&p60dockHkTableDataset);
PoolReadGuard pg(&auxHk);
result = pg.getReadResult();
printHkTableLatchups();
if (result != HasReturnvaluesIF::RETURN_OK) {
@ -296,25 +289,22 @@ ReturnValue_t P60DockHandler::printStatus(DeviceCommandId_t cmd) {
void P60DockHandler::printHkTableSwitchIV() {
using namespace P60Dock;
sif::info << "P60 Dock Info:" << std::endl;
sif::info << "Boot Cause: " << p60dockHkTableDataset.bootcause
<< " | Boot Count: " << std::setw(4) << std::right << p60dockHkTableDataset.bootCount
<< std::endl;
sif::info << "Reset Cause: " << p60dockHkTableDataset.resetcause
<< " | Battery Mode: " << static_cast<int>(p60dockHkTableDataset.battMode.value)
<< std::endl;
sif::info << "Boot Cause: " << auxHk.bootcause << " | Boot Count: " << std::setw(4) << std::right
<< coreHk.bootCount << std::endl;
sif::info << "Reset Cause: " << auxHk.resetcause
<< " | Battery Mode: " << static_cast<int>(coreHk.battMode.value) << std::endl;
sif::info << "SwitchState, Currents [mA], Voltages [mV]:" << std::endl;
sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "Dock VBAT VCC" << std::dec
<< "| -, " << std::setw(4) << std::right << p60dockHkTableDataset.dockVccCurrent << ", "
<< std::setw(5) << p60dockHkTableDataset.dockVbatVoltageValue << std::endl;
<< "| -, " << std::setw(4) << std::right << auxHk.dockVccCurrent << ", " << std::setw(5)
<< auxHk.dockVbatVoltageValue << std::endl;
sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "BATT" << std::dec << "| -, "
<< std::setw(4) << std::right << p60dockHkTableDataset.batteryCurrent.value << ", "
<< std::setw(5) << p60dockHkTableDataset.batteryVoltage.value << std::endl;
<< std::setw(4) << std::right << coreHk.batteryCurrent.value << ", " << std::setw(5)
<< coreHk.batteryVoltage.value << std::endl;
auto genericPrintoutHandler = [&](std::string name, uint8_t idx) {
sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << name << std::dec << "| "
<< unsigned(p60dockHkTableDataset.outputEnables[idx]) << ", " << std::setw(4)
<< std::right << p60dockHkTableDataset.currents[idx] << ", " << std::setw(5)
<< p60dockHkTableDataset.voltages[idx] << std::endl;
<< unsigned(coreHk.outputEnables[idx]) << ", " << std::setw(4) << std::right
<< coreHk.currents[idx] << ", " << std::setw(5) << coreHk.voltages[idx] << std::endl;
};
genericPrintoutHandler("ACU VCC", hk::ACU_VCC);
@ -328,12 +318,21 @@ void P60DockHandler::printHkTableSwitchIV() {
genericPrintoutHandler("Stack 5V", hk::STACK_5V);
}
LocalPoolDataSetBase *P60DockHandler::getDataSetHandle(sid_t sid) {
if (sid == coreHk.getSid()) {
return &coreHk;
} else if (sid == auxHk.getSid()) {
return &auxHk;
}
return nullptr;
}
void P60DockHandler::printHkTableLatchups() {
using namespace P60Dock;
sif::info << "P60 Latchup Information" << std::endl;
auto genericPrintoutHandler = [&](std::string name, uint8_t idx) {
sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << name << std::dec << "| "
<< std::setw(4) << std::right << p60dockHkTableDataset.latchups[idx] << std::endl;
<< std::setw(4) << std::right << auxHk.latchups[idx] << std::endl;
};
genericPrintoutHandler("ACU VCC", hk::ACU_VCC);
genericPrintoutHandler("ACU VBAT", hk::ACU_VBAT);