eive/eive-obsw
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implemented switch handling
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This commit is contained in:
Robin Müller 2022-03-28 12:23:56 +02:00
parent 6e25cf912f
commit 66029cb47a
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GPG Key ID: 71B58F8A3CDFA9AC
3 changed files with 46 additions and 15 deletions
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2
fsfw

@ -1 +1 @@
Subproject commit e6130263ef144c5b1f6eafef734a0150a92d6cda
Subproject commit 6ea1eabb2dd3688f2c7db484cd141f15c9f4fe49

49
mission/devices/PayloadPcduHandler.cpp
View File

@ -28,17 +28,39 @@ void PayloadPcduHandler::doStartUp() {
// Config error
sif::error << "PayloadPcduHandler::doStartUp: Invalid state" << std::endl;
}
// TODO: Handle switching power on here
// TODO: Go to on mode here instead, indicating that the power is on
// We are now in ON mode
if (pwrStateMachine.getState() == power::States::IDLE) {
pwrStateMachine.start(MODE_ON, pwrSubmode);
}
auto opCode = pwrStateMachine.fsm();
if (opCode == power::OpCodes::TO_NOT_OFF_DONE or opCode == power::OpCodes::TIMEOUT_OCCURED) {
pwrStateMachine.reset();
quickTransitionAlreadyCalled = false;
setMode(_MODE_TO_ON);
}
}
void PayloadPcduHandler::doShutDown() {
if (not quickTransitionAlreadyCalled) {
quickTransitionBackToOff(false, false);
quickTransitionAlreadyCalled = true;
}
if (pwrStateMachine.getState() == power::States::IDLE) {
pwrStateMachine.start(MODE_OFF, 0);
}
auto opCode = pwrStateMachine.fsm();
if (opCode == power::OpCodes::TO_OFF_DONE or opCode == power::OpCodes::TIMEOUT_OCCURED) {
pwrStateMachine.reset();
// No need to set mode _MODE_POWER_DOWN, power switching was already handled
setMode(MODE_OFF);
}
}
void PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom) {
using namespace plpcdu;
if (submode == plpcdu::NORMAL_ALL_ON or submode == plpcdu::NORMAL_ADC_ONLY) {
if (state == States::PL_PCDU_OFF) {
// TODO: Config error, emit error printout
sif::error << "PayloadPcduHandler::stateMachineToNormal: Unexpected state PL_PCDU_OFF"
<< "detected" << std::endl;
setMode(MODE_OFF);
}
if (state == States::POWER_CHANNELS_ON) {
@ -215,11 +237,11 @@ void PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subMode
void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
if (mode == _MODE_TO_NORMAL) {
stateMachineToNormal(modeFrom, subModeFrom);
return;
}
DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
}
void PayloadPcduHandler::doShutDown() { transitionBackToOff(false); }
ReturnValue_t PayloadPcduHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
switch (adcState) {
case (AdcStates::SEND_SETUP): {
@ -402,7 +424,7 @@ void PayloadPcduHandler::enablePeriodicPrintout(bool enable, uint8_t divider) {
opDivider.setDivider(divider);
}
void PayloadPcduHandler::transitionBackToOff(bool notifyFdir) {
void PayloadPcduHandler::quickTransitionBackToOff(bool startTransitionToOff, bool notifyFdir) {
States currentState = state;
gpioIF->pullLow(gpioIds::PLPCDU_ENB_HPA);
gpioIF->pullLow(gpioIds::PLPCDU_ENB_MPA);
@ -414,7 +436,9 @@ void PayloadPcduHandler::transitionBackToOff(bool notifyFdir) {
gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
state = States::PL_PCDU_OFF;
adcState = AdcStates::OFF;
setMode(MODE_OFF);
if (startTransitionToOff) {
startTransition(MODE_OFF, 0);
}
if (notifyFdir) {
triggerEvent(TRANSITION_BACK_TO_OFF, static_cast<uint32_t>(currentState));
}
@ -568,7 +592,8 @@ bool PayloadPcduHandler::checkVoltage(float val, float lowerBound, float upperBo
serializeFloat(p2, val);
triggerEvent(event, tooLarge, p2);
transitionOk = false;
transitionBackToOff(true);
quickTransitionBackToOff(true, true);
quickTransitionAlreadyCalled = true;
return false;
}
return true;
@ -580,7 +605,8 @@ bool PayloadPcduHandler::checkCurrent(float val, float upperBound, Event event)
serializeFloat(p2, val);
triggerEvent(event, true, p2);
transitionOk = false;
transitionBackToOff(true);
quickTransitionBackToOff(true, true);
quickTransitionAlreadyCalled = true;
return false;
}
return true;
@ -670,7 +696,8 @@ void PayloadPcduHandler::handleFailureInjection(std::string output, Event event)
<< std::endl;
triggerEvent(event, 0, 0);
transitionOk = false;
transitionBackToOff(true);
quickTransitionBackToOff(true, true);
quickTransitionAlreadyCalled = true;
droToX8InjectionRequested = false;
}

8
mission/devices/PayloadPcduHandler.h
View File

@ -4,13 +4,14 @@
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include <fsfw/timemanager/Countdown.h>
#include <mission/system/DualLanePowerStateMachine.h>
#include "events/subsystemIdRanges.h"
#include "fsfw/FSFW.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
#include "mission/memory/SdCardMountedIF.h"
#include "mission/system/DualLanePowerStateMachine.h"
#include "mission/system/definitions.h"
#ifdef FSFW_OSAL_LINUX
class SpiComIF;
@ -98,6 +99,8 @@ class PayloadPcduHandler : public DeviceHandlerBase {
PL_PCDU_ON,
} state = States::PL_PCDU_OFF;
duallane::Submodes pwrSubmode = duallane::Submodes::A_SIDE;
enum class AdcMode { EXT_CONV, INT_CONV } adcMode = AdcMode::INT_CONV;
enum class MonitoringMode { NONE, CLOSE_TO_ZERO, NEGATIVE } monMode = MonitoringMode::NONE;
@ -130,6 +133,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
GpioIF* gpioIF;
SdCardMountedIF* sdcMan;
plpcdu::PlPcduParameter params;
bool quickTransitionAlreadyCalled = true;
PoolEntry<uint16_t> channelValues = PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0});
PoolEntry<float> processedValues =
@ -141,7 +145,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
void doStartUp() override;
void doShutDown() override;
// Main FDIR function which goes from any PL PCDU state back to all off
void transitionBackToOff(bool notifyFdir);
void quickTransitionBackToOff(bool startTransitionToOff, bool notifyFdir);
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
void fillCommandAndReplyMap() override;