eive/eive-obsw
eive/eive-obsw
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switch handling working now

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This commit is contained in:
Robin Müller 2022-04-07 00:14:18 +02:00
parent 4327fcb92e
commit 834e935c64
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GPG Key ID: 11D4952C8CCEF814
2 changed files with 46 additions and 58 deletions
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101
mission/devices/PayloadPcduHandler.cpp
View File

@ -67,6 +67,7 @@ void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom) { ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom) {
using namespace plpcdu; using namespace plpcdu;
bool doFinish = true;
if (((submode >> SOLID_STATE_RELAYS_ADC_ON) & 0b1) == 1) { if (((submode >> SOLID_STATE_RELAYS_ADC_ON) & 0b1) == 1) {
if (state == States::PL_PCDU_OFF) { if (state == States::PL_PCDU_OFF) {
sif::error << "PayloadPcduHandler::stateMachineToNormal: Unexpected state PL_PCDU_OFF" sif::error << "PayloadPcduHandler::stateMachineToNormal: Unexpected state PL_PCDU_OFF"
@ -83,22 +84,24 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT1); gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT1);
state = States::ON_TRANS_SSR; state = States::ON_TRANS_SSR;
transitionOk = true; transitionOk = true;
doFinish = false;
} }
if (state == States::ON_TRANS_SSR) { if (state == States::ON_TRANS_SSR) {
// If necessary, check whether a certain amount of time has elapsed // If necessary, check whether a certain amount of time has elapsed
if (transitionOk) { if (transitionOk) {
transitionOk = false; transitionOk = false;
state = States::ON_TRANS_ADC_CLOSE_ZERO; state = States::ON_TRANS_ADC_CLOSE_ZERO;
adcCountdown.setTimeout(50); adcCountdown.setTimeout(50);
adcCountdown.resetTimer(); adcCountdown.resetTimer();
adcState = AdcStates::BOOT_DELAY; adcState = AdcStates::BOOT_DELAY;
doFinish = false;
// If the values are not close to zero, we should not allow transition // If the values are not close to zero, we should not allow transition
monMode = MonitoringMode::CLOSE_TO_ZERO; monMode = MonitoringMode::CLOSE_TO_ZERO;
} }
} }
if (state == States::ON_TRANS_ADC_CLOSE_ZERO) { if (state == States::ON_TRANS_ADC_CLOSE_ZERO) {
if (adcState == AdcStates::BOOT_DELAY) { if (adcState == AdcStates::BOOT_DELAY) {
doFinish = false;
if (adcCountdown.hasTimedOut()) { if (adcCountdown.hasTimedOut()) {
adcState = AdcStates::SEND_SETUP; adcState = AdcStates::SEND_SETUP;
adcCmdExecuted = false; adcCmdExecuted = false;
@ -107,68 +110,38 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
if (adcState == AdcStates::SEND_SETUP) { if (adcState == AdcStates::SEND_SETUP) {
if (adcCmdExecuted) { if (adcCmdExecuted) {
adcState = AdcStates::NORMAL; adcState = AdcStates::NORMAL;
doFinish = true;
adcCountdown.setTimeout(100); adcCountdown.setTimeout(100);
adcCountdown.resetTimer(); adcCountdown.resetTimer();
adcCmdExecuted = false; adcCmdExecuted = false;
setMode(MODE_NORMAL, submode);
return HasReturnvaluesIF::RETURN_OK;
} }
} }
} }
} }
if (((submode >> DRO_ON) & 1) == 1) { auto switchHandler = [&](NormalSubmodeBits bit, gpioId_t id, std::string info) {
if (((diffMask >> bit) & 1) == 1) {
if (((submode >> bit) & 1) == 1) {
#if OBSW_VERBOSE_LEVEL >= 1 #if OBSW_VERBOSE_LEVEL >= 1
sif::info << "Enabling PL PCDU DRO module" << std::endl; sif::info << "Enabling PL PCDU " << info << " module" << std::endl;
#endif #endif
// Switch on DRO and start monitoring for negative voltages // Switch on DRO and start monitoring for negative voltages
gpioIF->pullHigh(gpioIds::PLPCDU_ENB_DRO); updateSwitchGpio(id, gpio::Levels::HIGH);
adcCountdown.setTimeout(100); } else {
adcCountdown.resetTimer(); #if OBSW_VERBOSE_LEVEL >= 1
setMode(MODE_NORMAL, submode); sif::info << "Disabling PL PCDU " << info << " module" << std::endl;
} #endif
updateSwitchGpio(id, gpio::Levels::LOW);
}
}
};
if (((submode >> X8_ON) & 1) == 1) { switchHandler(DRO_ON, gpioIds::PLPCDU_ENB_DRO, "DRO");
#if OBSW_VERBOSE_LEVEL >= 1 switchHandler(X8_ON, gpioIds::PLPCDU_ENB_X8, "X8");
sif::info << "Enabling PL PCDU X8 module" << std::endl; switchHandler(TX_ON, gpioIds::PLPCDU_ENB_TX, "TX");
#endif switchHandler(MPA_ON, gpioIds::PLPCDU_ENB_MPA, "MPA");
// Switch on DRO and start monitoring for negative voltages switchHandler(HPA_ON, gpioIds::PLPCDU_ENB_HPA, "HPA");
gpioIF->pullHigh(gpioIds::PLPCDU_ENB_X8); if (doFinish) {
adcCountdown.setTimeout(100);
adcCountdown.resetTimer();
setMode(MODE_NORMAL, submode);
}
if (((submode >> TX_ON) & 1) == 1) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::info << "Enabling PL PCDU TX module" << std::endl;
#endif
// Switch on DRO and start monitoring for negative voltages
gpioIF->pullHigh(gpioIds::PLPCDU_ENB_TX);
adcCountdown.setTimeout(100);
adcCountdown.resetTimer();
setMode(MODE_NORMAL, submode);
}
if (((submode >> MPA_ON) & 1) == 1) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::info << "Enabling PL PCDU MPA module" << std::endl;
#endif
// Switch on DRO and start monitoring for negative voltages
gpioIF->pullHigh(gpioIds::PLPCDU_ENB_MPA);
adcCountdown.setTimeout(100);
adcCountdown.resetTimer();
setMode(MODE_NORMAL, submode);
}
if (((submode >> HPA_ON) & 1) == 1) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::info << "Enabling PL PCDU HPA module" << std::endl;
#endif
// Switch on DRO and start monitoring for negative voltages
gpioIF->pullHigh(gpioIds::PLPCDU_ENB_HPA);
adcCountdown.setTimeout(100);
adcCountdown.resetTimer();
setMode(MODE_NORMAL, submode); setMode(MODE_NORMAL, submode);
} }
return RETURN_OK; return RETURN_OK;
@ -202,6 +175,16 @@ ReturnValue_t PayloadPcduHandler::buildTransitionDeviceCommand(DeviceCommandId_t
return NOTHING_TO_SEND; return NOTHING_TO_SEND;
} }
void PayloadPcduHandler::updateSwitchGpio(gpioId_t id, gpio::Levels level) {
if (level == gpio::Levels::HIGH) {
gpioIF->pullHigh(id);
} else {
gpioIF->pullLow(id);
}
adcCountdown.setTimeout(100);
adcCountdown.resetTimer();
}
void PayloadPcduHandler::fillCommandAndReplyMap() { void PayloadPcduHandler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(plpcdu::READ_CMD, 2, &adcSet); insertInCommandAndReplyMap(plpcdu::READ_CMD, 2, &adcSet);
insertInCommandAndReplyMap(plpcdu::READ_TEMP_EXT, 1, &adcSet); insertInCommandAndReplyMap(plpcdu::READ_TEMP_EXT, 1, &adcSet);
@ -549,31 +532,33 @@ bool PayloadPcduHandler::checkCurrent(float val, float upperBound, Event event)
ReturnValue_t PayloadPcduHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) { ReturnValue_t PayloadPcduHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
using namespace plpcdu; using namespace plpcdu;
if (mode == MODE_NORMAL) { if (mode == MODE_NORMAL) {
diffMask = submode ^ this->submode;
// Also deals with the case where the mode is MODE_ON, submode should be 0 here // Also deals with the case where the mode is MODE_ON, submode should be 0 here
if ((((submode >> SOLID_STATE_RELAYS_ADC_ON) & 0b1) == SOLID_STATE_RELAYS_ADC_ON) and if ((((submode >> SOLID_STATE_RELAYS_ADC_ON) & 0b1) == SOLID_STATE_RELAYS_ADC_ON) and
(this->mode == MODE_NORMAL and this->submode != ALL_OFF_SUBMODE)) { (this->mode == MODE_NORMAL and this->submode != ALL_OFF_SUBMODE)) {
return TRANS_NOT_ALLOWED; return TRANS_NOT_ALLOWED;
} }
if (((((submode >> DRO_ON) & 1) == 1) and if (((((submode >> DRO_ON) & 1) == 1) and
(this->submode != (1 << SOLID_STATE_RELAYS_ADC_ON)))) { ((this->submode & 0b1) != (1 << SOLID_STATE_RELAYS_ADC_ON)))) {
return TRANS_NOT_ALLOWED; return TRANS_NOT_ALLOWED;
} }
if ((((submode >> X8_ON) & 1) == 1) and if ((((submode >> X8_ON) & 1) == 1) and
(this->submode != ((1 << SOLID_STATE_RELAYS_ADC_ON) | (1 << DRO_ON)))) { ((this->submode & 0b11) != ((1 << SOLID_STATE_RELAYS_ADC_ON) | (1 << DRO_ON)))) {
return TRANS_NOT_ALLOWED; return TRANS_NOT_ALLOWED;
} }
if (((((submode >> TX_ON) & 1) == 1) and if (((((submode >> TX_ON) & 1) == 1) and
(this->submode != ((1 << X8_ON) | (1 << DRO_ON) | (1 << SOLID_STATE_RELAYS_ADC_ON))))) { ((this->submode & 0b111) !=
((1 << X8_ON) | (1 << DRO_ON) | (1 << SOLID_STATE_RELAYS_ADC_ON))))) {
return TRANS_NOT_ALLOWED; return TRANS_NOT_ALLOWED;
} }
if ((((submode >> MPA_ON) & 1) == 1 and if ((((submode >> MPA_ON) & 1) == 1 and
(this->submode != ((this->submode & 0b1111) !=
((1 << TX_ON) | (1 << X8_ON) | (1 << DRO_ON) | (1 << SOLID_STATE_RELAYS_ADC_ON))))) { ((1 << TX_ON) | (1 << X8_ON) | (1 << DRO_ON) | (1 << SOLID_STATE_RELAYS_ADC_ON))))) {
return TRANS_NOT_ALLOWED; return TRANS_NOT_ALLOWED;
} }
if ((((submode >> HPA_ON) & 1) == 1 and if ((((submode >> HPA_ON) & 1) == 1 and
(this->submode != ((1 << MPA_ON) | (1 << TX_ON) | (1 << X8_ON) | (1 << DRO_ON) | ((this->submode & 0b11111) != ((1 << MPA_ON) | (1 << TX_ON) | (1 << X8_ON) |
(1 << SOLID_STATE_RELAYS_ADC_ON))))) { (1 << DRO_ON) | (1 << SOLID_STATE_RELAYS_ADC_ON))))) {
return TRANS_NOT_ALLOWED; return TRANS_NOT_ALLOWED;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;

3
mission/devices/PayloadPcduHandler.h
View File

@ -134,6 +134,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
SdCardMountedIF* sdcMan; SdCardMountedIF* sdcMan;
plpcdu::PlPcduParameter params; plpcdu::PlPcduParameter params;
bool quickTransitionAlreadyCalled = true; bool quickTransitionAlreadyCalled = true;
uint8_t diffMask = 0;
PoolEntry<uint16_t> channelValues = PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}); PoolEntry<uint16_t> channelValues = PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0});
PoolEntry<float> processedValues = PoolEntry<float> processedValues =
@ -141,6 +142,8 @@ class PayloadPcduHandler : public DeviceHandlerBase {
PoolEntry<float> tempC = PoolEntry<float>({0.0}); PoolEntry<float> tempC = PoolEntry<float>({0.0});
DualLanePowerStateMachine pwrStateMachine; DualLanePowerStateMachine pwrStateMachine;
void updateSwitchGpio(gpioId_t id, gpio::Levels level);
void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override; void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
void doStartUp() override; void doStartUp() override;
void doShutDown() override; void doShutDown() override;