Merge branch 'mueller_5v_stack_cmd_for_devices' of https://egit.irs.uni-stuttgart.de/eive/eive-obsw into mueller_5v_stack_cmd_for_devices

bsp_q7s/core/ObjectFactory.cpp

@@ -228,10 +228,6 @@ ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF,
   auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_MAIN_COM_IF,
                                               spiCookieRadSensor, gpioComIF, stackHandler);
   static_cast<void>(radSensor);
-  // The radiation sensor ADC is powered by the 5V stack connector which should always be on
-  radSensor->setStartUpImmediately();
-  // It's a simple sensor, so just to to normal mode immediately
-  radSensor->setToGoToNormalModeImmediately();
 #if OBSW_DEBUG_RAD_SENSOR == 1
   radSensor->enablePeriodicDataPrint(true);
 #endif
@@ -834,7 +830,8 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF,
 }
 
 void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
-                                           PowerSwitchIF* pwrSwitcher) {
+                                           PowerSwitchIF* pwrSwitcher,
+                                           Stack5VHandler& stackHandler) {
   using namespace gpio;
   // Create all GPIO components first
   GpioCookie* plPcduGpios = new GpioCookie;
@@ -880,10 +877,9 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
       new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS, plpcdu::MAX_ADC_REPLY_SIZE,
                     spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
   // Create device handler components
-  auto plPcduHandler = new PayloadPcduHandler(
-      objects::PLPCDU_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, gpioComIF,
-      SdCardManager::instance(), pwrSwitcher, pcdu::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
-      pcdu::Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8, false);
+  auto plPcduHandler =
+      new PayloadPcduHandler(objects::PLPCDU_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
+                             gpioComIF, SdCardManager::instance(), stackHandler, false);
   spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
 //  plPcduHandler->enablePeriodicPrintout(true, 5);
 //  static_cast<void>(plPcduHandler);

bsp_q7s/core/ObjectFactory.h

@@ -28,7 +28,7 @@ void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, SerialComIF** uar
                                    SpiComIF** spiRwComIF);
 void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
 void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
-                            PowerSwitchIF* pwrSwitcher);
+                            PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);
 void createTmpComponents();
 ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,

bsp_q7s/fmObjectFactory.cpp

@@ -50,7 +50,7 @@ void ObjectFactory::produce(void* args) {
   createTmpComponents();
 #endif
   createSolarArrayDeploymentComponents(*pwrSwitcher, *gpioComIF);
-  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
+  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
 #if OBSW_ADD_SYRLINKS == 1
   createSyrlinksComponents(pwrSwitcher);
 #endif /* OBSW_ADD_SYRLINKS == 1 */

mission/devices/PCDUHandler.cpp

@@ -11,6 +11,7 @@
 PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize)
     : SystemObject(setObjectId),
       poolManager(this, nullptr),
+      p60CoreHk(objects::P60DOCK_HANDLER),
       pdu1CoreHk(this),
       pdu2CoreHk(this),
       switcherSet(this),
@@ -28,6 +29,22 @@ ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
     readCommandQueue();
     return returnvalue::OK;
   }
+  uint8_t switchState = 0;
+  {
+    PoolReadGuard pg(&p60CoreHk.outputEnables);
+    if (pg.getReadResult() == returnvalue::OK) {
+      switchState = p60CoreHk.outputEnables.value[10];
+    }
+  }
+  {
+    PoolReadGuard pg(&switcherSet.p60Dock5VStack);
+    if (pg.getReadResult() == returnvalue::OK) {
+      if (switcherSet.p60Dock5VStack.value != switchState) {
+        triggerEvent(power::SWITCH_HAS_CHANGED, switchState, pcdu::Switches::P60_DOCK_5V_STACK);
+      }
+      switcherSet.p60Dock5VStack.value = switchState;
+    }
+  }
   return returnvalue::OK;
 }
 
@@ -398,6 +415,7 @@ ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDat
   using namespace pcdu;
   localDataPoolMap.emplace(PoolIds::PDU1_SWITCHES, &pdu1Switches);
   localDataPoolMap.emplace(PoolIds::PDU2_SWITCHES, &pdu2Switches);
+  localDataPoolMap.emplace(PoolIds::P60DOCK_SWITCHES, &p60Dock5VSwitch);
   poolManager.subscribeForRegularPeriodicPacket(
       subdp::RegularHkPeriodicParams(switcherSet.getSid(), false, 5.0));
   return returnvalue::OK;

mission/devices/PCDUHandler.h

@@ -56,6 +56,8 @@ class PCDUHandler : public PowerSwitchIF,
   /** Housekeeping manager. Handles updates of local pool variables. */
   LocalDataPoolManager poolManager;
 
+  P60Dock::CoreHkSet p60CoreHk;
+
   /** Hk table dataset of PDU1 */
   PDU1::Pdu1CoreHk pdu1CoreHk;
   /**
@@ -71,6 +73,7 @@ class PCDUHandler : public PowerSwitchIF,
       PoolEntry<uint8_t>(pcdu::INIT_SWITCHES_PDU1.data(), pcdu::INIT_SWITCHES_PDU1.size());
   PoolEntry<uint8_t> pdu2Switches =
       PoolEntry<uint8_t>(pcdu::INIT_SWITCHES_PDU2.data(), pcdu::INIT_SWITCHES_PDU2.size());
+  PoolEntry<uint8_t> p60Dock5VSwitch = PoolEntry<uint8_t>();
 
   /** The timeStamp of the current pdu2HkTableDataset */
   CCSDSTime::CDS_short timeStampPdu2HkDataset;

mission/devices/PayloadPcduHandler.cpp

@@ -16,29 +16,37 @@
 
 PayloadPcduHandler::PayloadPcduHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie,
                                        GpioIF* gpioIF, SdCardMountedIF* sdcMan,
-                                       PowerSwitchIF* pwrSwitcher, power::Switch_t switchA,
-                                       power::Switch_t switchB, bool periodicPrintout)
+                                       Stack5VHandler& stackHandler, bool periodicPrintout)
     : DeviceHandlerBase(objectId, comIF, cookie),
       adcSet(this),
+      stackHandler(stackHandler),
       periodicPrintout(periodicPrintout),
       gpioIF(gpioIF),
-      sdcMan(sdcMan),
-      pwrStateMachine(switchA, switchB, pwrSwitcher) {}
+      sdcMan(sdcMan) {}
 
 void PayloadPcduHandler::doStartUp() {
   if ((state != States::PL_PCDU_OFF) and (state != States::ON_TRANS_SSR)) {
     // Config error
     sif::error << "PayloadPcduHandler::doStartUp: Invalid state" << std::endl;
   }
-  if (pwrStateMachine.getState() == power::States::IDLE) {
-    pwrStateMachine.start(MODE_ON, pwrSubmode);
-  }
   clearSetOnOffFlag = true;
-  auto opCode = pwrStateMachine.fsm();
-  if (opCode == power::OpCodes::TO_NOT_OFF_DONE or opCode == power::OpCodes::TIMEOUT_OCCURED) {
-    pwrStateMachine.reset();
+  if (state == States::PL_PCDU_OFF) {
+    state = States::STACK_5V_SWITCHING;
+  }
+  if (state == States::STACK_5V_SWITCHING) {
+    ReturnValue_t retval = stackHandler.deviceToOn(StackCommander::PL_PCDU);
+    if (retval == BUSY) {
+      return;
+    }
+    state == States::STACK_5V_PENDING;
+  }
+  if (state == States::STACK_5V_PENDING) {
+    if (stackHandler.isSwitchOn()) {
+      state = States::STACK_5V_CORRECT;
+    }
+  }
+  if (state == States::STACK_5V_CORRECT) {
     quickTransitionAlreadyCalled = false;
-    state = States::POWER_CHANNELS_ON;
     setMode(_MODE_TO_ON);
   }
 }
@@ -48,17 +56,24 @@ void PayloadPcduHandler::doShutDown() {
     quickTransitionBackToOff(false, false);
     quickTransitionAlreadyCalled = true;
   }
-  if (pwrStateMachine.getState() == power::States::IDLE) {
-    pwrStateMachine.start(MODE_OFF, 0);
-  }
   if (clearSetOnOffFlag) {
     std::memset(adcSet.processed.value, 0, adcSet.processed.getSerializedSize());
     clearSetOnOffFlag = false;
   }
 
-  auto opCode = pwrStateMachine.fsm();
-  if (opCode == power::OpCodes::TO_OFF_DONE or opCode == power::OpCodes::TIMEOUT_OCCURED) {
-    pwrStateMachine.reset();
+  if (state == States::STACK_5V_SWITCHING) {
+    ReturnValue_t retval = stackHandler.deviceToOff(StackCommander::PL_PCDU);
+    if (retval == BUSY) {
+      return;
+    }
+    state == States::STACK_5V_PENDING;
+  }
+  if (state == States::STACK_5V_PENDING) {
+    if (not stackHandler.isSwitchOn()) {
+      state == States::STACK_5V_CORRECT;
+    }
+  }
+  if (state == States::STACK_5V_CORRECT) {
     state = States::PL_PCDU_OFF;
     // No need to set mode _MODE_POWER_DOWN, power switching was already handled
     setMode(MODE_OFF);
@@ -83,7 +98,7 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
       setMode(MODE_OFF);
       return returnvalue::FAILED;
     }
-    if (state == States::POWER_CHANNELS_ON) {
+    if (state == States::STACK_5V_CORRECT) {
 #if OBSW_VERBOSE_LEVEL >= 1
       sif::info << "Switching on SSR VBAT0 & VBAT1 GPIOs" << std::endl;
 #endif
@@ -358,7 +373,7 @@ void PayloadPcduHandler::quickTransitionBackToOff(bool startTransitionToOff, boo
   gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
   gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT0);
   gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
-  state = States::PL_PCDU_OFF;
+  state = States::STACK_5V_SWITCHING;
   adcState = AdcStates::OFF;
   if (startTransitionToOff) {
     startTransition(MODE_OFF, 0);

mission/devices/PayloadPcduHandler.h

@@ -4,6 +4,7 @@
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 #include <fsfw/timemanager/Countdown.h>
+#include <mission/system/objects/Stack5VHandler.h>
 
 #include "events/subsystemIdRanges.h"
 #include "fsfw/FSFW.h"
@@ -62,8 +63,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   static constexpr Event I_HPA_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 11, severity::MEDIUM);
 
   PayloadPcduHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie, GpioIF* gpioIF,
-                     SdCardMountedIF* sdcMan, PowerSwitchIF* pwrSwitcher, power::Switch_t switchCh0,
-                     power::Switch_t switchCh1, bool periodicPrintout);
+                     SdCardMountedIF* sdcMan, Stack5VHandler& stackHandler, bool periodicPrintout);
 
   void setToGoToNormalModeImmediately(bool enable);
   void enablePeriodicPrintout(bool enable, uint8_t divider);
@@ -78,7 +78,9 @@ class PayloadPcduHandler : public DeviceHandlerBase {
  private:
   enum class States : uint8_t {
     PL_PCDU_OFF,
-    POWER_CHANNELS_ON,
+    STACK_5V_SWITCHING,
+    STACK_5V_PENDING,
+    STACK_5V_CORRECT,
     // Solid State Relay, enable battery voltages VBAT0 and VBAT1. This will also switch on
     // the ADC
     ON_TRANS_SSR,
@@ -108,6 +110,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
 
   bool goToNormalMode = false;
   plpcdu::PlPcduAdcSet adcSet;
+  Stack5VHandler& stackHandler;
   std::array<uint8_t, plpcdu::MAX_ADC_REPLY_SIZE> cmdBuf = {};
   // This variable is tied to DRO +6 V voltage. Voltages, currents are monitored and the experiment
   // is shut down immediately if there is a negative voltage.
@@ -140,7 +143,6 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   PoolEntry<float> processedValues =
       PoolEntry<float>({0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0});
   PoolEntry<float> tempC = PoolEntry<float>({0.0});
-  DualLanePowerStateMachine pwrStateMachine;
 
   void updateSwitchGpio(gpioId_t id, gpio::Levels level);
 

mission/devices/RadiationSensorHandler.cpp

@@ -7,8 +7,11 @@
 
 RadiationSensorHandler::RadiationSensorHandler(object_id_t objectId, object_id_t comIF,
                                                CookieIF *comCookie, GpioIF *gpioIF,
-                                               Stack5VHandler &handler)
-    : DeviceHandlerBase(objectId, comIF, comCookie), dataset(this), gpioIF(gpioIF) {
+                                               Stack5VHandler &stackHandler)
+    : DeviceHandlerBase(objectId, comIF, comCookie),
+      dataset(this),
+      gpioIF(gpioIF),
+      stackHandler(stackHandler) {
   if (comCookie == nullptr) {
     sif::error << "RadiationSensorHandler: Invalid com cookie" << std::endl;
   }
@@ -17,18 +20,35 @@ RadiationSensorHandler::RadiationSensorHandler(object_id_t objectId, object_id_t
 RadiationSensorHandler::~RadiationSensorHandler() {}
 
 void RadiationSensorHandler::doStartUp() {
+  if (internalState == InternalState::OFF) {
+    ReturnValue_t retval = stackHandler.deviceToOn(StackCommander::RAD_SENSOR);
+    if (retval == BUSY) {
+      return;
+    }
+    internalState = InternalState::POWER_SWITCHING;
+  }
+  if (internalState == InternalState::POWER_SWITCHING) {
+    if (stackHandler.isSwitchOn()) {
+      internalState == InternalState::SETUP;
+    }
+  }
   if (internalState == InternalState::CONFIGURED) {
     if (goToNormalMode) {
       setMode(MODE_NORMAL);
-    }
-
-    else {
+    } else {
       setMode(_MODE_TO_ON);
     }
   }
 }
 
-void RadiationSensorHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
+void RadiationSensorHandler::doShutDown() {
+  ReturnValue_t retval = stackHandler.deviceToOff(StackCommander::RAD_SENSOR);
+  if (retval == BUSY) {
+    return;
+  }
+  internalState = InternalState::OFF;
+  setMode(_MODE_POWER_DOWN);
+}
 
 ReturnValue_t RadiationSensorHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   switch (communicationStep) {

mission/devices/RadiationSensorHandler.h

@@ -40,16 +40,17 @@ class RadiationSensorHandler : public DeviceHandlerBase {
  private:
   enum class CommunicationStep { START_CONVERSION, READ_CONVERSIONS };
 
-  enum class InternalState { SETUP, CONFIGURED };
+  enum class InternalState { OFF, POWER_SWITCHING, SETUP, CONFIGURED };
 
   bool printPeriodicData = false;
   RAD_SENSOR::RadSensorDataset dataset;
   static const uint8_t MAX_CMD_LEN = RAD_SENSOR::READ_SIZE;
   GpioIF *gpioIF = nullptr;
+  Stack5VHandler &stackHandler;
 
   bool goToNormalMode = false;
   uint8_t cmdBuffer[MAX_CMD_LEN];
-  InternalState internalState = InternalState::SETUP;
+  InternalState internalState = InternalState::OFF;
   CommunicationStep communicationStep = CommunicationStep::START_CONVERSION;
 };
 

mission/devices/devicedefinitions/GomspaceDefinitions.h

@@ -713,7 +713,7 @@ class AuxHk : public StaticLocalDataSet<12> {
 
 namespace pcdu {
 
-enum PoolIds : uint32_t { PDU1_SWITCHES, PDU2_SWITCHES };
+enum PoolIds : uint32_t { PDU1_SWITCHES, PDU2_SWITCHES, P60DOCK_SWITCHES };
 
 /* Switches are uint8_t datatype and go from 0 to 255 */
 enum Switches : power::Switch_t {
@@ -771,6 +771,7 @@ class SwitcherStates : public StaticLocalDataSet<NUMBER_OF_SWITCHES> {
       lp_vec_t<uint8_t, PDU::CHANNELS_LEN>(sid.objectId, PDU1_SWITCHES, this);
   lp_vec_t<uint8_t, PDU::CHANNELS_LEN> pdu2Switches =
       lp_vec_t<uint8_t, PDU::CHANNELS_LEN>(sid.objectId, PDU2_SWITCHES, this);
+  lp_var_t<uint8_t> p60Dock5VStack = lp_var_t<uint8_t>(sid.objectId, P60DOCK_SWITCHES, this);
 };
 
 }  // namespace pcdu

mission/system/objects/Stack5VHandler.cpp

@@ -6,27 +6,39 @@ Stack5VHandler::Stack5VHandler(PowerSwitchIF& switcher) : switcher(switcher) {
 
 ReturnValue_t Stack5VHandler::deviceToOn(StackCommander commander) {
   MutexGuard mg(stackLock);
-  if (switchIsOn or handlerState == HandlerState::SWITCH_PENDING) {
+  if (switchIsOn) {
+    if (commander == StackCommander::PL_PCDU) {
+      plPcduIsOn = true;
+    } else {
+      radSensorIsOn = true;
+    }
     return returnvalue::OK;
   }
-  if (commander == StackCommander::PL_PCDU) {
-    plPcduCommandedOn = true;
-  } else if (commander == StackCommander::RAD_SENSOR) {
-    radSensorCommandedOn = true;
+  if (handlerState == HandlerState::SWITCH_PENDING) {
+    return BUSY;
   }
+  handlerState == HandlerState::SWITCH_PENDING;
   return switcher.sendSwitchCommand(stackSwitch, PowerSwitchIF::SWITCH_ON);
 }
 
 ReturnValue_t Stack5VHandler::deviceToOff(StackCommander commander) {
   MutexGuard mg(stackLock);
   if (not switchIsOn) {
+    if (commander == StackCommander::PL_PCDU) {
+      plPcduIsOn = false;
+    } else {
+      radSensorIsOn = false;
+    }
     return returnvalue::OK;
   }
-  if (commander == StackCommander::PL_PCDU) {
-    plPcduCommandedOn = true;
-  } else if (commander == StackCommander::RAD_SENSOR) {
-    radSensorCommandedOn = true;
+  if (handlerState == HandlerState::SWITCH_PENDING) {
+    return BUSY;
   }
+  if ((commander == StackCommander::PL_PCDU and radSensorIsOn) or
+      (commander == StackCommander::RAD_SENSOR and plPcduIsOn)) {
+    return returnvalue::OK;
+  }
+  handlerState == HandlerState::SWITCH_PENDING;
   return switcher.sendSwitchCommand(stackSwitch, PowerSwitchIF::SWITCH_OFF);
 }
 
@@ -39,12 +51,6 @@ bool Stack5VHandler::isSwitchOn() {
       }
       switchIsOn = true;
     }
-    if (plPcduCommandedOn) {
-      plPcduIsOn = true;
-    }
-    if (radSensorCommandedOn) {
-      radSensorIsOn = true;
-    }
     return true;
   } else {
     if (switchIsOn) {
@@ -55,8 +61,6 @@ bool Stack5VHandler::isSwitchOn() {
     }
     radSensorIsOn = false;
     plPcduIsOn = false;
-    radSensorCommandedOn = false;
-    plPcduCommandedOn = false;
   }
   return false;
 }

mission/system/objects/Stack5VHandler.h

@@ -10,6 +10,7 @@ enum class HandlerState { SWITCH_PENDING, IDLE };
 
 class Stack5VHandler {
  public:
+  static constexpr ReturnValue_t BUSY = returnvalue::makeCode(1, 0);
   Stack5VHandler(PowerSwitchIF& switcher);
 
   ReturnValue_t deviceToOn(StackCommander commander);
@@ -22,8 +23,6 @@ class Stack5VHandler {
   PowerSwitchIF& switcher;
   bool switchIsOn = false;
   HandlerState handlerState = HandlerState::IDLE;
-  bool plPcduCommandedOn = false;
-  bool radSensorCommandedOn = false;
   bool radSensorIsOn = false;
   bool plPcduIsOn = false;
   pcdu::Switches stackSwitch = pcdu::Switches::P60_DOCK_5V_STACK;