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struct heaterStates and more
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This commit is contained in:
Irini Kosmidou 2023-02-22 21:46:56 +01:00
parent 0fa1bab94d
commit 9a7779cffb
12 changed files with 159 additions and 122 deletions
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2
bsp_hosted/ObjectFactory.cpp
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@ -1,7 +1,6 @@
#include "ObjectFactory.h"
#include <fsfw/power/DummyPowerSwitcher.h>
#include "fsfw/power/PowerSwitchIF.h"
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <mission/controller/ThermalController.h>
@ -11,6 +10,7 @@
#include "OBSWConfig.h"
#include "fsfw/platform.h"
#include "fsfw/power/PowerSwitchIF.h"
#include "fsfw_tests/integration/task/TestTask.h"
#if OBSW_ADD_TMTC_UDP_SERVER == 1

1
dummies/P60DockDummy.h
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@ -2,6 +2,7 @@
#define DUMMIES_P60DOCKDUMMY_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
class P60DockDummy : public DeviceHandlerBase {

9
dummies/TemperatureSensorInserter.cpp
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@ -14,9 +14,7 @@ TemperatureSensorInserter::TemperatureSensorInserter(object_id_t objectId,
tmp1075DummyMap(std::move(tempTmpSensorDummies_)) {}
ReturnValue_t TemperatureSensorInserter::initialize() {
if (performTest) {
if (testCase == TestCase::COOL_SYRLINKS) {
}
}
@ -35,7 +33,7 @@ ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
}
if (cycles == 10) {
max31865DummyMap[objects::RTD_14_IC17_TCS_BOARD]->setTemperature(-100, true);
max31865DummyMap[objects::RTD_2_IC5_4K_CAMERA]->setTemperature(-100, true);
}
/*
ReturnValue_t result = max31865PlocHeatspreaderSet.read();
@ -54,7 +52,4 @@ ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
cycles++;
return returnvalue::OK;
}
ReturnValue_t TemperatureSensorInserter::initializeAfterTaskCreation() {
return returnvalue::OK;
}
ReturnValue_t TemperatureSensorInserter::initializeAfterTaskCreation() { return returnvalue::OK; }

3
linux/devices/CMakeLists.txt
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@ -3,7 +3,8 @@ if(EIVE_BUILD_GPSD_GPS_HANDLER)
endif()
target_sources(
${OBSW_NAME} PRIVATE Max31865RtdPolling.cpp ScexUartReader.cpp ImtqPollingTask.cpp
${OBSW_NAME}
PRIVATE Max31865RtdPolling.cpp ScexUartReader.cpp ImtqPollingTask.cpp
ScexDleParser.cpp ScexHelper.cpp RwPollingTask.cpp)
add_subdirectory(ploc)

191
mission/controller/ThermalController.cpp
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@ -1344,79 +1344,49 @@ void ThermalController::ctrlScexBoard() {
}
void ThermalController::performThermalModuleCtrl() {
ctrlAcsBoard();
ctrlMgt();
ctrlRw();
ctrlStr();
ctrlIfBoard();
ctrlTcsBoard();
ctrlObc();
ctrlObcIfBoard();
ctrlSBandTransceiver();
ctrlPcduP60Board();
ctrlPcduAcu();
ctrlPcduPdu();
ctrlPlPcduBoard();
ctrlPlocMissionBoard();
ctrlPlocProcessingBoard();
ctrlDac();
// ctrlAcsBoard();
// ctrlMgt();
// ctrlRw();
// ctrlStr();
// ctrlIfBoard();
// ctrlTcsBoard();
// ctrlObc();
// ctrlObcIfBoard();
// ctrlSBandTransceiver();
// ctrlPcduP60Board();
// ctrlPcduAcu();
// ctrlPcduPdu();
// ctrlPlPcduBoard();
// ctrlPlocMissionBoard();
// ctrlPlocProcessingBoard();
// ctrlDac();
ctrlCameraBody();
ctrlDro();
ctrlX8();
ctrlHpa();
ctrlTx();
ctrlMpa();
ctrlScexBoard();
// ctrlDro();
// ctrlX8();
// ctrlHpa();
// ctrlTx();
// ctrlMpa();
// ctrlScexBoard();
// heaterTransitionControl();
}
void ThermalController::ctrlHeater(heater::Switchers switchNr, heater::Switchers redSwitchNr,
struct TempLimits& tempLimit) {
componentAboveCutOffLimit = false;
// Heater off
if (not heaterHandler.checkSwitchState(switchNr) and not thermalStates[thermalComponent].heating) {
if (sensorTemp < tempLimit.opLowerLimit) {
heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::ON);
sif::info << "ThermalController::ctrlHeater: Heater" << switchNr << " ON" << std::endl;
thermalStates[thermalComponent].heating = true;
//TODO: EVENT
//TODO: merken wenn an oder ausgeschaltet und erst nach drei zyklen wieder checken? wenn in transition dann paar mal skippen mit transitionboolean; bool switchOnTransition und bool switchOffTasnition, counter 3 zyklen dabei checken ob tansition erfolgreich, bool clearen, falls drei erreicht heaterControlErrorCounter global zählen
void ThermalController::ctrlComponentTemperature(heater::Switchers switchNr,
heater::Switchers redSwitchNr,
TempLimits& tempLimit) {
if (selectAndReadSensorTemp()) {
if (chooseHeater(switchNr, redSwitchNr)) {
ctrlHeater(switchNr, redSwitchNr, tempLimit);
}
// Heater on
} else if (heaterHandler.checkSwitchState(switchNr) and thermalStates[thermalComponent].heating) {
if (sensorTemp >= tempLimit.opLowerLimit + TEMP_OFFSET) {
} else {
if (chooseHeater(switchNr,
redSwitchNr)) { // TODO: muss der Heater dann wirklich abgeschalten werden?
if (heaterHandler.checkSwitchState(switchNr)) {
heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
sif::info << "ThermalController::ctrlHeater: Heater" << switchNr << " OFF" << std::endl; //TODO: array mit struct enthält infos
thermalStates[thermalComponent].heating = false;
}
} else if (redSwitchNrInUse) {
if (heaterHandler.checkSwitchState(redSwitchNr)) {
if (sensorTemp >= tempLimit.cutOffLimit) {
componentAboveCutOffLimit = true;
heaterHandler.switchHeater(redSwitchNr, HeaterHandler::SwitchState::OFF);
sif::info << "ThermalController::ctrlHeater: Heater" << redSwitchNr << " OFF" << std::endl;
sif::info << "ThermalController::ctrlHeater: Heater" << switchNr << " OFF" << std::endl;
}
}
}
resetSensorsArray();
}
bool ThermalController::chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr) {
bool heaterAvailable = true;
if (heaterHandler.getHealth(switchNr) != HasHealthIF::HEALTHY) {
if (heaterHandler.getHealth(redSwitchNr) == HasHealthIF::HEALTHY) {
switchNr = redSwitchNr;
redSwitchNrInUse = true;
} else {
heaterAvailable = false;
triggerEvent(NO_HEALTHY_HEATER_AVAILABLE, switchNr, redSwitchNr);
}
} else {
redSwitchNrInUse = false;
}
return heaterAvailable;
}
bool ThermalController::selectAndReadSensorTemp() {
for (unsigned i = 0; i < numSensors; i++) {
if (sensors[i].first and sensors[i].second != INVALID_TEMPERATURE) {
@ -1439,31 +1409,94 @@ bool ThermalController::selectAndReadSensorTemp() {
return false;
}
bool ThermalController::chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr) {
bool heaterAvailable = true;
void ThermalController::ctrlComponentTemperature(heater::Switchers switchNr,
heater::Switchers redSwitchNr,
TempLimits& tempLimit) {
if (selectAndReadSensorTemp()) {
if (chooseHeater(switchNr, redSwitchNr)) {
ctrlHeater(switchNr, redSwitchNr, tempLimit);
if (heaterHandler.getHealth(switchNr) != HasHealthIF::HEALTHY) {
if (heaterHandler.getHealth(redSwitchNr) == HasHealthIF::HEALTHY) {
switchNr = redSwitchNr;
redSwitchNrInUse = true;
} else {
heaterAvailable = false;
triggerEvent(NO_HEALTHY_HEATER_AVAILABLE, switchNr, redSwitchNr);
}
} else {
if (chooseHeater(switchNr,
redSwitchNr)) { // TODO: muss der Heater dann wirklich abgeschalten werden?
if (heaterHandler.checkSwitchState(switchNr)) {
heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
sif::info << "ThermalController::ctrlHeater: Heater" << switchNr << " OFF" << std::endl;
redSwitchNrInUse = false;
}
return heaterAvailable;
}
}
resetSensorsArray();
void ThermalController::ctrlHeater(heater::Switchers switchNr, heater::Switchers redSwitchNr,
struct TempLimits& tempLimit) {
componentAboveCutOffLimit = false;
// if Heater off
if (not heaterStates[switchNr].switchOnTransition and
not heaterStates[switchNr].switchOffTransition) {
if (not heaterHandler.checkSwitchState(switchNr) and
not thermalStates[thermalComponent].heating) {
if (sensorTemp < tempLimit.opLowerLimit) {
heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::ON);
heaterStates[switchNr].switchOnTransition = true;
sif::info << "ThermalController::ctrlHeater: Heater " << thermalComponent << " ON"
<< std::endl;
thermalStates[thermalComponent].heating = true;
// TODO: EVENT; aber heaterHandler erstellt schon event
// TODO: merken wenn an oder ausgeschaltet und erst nach drei zyklen wieder checken? wenn in
// transition dann paar mal skippen; bool switchOnTransition und bool
// switchOffTasnition, counter 3 zyklen dabei checken ob tansition erfolgreich, bool
// clearen, falls drei erreicht heaterControlErrorCounter global zählen
}
// if Heater on
} else if (heaterHandler.checkSwitchState(switchNr)) {
if (thermalStates[thermalComponent].heating) {
if (sensorTemp >= tempLimit.opLowerLimit + TEMP_OFFSET) {
heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
sif::info << "ThermalController::ctrlHeater: Heater " << thermalComponent << " OFF"
<< std::endl;
heaterStates[switchNr].switchOffTransition = true;
thermalStates[thermalComponent].heating = false;
}
} else {
if (sensorTemp >= tempLimit.cutOffLimit) {
componentAboveCutOffLimit = true;
heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
sif::info << "ThermalController::ctrlHeater: Reached CutOffLimit: Heater "
<< thermalComponent << " OFF" << std::endl;
heaterStates[switchNr].switchOffTransition = true;
if (heaterHandler.checkSwitchState(redSwitchNr)) {
heaterHandler.switchHeater(redSwitchNr, HeaterHandler::SwitchState::OFF);
sif::info << "ThermalController::ctrlHeater: Reached CutOffLimit: RedundantHeater "
<< thermalComponent << " OFF" << std::endl;
heaterStates[redSwitchNr].switchOffTransition = true;
}
}
}
}
}
}
void ThermalController::resetSensorsArray() {
// TODO: müssen auch andere Variablen resettet werden? senstemp?
for (auto& validValuePair : sensors) {
validValuePair.first = false;
validValuePair.second = INVALID_TEMPERATURE;
}
thermalComponent = NONE;
}
void ThermalController::heaterTransitionControl() {
for (unsigned i = 0; i < 7; i++) {
if (heaterStates[i].switchOffTransition) {
if (heaterStates[i].heaterSwitchOffControlErrorCounter > 3) {
heaterStates[i].switchOffTransition = false;
heaterStates[i].heaterSwitchOffControlErrorCounter = 0;
}
heaterStates[i].heaterSwitchOffControlErrorCounter++;
}
if (heaterStates[i].switchOnTransition) {
if (heaterStates[i].heaterSwitchOnControlErrorCounter > 3) {
heaterStates[i].switchOnTransition = false;
heaterStates[i].heaterSwitchOnControlErrorCounter = 0;
}
heaterStates[i].heaterSwitchOnControlErrorCounter++;
}
}
}

10
mission/controller/ThermalController.h
View File

@ -42,6 +42,13 @@ struct ThermalState {
uint32_t heaterStartTime;
};
struct HeaterState {
bool switchOnTransition;
bool switchOffTransition;
uint8_t heaterSwitchOnControlErrorCounter;
uint8_t heaterSwitchOffControlErrorCounter;
};
enum ThermalComponents : uint8_t {
// TODO: Großbuchstaben
NONE = 0,
@ -190,7 +197,7 @@ class ThermalController : public ExtendedControllerBase {
bool redSwitchNrInUse = false;
bool componentAboveCutOffLimit = false;
std::array<ThermalState, 30> thermalStates{};
std::array<HeaterState, 7> heaterStates{};
// Initial delay to make sure all pool variables have been initialized their owners
Countdown initialCountdown = Countdown(DELAY);
@ -246,6 +253,7 @@ class ThermalController : public ExtendedControllerBase {
void ctrlTx();
void ctrlMpa();
void ctrlScexBoard();
void heaterTransitionControl();
};
#endif /* MISSION_CONTROLLER_THERMALCONTROLLER_H_ */

3
mission/devices/GyroADIS1650XHandler.cpp
View File

@ -434,8 +434,7 @@ ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *
// Prepare transfer
int fileDescriptor = 0;
std::string device = comIf->getSpiDev();
UnixFileGuard fileHelper(device,
fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
UnixFileGuard fileHelper(device, fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
if (fileHelper.getOpenResult() != returnvalue::OK) {
return SpiComIF::OPENING_FILE_FAILED;
}