eive/eive-obsw
eive/eive-obsw
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Merge remote-tracking branch 'origin/develop' into str_update_arcsec_lib
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This commit is contained in:
Robin Müller 2023-04-13 18:11:19 +02:00
commit a81e939e70
17 changed files with 295 additions and 167 deletions
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13
CHANGELOG.md
View File

@ -37,6 +37,7 @@ will consitute of a breaking change warranting a new major release:
- Bugfixes and improvements for SDC state machine. Internal state was not updated correctly due
to a regression, so commanding the SDC state machine externally lead to confusing results.
- Heater states array in TCS controller was too small.
- Fixed a bug in persistent TM store, where the active file was not reset of SD card switches.
SD card switch from 0 to 1 and vice-versa works without errors from persistent TM stores now.
- Add a way for the SUS polling to detect broken or off devices by checking the retrieved
@ -52,16 +53,22 @@ will consitute of a breaking change warranting a new major release:
the active SD card is switched or there is a transition from hot redundant to cold redundant mode.
This gives other tasks some time to register the SD cards being unusable, and therefore provides
a way for them to perform any re-initialization tasks necessary after SD card switches.
- TCS controller now only has an OFF mode and an ON mode
- The TCS controller pauses operations related to the TCS board assembly (reading sensors and
the primary control loop) while a TCS board recovery is on-going.
## Changed
- Allow specifying custom OBSW update filename. This allowed keeping a cleaner file structure
where each update has a name including the version
- The files extracted during an update process are deleted after the update was performed to keep
the update directory cleaner.
## Added
- TCS controller: SUBMODE_NO_HEATER_CTRL (1) added for ON mode. If this submode is
commanded, all heaters will be switched off and then no further heater
commanding will be done.
- Fixed a bug in persistent TM store, where the active file was not reset of SD card switches.
SD card switch from 0 to 1 and vice-versa works without errors from persistent TM stores now.
# [v1.44.0] 2023-04-07
- eive-tmtc: v2.22.0

3
CMakeLists.txt
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@ -94,6 +94,9 @@ set(OBSW_ADD_SUN_SENSORS
set(OBSW_ADD_SUS_BOARD_ASS
${INIT_VAL}
CACHE STRING "Add sun sensor board assembly")
set(OBSW_ADD_THERMAL_TEMP_INSERTER
${OBSW_Q7S_EM}
CACHE STRING "Add thermal sensor temperature inserter")
set(OBSW_ADD_ACS_BOARD
${INIT_VAL}
CACHE STRING "Add ACS board module")

1
bsp_hosted/scheduling.cpp
View File

@ -151,7 +151,6 @@ void scheduling::initTasks() {
if (result != returnvalue::OK) {
scheduling::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER);
}
result = thermalTask->addComponent(objects::THERMAL_CONTROLLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);

3
bsp_q7s/OBSWConfig.h.in
View File

@ -43,6 +43,9 @@
#define OBSW_ADD_PL_PCDU @OBSW_ADD_PL_PCDU@
#define OBSW_ADD_SYRLINKS @OBSW_ADD_SYRLINKS@
#define OBSW_ADD_CCSDS_IP_CORES @OBSW_ADD_CCSDS_IP_CORES@
// Only relevant for EM for TCS tests.
#define OBSW_ADD_THERMAL_TEMP_INSERTER @OBSW_ADD_THERMAL_TEMP_INSERTER@
// Set to 1 if all telemetry should be sent to the PTME IP Core
#define OBSW_TM_TO_PTME @OBSW_TM_TO_PTME@
// Set to 1 if telecommands are received via the PDEC IP Core

5
bsp_q7s/core/scheduling.cpp
View File

@ -302,6 +302,9 @@ void scheduling::initTasks() {
PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
"TCS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
#if OBSW_ADD_THERMAL_TEMP_INSERTER == 1
tcsSystemTask->addComponent(objects::THERMAL_TEMP_INSERTER);
#endif
scheduling::scheduleRtdSensors(tcsSystemTask);
result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM);
if (result != returnvalue::OK) {
@ -317,12 +320,10 @@ void scheduling::initTasks() {
scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
}
#endif
#if OBSW_ADD_HEATERS == 1
result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
}
#endif
#if OBSW_ADD_SYRLINKS == 1
PeriodicTaskIF* syrlinksCom = factory->createPeriodicTask(

20
common/config/devices/heaterSwitcherList.h
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@ -1,20 +0,0 @@
#ifndef FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_
#define FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_
#include <cstdint>
namespace heater {
enum Switchers : uint8_t {
HEATER_0_OBC_BRD,
HEATER_1_PLOC_PROC_BRD,
HEATER_2_ACS_BRD,
HEATER_3_PCDU_PDU,
HEATER_4_CAMERA,
HEATER_5_STR,
HEATER_6_DRO,
HEATER_7_S_BAND,
NUMBER_OF_SWITCHES
};
}
#endif /* FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_ */

87
dummies/TemperatureSensorInserter.cpp
View File

@ -1,5 +1,6 @@
#include "TemperatureSensorInserter.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <objects/systemObjectList.h>
#include <cmath>
@ -14,10 +15,7 @@ TemperatureSensorInserter::TemperatureSensorInserter(object_id_t objectId,
tmp1075DummyMap(std::move(tempTmpSensorDummies_)) {}
ReturnValue_t TemperatureSensorInserter::initialize() {
if (performTest) {
if (testCase == TestCase::COOL_SYRLINKS) {
}
}
testCase = TestCase::COLD_STR_CONSECUTIVE;
return returnvalue::OK;
}
@ -33,35 +31,72 @@ ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
tempsWereInitialized = true;
}
if (cycles == 10) {
max31865DummyMap[objects::RTD_9_IC12_HPA]->setTemperature(-100, true);
max31865DummyMap[objects::RTD_11_IC14_MPA]->setTemperature(-100, true);
switch (testCase) {
case (TestCase::NONE): {
break;
}
if (cycles == 35) {
case (TestCase::COLD_SYRLINKS): {
// TODO: How do I insert this?
// Does not work on EM, where a real syrlinks device is connected.
if (cycles == 15) {
lp_var_t<float> tempSyrlinksBasebandBoard =
lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
PoolReadGuard pg(&tempSyrlinksBasebandBoard);
tempSyrlinksBasebandBoard.value = -50;
}
if (cycles == 30) {
lp_var_t<float> tempSyrlinksBasebandBoard =
lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
PoolReadGuard pg(&tempSyrlinksBasebandBoard);
tempSyrlinksBasebandBoard.value = 0;
}
break;
}
case (TestCase::COLD_HPA): {
if (cycles == 15) {
sif::debug << "Setting cold HPA temperature" << std::endl;
max31865DummyMap[objects::RTD_9_IC12_HPA]->setTemperature(-60, true);
}
if (cycles == 30) {
sif::debug << "Setting HPA temperature back to normal" << std::endl;
max31865DummyMap[objects::RTD_9_IC12_HPA]->setTemperature(0, true);
max31865DummyMap[objects::RTD_11_IC14_MPA]->setTemperature(0, true);
max31865DummyMap[objects::RTD_2_IC5_4K_CAMERA]->setTemperature(-100, true);
}
break;
}
case (TestCase::COLD_MGT): {
if (cycles == 15) {
sif::debug << "Setting cold MGT temperature" << std::endl;
max31865DummyMap[objects::RTD_15_IC18_IMTQ]->setTemperature(-60, true);
}
if (cycles == 30) {
sif::debug << "Setting MGT temperature back to normal" << std::endl;
max31865DummyMap[objects::RTD_15_IC18_IMTQ]->setTemperature(0, true);
}
break;
}
case (TestCase::COLD_STR):
case (TestCase::COLD_STR_CONSECUTIVE): {
if (cycles == 15) {
sif::debug << "Setting cold STR temperature" << std::endl;
max31865DummyMap[objects::RTD_4_IC7_STARTRACKER]->setTemperature(-40, true);
}
if (cycles == 30) {
sif::debug << "Setting STR temperature back to normal" << std::endl;
max31865DummyMap[objects::RTD_4_IC7_STARTRACKER]->setTemperature(0, true);
}
if (testCase == TestCase::COLD_STR_CONSECUTIVE) {
if (cycles == 45) {
sif::debug << "Setting cold STR temperature again" << std::endl;
max31865DummyMap[objects::RTD_4_IC7_STARTRACKER]->setTemperature(-40, true);
}
if (cycles == 60) {
max31865DummyMap[objects::RTD_9_IC12_HPA]->setTemperature(-100, true);
max31865DummyMap[objects::RTD_11_IC14_MPA]->setTemperature(0, true);
sif::debug << "Setting STR temperature back to normal again" << std::endl;
max31865DummyMap[objects::RTD_4_IC7_STARTRACKER]->setTemperature(0, true);
}
/*
ReturnValue_t result = max31865PlocHeatspreaderSet.read();
if (result != returnvalue::OK) {
sif::warning << "Failed to read temperature from MAX31865 dataset" << std::endl;
}
max31865PlocHeatspreaderSet.rtdValue = value - 5;
max31865PlocHeatspreaderSet.temperatureCelcius = value;
if ((iteration % 100) < 20) {
max31865PlocHeatspreaderSet.setValidity(false, true);
} else {
max31865PlocHeatspreaderSet.setValidity(true, true);
break;
}
}
max31865PlocHeatspreaderSet.commit();
*/
cycles++;
return returnvalue::OK;
}

12
dummies/TemperatureSensorInserter.h
View File

@ -1,6 +1,7 @@
#pragma once
#include <fsfw/controller/ExtendedControllerBase.h>
#include <mission/com/syrlinksDefs.h>
#include <mission/tcs/Max31865Definitions.h>
#include "Max31865Dummy.h"
@ -22,11 +23,18 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
private:
Max31865DummyMap max31865DummyMap;
Tmp1075DummyMap tmp1075DummyMap;
enum TestCase { NONE = 0, COOL_SYRLINKS = 1 };
enum TestCase {
NONE = 0,
COLD_SYRLINKS = 1,
COLD_HPA = 2,
COLD_MGT = 3,
COLD_STR = 4,
COLD_STR_CONSECUTIVE = 5,
};
int iteration = 0;
uint32_t cycles = 0;
bool tempsWereInitialized = false;
bool performTest = false;
TestCase testCase = TestCase::NONE;
// void noise();

8
dummies/helperFactory.cpp
View File

@ -194,9 +194,11 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
tmpSensorDummies.emplace(
objects::TMP1075_HANDLER_PLPCDU_0,
new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_0, objects::DUMMY_COM_IF, comCookieDummy));
tmpSensorDummies.emplace(
objects::TMP1075_HANDLER_PLPCDU_1,
new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1, objects::DUMMY_COM_IF, comCookieDummy));
// damaged.
// tmpSensorDummies.emplace(
// objects::TMP1075_HANDLER_PLPCDU_1,
// new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1, objects::DUMMY_COM_IF,
// comCookieDummy));
tmpSensorDummies.emplace(
objects::TMP1075_HANDLER_IF_BOARD,
new Tmp1075Dummy(objects::TMP1075_HANDLER_IF_BOARD, objects::DUMMY_COM_IF, comCookieDummy));

167
mission/controller/ThermalController.cpp
View File

@ -17,7 +17,7 @@
#include <objects/systemObjectList.h>
// Enabling this should trigger a special event which in turn should trigger a system reaction.
#define LOWER_SYRLINKS_UPPER_LIMITS 0
#define LOWER_SYRLINKS_UPPER_LIMITS 1
#define LOWER_EBAND_UPPER_LIMITS 0
#define LOWER_PLOC_UPPER_LIMITS 0
@ -170,26 +170,31 @@ void ThermalController::performControlOperation() {
}
}
if (transitionToOff) {
for (const auto& switchState : heaterSwitchStateArray) {
if (switchState != HeaterHandler::SwitchState::OFF) {
transitionToOffCycles++;
// if heater still ON after 10 cycles, switch OFF again
if (transitionToOffCycles == 10) {
for (uint8_t i = 0; i < heater::Switchers::NUMBER_OF_SWITCHES; i++) {
heaterHandler.switchHeater(static_cast<heater::Switchers>(i),
cycles++;
if (transitionWhenHeatersOff) {
bool allSwitchersOff = true;
for (size_t idx = 0; idx < heaterSwitchStateArray.size(); idx++) {
if (heaterSwitchStateArray[idx] != HeaterHandler::SwitchState::OFF) {
allSwitchersOff = false;
// if heater still ON after 3 cycles, switch OFF again
if (transitionWhenHeatersOffCycles == 3) {
heaterHandler.switchHeater(static_cast<heater::Switch>(idx),
HeaterHandler::SwitchState::OFF);
}
triggerEvent(tcsCtrl::HEATER_NOT_OFF_FOR_OFF_MODE);
}
return;
}
setMode(MODE_OFF);
}
if (allSwitchersOff or transitionWhenHeatersOffCycles == 6) {
// Finish the transition
transitionWhenHeatersOff = false;
resetThermalStates();
setMode(targetMode, targetSubmode);
} else {
transitionWhenHeatersOffCycles++;
}
} else if (mode != MODE_OFF and not tcsBrdShortlyUnavailable) {
performThermalModuleCtrl(heaterSwitchStateArray);
}
cycles++;
}
ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -292,12 +297,18 @@ LocalPoolDataSetBase* ThermalController::getDataSetHandle(sid_t sid) {
ReturnValue_t ThermalController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) {
if ((mode != MODE_OFF) and (mode != MODE_ON)) {
return INVALID_MODE;
}
if (mode == MODE_ON) {
if (submode != SUBMODE_NONE and submode != SUBMODE_NO_HEATER_CTRL) {
return HasModesIF::INVALID_SUBMODE;
}
return returnvalue::OK;
}
if (submode != SUBMODE_NONE) {
return INVALID_SUBMODE;
}
if ((mode != MODE_OFF) && (mode != MODE_ON) && (mode != MODE_NORMAL)) {
return INVALID_MODE;
}
return returnvalue::OK;
}
@ -976,8 +987,8 @@ void ThermalController::copyDevices() {
}
void ThermalController::ctrlAcsBoard() {
heater::Switchers switchNr = heater::HEATER_2_ACS_BRD;
heater::Switchers redSwitchNr = heater::HEATER_0_OBC_BRD;
heater::Switch switchNr = heater::HEATER_2_ACS_BRD;
heater::Switch redSwitchNr = heater::HEATER_0_OBC_BRD;
// A side
thermalComponent = ACS_BOARD;
@ -1023,7 +1034,9 @@ void ThermalController::ctrlAcsBoard() {
} else {
if (chooseHeater(switchNr, redSwitchNr)) {
if (heaterHandler.getSwitchState(switchNr)) {
heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
if (submode != SUBMODE_NO_HEATER_CTRL) {
heaterSwitchHelper(switchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
}
}
}
}
@ -1268,8 +1281,8 @@ void ThermalController::ctrlPcduP60Board() {
void ThermalController::ctrlPcduAcu() {
thermalComponent = PCDUACU;
heater::Switchers switchNr = heater::HEATER_3_PCDU_PDU;
heater::Switchers redSwitchNr = heater::HEATER_2_ACS_BRD;
heater::Switch switchNr = heater::HEATER_3_PCDU_PDU;
heater::Switch redSwitchNr = heater::HEATER_2_ACS_BRD;
if (chooseHeater(switchNr, redSwitchNr)) {
bool sensorTempAvailable = true;
@ -1557,13 +1570,16 @@ void ThermalController::performThermalModuleCtrl(const HeaterSwitchStates& heate
void ThermalController::ctrlComponentTemperature(HeaterContext& htrCtx) {
if (selectAndReadSensorTemp(htrCtx)) {
if (chooseHeater(htrCtx.switchNr, htrCtx.redSwitchNr)) {
// Core loop for a thermal component, after sensors and heaters were selected.
checkLimitsAndCtrlHeater(htrCtx);
}
} else {
// TODO: muss der Heater dann wirklich abgeschalten werden?
// No sensors available, so switch the heater off. We can not perform control tasks if we
// are blind..
if (chooseHeater(htrCtx.switchNr, htrCtx.redSwitchNr)) {
if (heaterHandler.getSwitchState(htrCtx.switchNr)) {
heaterHandler.switchHeater(htrCtx.switchNr, HeaterHandler::SwitchState::OFF);
if (heaterCtrlAllowed() and
(heaterHandler.getSwitchState(htrCtx.switchNr) == HeaterHandler::SwitchState::ON)) {
heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
}
}
}
@ -1593,7 +1609,7 @@ bool ThermalController::selectAndReadSensorTemp(HeaterContext& htrCtx) {
return false;
}
bool ThermalController::chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr) {
bool ThermalController::chooseHeater(heater::Switch& switchNr, heater::Switch redSwitchNr) {
bool heaterAvailable = true;
if (heaterHandler.getHealth(switchNr) != HasHealthIF::HEALTHY) {
@ -1611,15 +1627,18 @@ bool ThermalController::chooseHeater(heater::Switchers& switchNr, heater::Switch
}
void ThermalController::heaterCtrlTempTooHighHandler(HeaterContext& htrCtx, const char* whatLimit) {
if (not heaterCtrlAllowed()) {
return;
}
if (htrCtx.switchState == HeaterHandler::SwitchState::ON) {
sif::info << "TCS: Component " << static_cast<int>(thermalComponent) << " too warm, above "
<< whatLimit << ", switching off heater" << std::endl;
heaterHandler.switchHeater(htrCtx.switchNr, HeaterHandler::SwitchState::OFF);
heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
heaterStates[htrCtx.switchNr].switchTransition = true;
heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::OFF;
}
if (heaterHandler.getSwitchState(htrCtx.redSwitchNr) == HeaterHandler::SwitchState::ON) {
heaterHandler.switchHeater(htrCtx.redSwitchNr, HeaterHandler::SwitchState::OFF);
heaterSwitchHelper(htrCtx.redSwitchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
heaterStates[htrCtx.redSwitchNr].switchTransition = true;
heaterStates[htrCtx.redSwitchNr].target = HeaterHandler::SwitchState::OFF;
}
@ -1634,34 +1653,37 @@ void ThermalController::checkLimitsAndCtrlHeater(HeaterContext& htrCtx) {
if (heaterStates[htrCtx.switchNr].switchTransition) {
htrCtx.doHeaterHandling = false;
heaterCtrlCheckUpperLimits(htrCtx);
} else {
// Heater off
return;
}
htrCtx.switchState = heaterHandler.getSwitchState(htrCtx.switchNr);
// Heater off
if (htrCtx.switchState == HeaterHandler::SwitchState::OFF) {
if (sensorTemp < htrCtx.tempLimit.opLowerLimit) {
heaterHandler.switchHeater(htrCtx.switchNr, HeaterHandler::SwitchState::ON);
sif::info << "ThermalController::checkLimitsAndCtrlHeater: Heater "
<< static_cast<int>(thermalComponent) << " ON" << std::endl;
if (sensorTemp < htrCtx.tempLimit.opLowerLimit and heaterCtrlAllowed()) {
sif::info << "TCS: Heater " << static_cast<int>(thermalComponent) << " ON" << std::endl;
heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::ON, thermalComponent);
heaterStates[htrCtx.switchNr].switchTransition = true;
thermalStates[thermalComponent].heating = true;
heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::ON;
} else {
// Even if heater control is now allowed, we can update the state.
thermalStates[thermalComponent].heating = false;
}
heaterCtrlCheckUpperLimits(htrCtx);
return;
}
// Heater on
} else if (heaterHandler.getSwitchState(htrCtx.switchNr) == HeaterHandler::SwitchState::ON) {
if (htrCtx.switchState == HeaterHandler::SwitchState::ON) {
if (thermalStates[thermalComponent].heating) {
// We are already in a heating cycle, so need to check whether heating task is complete.
if (sensorTemp >= htrCtx.tempLimit.opLowerLimit + TEMP_OFFSET) {
heaterHandler.switchHeater(htrCtx.switchNr, HeaterHandler::SwitchState::OFF);
sif::info << "ThermalController::checkLimitsAndCtrlHeater: Heater "
<< static_cast<int>(thermalComponent) << " OFF" << std::endl;
if (sensorTemp >= htrCtx.tempLimit.opLowerLimit + TEMP_OFFSET and heaterCtrlAllowed()) {
sif::info << "TCS: Heater " << static_cast<int>(thermalComponent) << " OFF" << std::endl;
heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::OFF, thermalComponent);
heaterStates[htrCtx.switchNr].switchTransition = true;
heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::OFF;
thermalStates[thermalComponent].heating = false;
}
} else {
return;
}
// This can happen if heater is used as alternative heater (no regular heating cycle), so we
// should still check the upper limits.
bool tooHighHandlerAlreadyCalled = heaterCtrlCheckUpperLimits(htrCtx);
@ -1673,8 +1695,6 @@ void ThermalController::checkLimitsAndCtrlHeater(HeaterContext& htrCtx) {
}
}
}
}
}
bool ThermalController::heaterCtrlCheckUpperLimits(HeaterContext& htrCtx) {
if (sensorTemp >= htrCtx.tempLimit.nopUpperLimit) {
@ -1702,8 +1722,8 @@ void ThermalController::resetSensorsArray() {
}
thermalComponent = NONE;
}
void ThermalController::heaterTransitionControl(const HeaterSwitchStates& currentHeaterStates) {
// TODO: Test
for (unsigned i = 0; i < 7; i++) {
if (heaterStates[i].switchTransition) {
if (currentHeaterStates[i] == heaterStates[i].target) {
@ -1727,11 +1747,12 @@ uint32_t ThermalController::tempFloatToU32() const {
return tempRaw;
}
void ThermalController::setMode(Mode_t mode) {
void ThermalController::setMode(Mode_t mode, Submode_t submode) {
if (mode == MODE_OFF) {
transitionToOff = false;
transitionWhenHeatersOff = false;
}
this->mode = mode;
this->submode = submode;
modeHelper.modeChanged(mode, submode);
announceMode(false);
}
@ -1746,6 +1767,43 @@ bool ThermalController::tooHotHandler(object_id_t object, bool& oneShotFlag) {
return false;
}
bool ThermalController::heaterCtrlAllowed() const { return submode != SUBMODE_NO_HEATER_CTRL; }
void ThermalController::resetThermalStates() {
for (auto& thermalState : thermalStates) {
thermalState.heating = false;
}
}
void ThermalController::heaterSwitchHelper(heater::Switch switchNr,
HeaterHandler::SwitchState state,
unsigned componentIdx) {
timeval currentTime;
Clock::getClockMonotonic(&currentTime);
if (state == HeaterHandler::SwitchState::ON) {
heaterHandler.switchHeater(switchNr, state);
thermalStates[componentIdx].heating = true;
thermalStates[componentIdx].heaterStartTime = currentTime.tv_sec;
} else {
heaterHandler.switchHeater(switchNr, state);
thermalStates[componentIdx].heating = false;
thermalStates[componentIdx].heaterEndTime = currentTime.tv_sec;
}
}
void ThermalController::heaterSwitchHelperAllOff() {
timeval currentTime;
Clock::getClockMonotonic(&currentTime);
size_t idx = 0;
for (; idx < heater::Switch::NUMBER_OF_SWITCHES; idx++) {
heaterHandler.switchHeater(static_cast<heater::Switch>(idx), HeaterHandler::SwitchState::OFF);
}
for (idx = 0; idx < thermalStates.size(); idx++) {
thermalStates[idx].heating = false;
thermalStates[idx].heaterEndTime = currentTime.tv_sec;
}
}
void ThermalController::tooHotHandlerWhichClearsOneShotFlag(object_id_t object, bool& oneShotFlag) {
// Clear the one shot flag is the component is in acceptable temperature range.
if (not tooHotHandler(object, oneShotFlag) and not componentAboveUpperLimit) {
@ -1755,14 +1813,15 @@ void ThermalController::tooHotHandlerWhichClearsOneShotFlag(object_id_t object,
void ThermalController::startTransition(Mode_t mode_, Submode_t submode_) {
triggerEvent(CHANGING_MODE, mode_, submode_);
if (mode_ == MODE_OFF) {
for (uint8_t i = 0; i < heater::Switchers::NUMBER_OF_SWITCHES; i++) {
heaterHandler.switchHeater(static_cast<heater::Switchers>(i),
HeaterHandler::SwitchState::OFF);
}
transitionToOff = true;
transitionToOffCycles = 0;
// For MODE_OFF and the no heater control submode, we command all switches to off before
// completing the transition. This ensures a consistent state when commanding these modes.
if ((mode_ == MODE_OFF) or ((mode_ == MODE_ON) and (submode_ == SUBMODE_NO_HEATER_CTRL))) {
heaterSwitchHelperAllOff();
transitionWhenHeatersOff = true;
targetMode = mode_;
targetSubmode = submode_;
transitionWhenHeatersOffCycles = 0;
} else {
setMode(mode_);
setMode(mode_, submode_);
}
}

38
mission/controller/ThermalController.h
View File

@ -48,8 +48,13 @@ struct TempLimits {
struct ThermalState {
uint8_t errorCounter;
bool heating;
uint32_t heaterStartTime;
// Is heating on for that thermal module?
bool heating = false;
heater::Switch heaterSwitch = heater::Switch::NUMBER_OF_SWITCHES;
// Heater start time and end times as UNIX seconds. Please note that these times will be updated
// when a switch command is sent, with no guarantess that the heater actually went on.
uint32_t heaterStartTime = 0;
uint32_t heaterEndTime = 0;
};
struct HeaterState {
@ -90,6 +95,8 @@ enum ThermalComponents : uint8_t {
class ThermalController : public ExtendedControllerBase {
public:
static constexpr uint8_t SUBMODE_NO_HEATER_CTRL = 1;
static const uint16_t INVALID_TEMPERATURE = 999;
static const uint8_t NUMBER_OF_SENSORS = 16;
static constexpr int16_t SANITY_LIMIT_LOWER_TEMP = -80;
@ -103,13 +110,13 @@ class ThermalController : public ExtendedControllerBase {
protected:
struct HeaterContext {
public:
HeaterContext(heater::Switchers switchNr, heater::Switchers redundantSwitchNr,
HeaterContext(heater::Switch switchNr, heater::Switch redundantSwitchNr,
const TempLimits& tempLimit)
: switchNr(switchNr), redSwitchNr(redundantSwitchNr), tempLimit(tempLimit) {}
bool doHeaterHandling = true;
heater::Switchers switchNr;
heater::Switch switchNr;
HeaterHandler::SwitchState switchState = HeaterHandler::SwitchState::OFF;
heater::Switchers redSwitchNr;
heater::Switch redSwitchNr;
const TempLimits& tempLimit;
};
@ -263,11 +270,13 @@ class ThermalController : public ExtendedControllerBase {
bool strTooHotFlag = false;
bool rwTooHotFlag = false;
bool transitionToOff = false;
uint32_t transitionToOffCycles = 0;
bool transitionWhenHeatersOff = false;
uint32_t transitionWhenHeatersOffCycles = 0;
Mode_t targetMode = MODE_OFF;
Submode_t targetSubmode = SUBMODE_NONE;
uint32_t cycles = 0;
std::array<ThermalState, 30> thermalStates{};
std::array<HeaterState, 7> heaterStates{};
std::array<ThermalState, ThermalComponents::NUM_ENTRIES> thermalStates{};
std::array<HeaterState, heater::NUMBER_OF_SWITCHES> heaterStates{};
// Initial delay to make sure all pool variables have been initialized their owners.
// Also, wait for system initialization to complete.
@ -292,6 +301,9 @@ class ThermalController : public ExtendedControllerBase {
void startTransition(Mode_t mode, Submode_t submode) override;
bool heaterCtrlAllowed() const;
void resetThermalStates();
void resetSensorsArray();
void copySensors();
void copySus();
@ -302,9 +314,13 @@ class ThermalController : public ExtendedControllerBase {
bool heaterCtrlCheckUpperLimits(HeaterContext& heaterContext);
void heaterCtrlTempTooHighHandler(HeaterContext& heaterContext, const char* whatLimit);
bool chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr);
bool chooseHeater(heater::Switch& switchNr, heater::Switch redSwitchNr);
bool selectAndReadSensorTemp(HeaterContext& htrCtx);
void heaterSwitchHelperAllOff();
void heaterSwitchHelper(heater::Switch switchNr, HeaterHandler::SwitchState state,
unsigned componentIdx);
void ctrlAcsBoard();
void ctrlMgt();
void ctrlRw();
@ -329,7 +345,7 @@ class ThermalController : public ExtendedControllerBase {
void ctrlMpa();
void ctrlScexBoard();
void heaterTransitionControl(const HeaterSwitchStates& currentHeaterStates);
void setMode(Mode_t mode);
void setMode(Mode_t mode, Submode_t submode);
uint32_t tempFloatToU32() const;
bool tooHotHandler(object_id_t object, bool& oneShotFlag);
void tooHotHandlerWhichClearsOneShotFlag(object_id_t object, bool& oneShotFlag);

2
mission/controller/tcsDefs.h
View File

@ -4,8 +4,8 @@
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include "devices/heaterSwitcherList.h"
#include "eive/eventSubsystemIds.h"
#include "mission/tcs/defs.h"
namespace tcsCtrl {

2
mission/system/tree/tcsModeTree.cpp
View File

@ -111,7 +111,7 @@ void buildNormalSequence(Subsystem& ss, ModeListEntry& eh) {
ctxc);
// Transition 1
iht(objects::THERMAL_CONTROLLER, NML, 0, TCS_TABLE_NORMAL_TRANS_1.second);
iht(objects::THERMAL_CONTROLLER, HasModesIF::MODE_ON, 0, TCS_TABLE_NORMAL_TRANS_1.second);
check(ss.addTable(TableEntry(TCS_TABLE_NORMAL_TRANS_1.first, &TCS_TABLE_NORMAL_TRANS_1.second)),
ctxc);

18
mission/tcs/HeaterHandler.cpp
View File

@ -215,17 +215,17 @@ void HeaterHandler::handleSwitchHandling() {
heaterVec[idx].cmdActive = true;
heaterVec[idx].action = SET_SWITCH_OFF;
triggerEvent(FAULTY_HEATER_WAS_ON, idx, 0);
handleSwitchOffCommand(static_cast<heater::Switchers>(idx));
handleSwitchOffCommand(static_cast<heater::Switch>(idx));
continue;
}
}
if (heaterVec[idx].cmdActive) {
switch (heaterVec[idx].action) {
case SET_SWITCH_ON:
handleSwitchOnCommand(static_cast<heater::Switchers>(idx));
handleSwitchOnCommand(static_cast<heater::Switch>(idx));
break;
case SET_SWITCH_OFF:
handleSwitchOffCommand(static_cast<heater::Switchers>(idx));
handleSwitchOffCommand(static_cast<heater::Switch>(idx));
break;
default:
sif::error << "HeaterHandler::handleActiveCommands: Invalid action commanded"
@ -236,7 +236,7 @@ void HeaterHandler::handleSwitchHandling() {
}
}
void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
void HeaterHandler::handleSwitchOnCommand(heater::Switch heaterIdx) {
ReturnValue_t result = returnvalue::OK;
auto& heater = heaterVec.at(heaterIdx);
if (waitForSwitchOff) {
@ -307,7 +307,7 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
}
}
void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
void HeaterHandler::handleSwitchOffCommand(heater::Switch heaterIdx) {
ReturnValue_t result = returnvalue::OK;
auto& heater = heaterVec.at(heaterIdx);
// Check whether switch is already off
@ -344,12 +344,12 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
heater.cmdActive = false;
}
HeaterHandler::SwitchState HeaterHandler::getSwitchState(heater::Switchers switchNr) const {
HeaterHandler::SwitchState HeaterHandler::getSwitchState(heater::Switch switchNr) const {
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
return heaterVec.at(switchNr).switchState;
}
ReturnValue_t HeaterHandler::switchHeater(heater::Switchers heater, SwitchState switchState) {
ReturnValue_t HeaterHandler::switchHeater(heater::Switch heater, SwitchState switchState) {
if (switchState == SwitchState::ON) {
return sendSwitchCommand(heater, PowerSwitchIF::SWITCH_ON);
} else if (switchState == SwitchState::OFF) {
@ -428,7 +428,7 @@ ReturnValue_t HeaterHandler::getSwitchState(uint8_t switchNr) const {
if (switchNr > 7) {
return returnvalue::FAILED;
}
if (getSwitchState(static_cast<heater::Switchers>(switchNr)) == SwitchState::ON) {
if (getSwitchState(static_cast<heater::Switch>(switchNr)) == SwitchState::ON) {
return PowerSwitchIF::SWITCH_ON;
}
return PowerSwitchIF::SWITCH_OFF;
@ -438,7 +438,7 @@ ReturnValue_t HeaterHandler::getFuseState(uint8_t fuseNr) const { return 0; }
uint32_t HeaterHandler::getSwitchDelayMs(void) const { return 2000; }
HasHealthIF::HealthState HeaterHandler::getHealth(heater::Switchers heater) {
HasHealthIF::HealthState HeaterHandler::getHealth(heater::Switch heater) {
auto* healthDev = heaterVec.at(heater).healthDevice;
if (healthDev != nullptr) {
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);

12
mission/tcs/HeaterHandler.h
View File

@ -20,8 +20,8 @@
#include <utility>
#include <vector>
#include "devices/heaterSwitcherList.h"
#include "events/subsystemIdRanges.h"
#include "mission/tcs/defs.h"
#include "returnvalues/classIds.h"
class PowerSwitchIF;
@ -75,8 +75,8 @@ class HeaterHandler : public ExecutableObjectIF,
protected:
enum SwitchAction : uint8_t { SET_SWITCH_OFF, SET_SWITCH_ON, NONE };
ReturnValue_t switchHeater(heater::Switchers heater, SwitchState switchState);
HasHealthIF::HealthState getHealth(heater::Switchers heater);
ReturnValue_t switchHeater(heater::Switch heater, SwitchState switchState);
HasHealthIF::HealthState getHealth(heater::Switch heater);
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
@ -174,7 +174,7 @@ class HeaterHandler : public ExecutableObjectIF,
* @brief Returns the state of a switch (ON - true, or OFF - false).
* @param switchNr The number of the switch to check.
*/
SwitchState getSwitchState(heater::Switchers switchNr) const;
SwitchState getSwitchState(heater::Switch switchNr) const;
/**
* @brief This function runs commands waiting for execution.
@ -198,9 +198,9 @@ class HeaterHandler : public ExecutableObjectIF,
const HasModesIF& getModeIF() const override;
ModeTreeChildIF& getModeTreeChildIF() override;
void handleSwitchOnCommand(heater::Switchers heaterIdx);
void handleSwitchOnCommand(heater::Switch heaterIdx);
void handleSwitchOffCommand(heater::Switchers heaterIdx);
void handleSwitchOffCommand(heater::Switch heaterIdx);
/**
* @brief Checks if all switches are off.

15
mission/tcs/defs.h
View File

@ -1,6 +1,21 @@
#pragma once
#include <atomic>
#include <cstdint>
namespace heater {
enum Switch : uint8_t {
HEATER_0_OBC_BRD,
HEATER_1_PLOC_PROC_BRD,
HEATER_2_ACS_BRD,
HEATER_3_PCDU_PDU,
HEATER_4_CAMERA,
HEATER_5_STR,
HEATER_6_DRO,
HEATER_7_S_BAND,
NUMBER_OF_SWITCHES
};
}
namespace tcs {

4
unittest/controller/testThermalController.cpp
View File

@ -48,7 +48,7 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
CommandMessage modeMessage;
ModeMessage::setModeMessage(&modeMessage, ModeMessage::CMD_MODE_COMMAND,
ControllerBase::MODE_NORMAL, HasModesIF::SUBMODE_NONE);
HasModesIF::MODE_ON, HasModesIF::SUBMODE_NONE);
MessageQueueIF* commandQueue =
QueueFactory::instance()->createMessageQueue(5, MessageQueueMessage::MAX_MESSAGE_SIZE);
@ -58,7 +58,7 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
REQUIRE(controller.performOperation(0) == returnvalue::OK);
REQUIRE(testEnvironment::eventManager->isEventInEventList(
THERMAL_CONTROLLER_ID, HasModesIF::MODE_INFO, ControllerBase::MODE_NORMAL,
THERMAL_CONTROLLER_ID, HasModesIF::MODE_INFO, HasModesIF::MODE_ON,
HasModesIF::SUBMODE_NONE) == true);
QueueFactory::instance()->deleteMessageQueue(commandQueue);