diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp index a4503981..3c52b7c1 100644 --- a/bsp_q7s/ObjectFactory.cpp +++ b/bsp_q7s/ObjectFactory.cpp @@ -22,6 +22,7 @@ #include #include #include +#include #include #include #include @@ -99,10 +100,10 @@ void ObjectFactory::produce(){ * Setting PCDU devices to mode normal immediately after start up because PCDU is always * running. */ - p60dockhandler->setModeNormal(); +// p60dockhandler->setModeNormal(); pdu1handler->setModeNormal(); - pdu2handler->setModeNormal(); - acuhandler->setModeNormal(); +// pdu2handler->setModeNormal(); +// acuhandler->setModeNormal(); #endif /* Temperature sensors */ Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler( @@ -114,46 +115,59 @@ void ObjectFactory::produce(){ i2cCookieTmp1075tcs2); tmp1075Handler_2->setStartUpImmediately(); - GpioCookie* gpioCookie = new GpioCookie; + GpioCookie* heaterGpiosCookie = new GpioCookie; new LinuxLibgpioIF(objects::GPIO_IF); #if TE0720 == 0 /* Pin H2-11 on stack connector */ GpioConfig_t gpioConfigHeater0(std::string("gpiochip7"), 18, std::string("Heater0"), gpio::OUT, 0); - gpioCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0); + heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0); /* Pin H2-12 on stack connector */ GpioConfig_t gpioConfigHeater1(std::string("gpiochip7"), 14, std::string("Heater1"), gpio::OUT, 0); - gpioCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1); + heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1); /* Pin H2-13 on stack connector */ GpioConfig_t gpioConfigHeater2(std::string("gpiochip7"), 20, std::string("Heater2"), gpio::OUT, 0); - gpioCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2); + heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2); GpioConfig_t gpioConfigHeater3(std::string("gpiochip7"), 16, std::string("Heater3"), gpio::OUT, 0); - gpioCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3); + heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3); GpioConfig_t gpioConfigHeater4(std::string("gpiochip7"), 24, std::string("Heater4"), gpio::OUT, 0); - gpioCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4); + heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4); GpioConfig_t gpioConfigHeater5(std::string("gpiochip7"), 26, std::string("Heater5"), gpio::OUT, 0); - gpioCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5); + heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5); GpioConfig_t gpioConfigHeater6(std::string("gpiochip7"), 22, std::string("Heater6"), gpio::OUT, 0); - gpioCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6); + heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6); GpioConfig_t gpioConfigHeater7(std::string("gpiochip7"), 28, std::string("Heater7"), gpio::OUT, 0); - gpioCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7); + heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7); - new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER, + new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie, objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN); + + GpioCookie* solarArrayDeplCookie = new GpioCookie; + GpioConfig_t gpioConfigDeplSA1(std::string("gpiochip7"), 25, + std::string("DeplSA1"), gpio::OUT, 0); + solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA1); + GpioConfig_t gpioConfigDeplSA2(std::string("gpiochip7"), 23, + std::string("DeplSA2"), gpio::OUT, 0); + solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpioConfigDeplSA2); + + //TODO: Find out burn time. For now set to 1000 ms. + new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF, + solarArrayDeplCookie, objects::PCDU_HANDLER, pcduSwitches::DEPLOYMENT_MECHANISM, + gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000); #endif new TmTcUnixUdpBridge(objects::UDP_BRIDGE, @@ -165,14 +179,15 @@ void ObjectFactory::produce(){ /* Configure MIO0 as input */ GpioConfig_t gpioConfigMio0(std::string("gpiochip0"), 0, std::string("MIO0"), gpio::IN, 0); + GpioCookie* gpioCookie = new GpioCookie; gpioCookie->addGpio(gpioIds::Test_ID, gpioConfigMio0); new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie); #elif TE0720 == 1 /* Configuration for MIO0 on TE0720-03-1CFA */ GpioConfig_t gpioConfigForDummyHeater(std::string("gpiochip0"), 0, std::string("Heater0"), gpio::OUT, 0); - gpioCookie->addGpio(gpioIds::HEATER_0, gpioConfigForDummyHeater); - new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER, + heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigForDummyHeater); + new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie, objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN); #endif } diff --git a/fsfw b/fsfw index c2839825..7d0916a4 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit c28398257b68facbabb19d7228b045f1388305df +Subproject commit 7d0916a44e18c87b00998448333023186b3d85b1 diff --git a/fsfwconfig/devices/gpioIds.h b/fsfwconfig/devices/gpioIds.h index cfef7e75..70507b42 100644 --- a/fsfwconfig/devices/gpioIds.h +++ b/fsfwconfig/devices/gpioIds.h @@ -13,6 +13,8 @@ namespace gpioIds { HEATER_5, HEATER_6, HEATER_7, + DEPLSA1, + DEPLSA2, Test_ID }; } diff --git a/fsfwconfig/events/subsystemIdRanges.h b/fsfwconfig/events/subsystemIdRanges.h index e04d57fb..b2e9aaac 100644 --- a/fsfwconfig/events/subsystemIdRanges.h +++ b/fsfwconfig/events/subsystemIdRanges.h @@ -19,7 +19,9 @@ enum: uint8_t { PUS_SERVICE_23, MGM_LIS3MDL, MGM_RM3100, - PCDU_HANDLER + PCDU_HANDLER, + HEATER_HANDLER, + SA_DEPL_HANDLER }; } diff --git a/fsfwconfig/objects/systemObjectList.h b/fsfwconfig/objects/systemObjectList.h index d5a2e737..153b3155 100644 --- a/fsfwconfig/objects/systemObjectList.h +++ b/fsfwconfig/objects/systemObjectList.h @@ -43,10 +43,11 @@ namespace objects { TMP1075_HANDLER_2 = 0x44000006, /* Custom device handler */ - PCDU_HANDLER = 0x45000001, + PCDU_HANDLER = 0x44000007, + SOLAR_ARRAY_DEPL_HANDLER = 0x44000008, /* 0x54 ('T') for thermal objects */ - HEATER_HANDLER = 0x54000001, + HEATER_HANDLER = 0x54000003, /* 0x54 ('T') for test handlers */ TEST_TASK = 0x54694269, diff --git a/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp b/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp index ba6706cf..d6f922dd 100644 --- a/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp +++ b/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp @@ -15,6 +15,8 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence) thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::HEATER_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SOLAR_ARRAY_DEPL_HANDLER, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE); diff --git a/fsfwconfig/returnvalues/classIds.h b/fsfwconfig/returnvalues/classIds.h index e259b46f..419a24ef 100644 --- a/fsfwconfig/returnvalues/classIds.h +++ b/fsfwconfig/returnvalues/classIds.h @@ -14,7 +14,9 @@ enum { MGM_LIS3MDL, MGM_RM3100, LINUX_LIBGPIO_IF, - PCDU_HANDLER + PCDU_HANDLER, + HEATER_HANDLER, + SA_DEPL_HANDLER }; } diff --git a/linux/csp/CspComIF.cpp b/linux/csp/CspComIF.cpp index 64808eff..9c08a073 100644 --- a/linux/csp/CspComIF.cpp +++ b/linux/csp/CspComIF.cpp @@ -192,6 +192,8 @@ ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort, memcpy(replyBuffer, reply->data, reply->length); expectedSize = expectedSize - reply->length; bytesRead += reply->length; + sif::debug << "CspComIF::cspTransfer: Received csp packet has data field with length " + << reply->length << std::endl; csp_buffer_free(reply); while (expectedSize > 0) { reply = csp_read(conn, timeout_ms); @@ -209,6 +211,8 @@ ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort, memcpy(replyBuffer + bytesRead, reply->data, reply->length); expectedSize = expectedSize - reply->length; bytesRead += reply->length; + sif::debug << "CspComIF::cspTransfer: Received csp packet has data field with length " + << reply->length << std::endl; csp_buffer_free(reply); } diff --git a/mission/devices/CMakeLists.txt b/mission/devices/CMakeLists.txt index 9a2920d5..4f45a7e6 100644 --- a/mission/devices/CMakeLists.txt +++ b/mission/devices/CMakeLists.txt @@ -11,6 +11,7 @@ target_sources(${TARGET_NAME} PUBLIC PDU2Handler.cpp ACUHandler.cpp HeaterHandler.cpp + SolarArrayDeploymentHandler.cpp ) diff --git a/mission/devices/HeaterHandler.h b/mission/devices/HeaterHandler.h index 4c37c30f..3c76e33b 100644 --- a/mission/devices/HeaterHandler.h +++ b/mission/devices/HeaterHandler.h @@ -5,7 +5,6 @@ #include #include #include -#include #include #include #include @@ -52,7 +51,7 @@ public: private: - static const uint8_t INTERFACE_ID = CLASS_ID::PCDU_HANDLER; + static const uint8_t INTERFACE_ID = CLASS_ID::HEATER_HANDLER; static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1); static const ReturnValue_t INIT_FAILED = MAKE_RETURN_CODE(0xA2); @@ -60,7 +59,7 @@ private: static const ReturnValue_t MAIN_SWITCH_SET_TIMEOUT = MAKE_RETURN_CODE(0xA4); static const ReturnValue_t COMMAND_ALREADY_WAITING = MAKE_RETURN_CODE(0xA5); - static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_HANDLER; + static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HEATER_HANDLER; static const Event GPIO_PULL_HIGH_FAILED = MAKE_EVENT(0, severity::LOW); static const Event GPIO_PULL_LOW_FAILED = MAKE_EVENT(1, severity::LOW); static const Event SWITCH_ALREADY_ON = MAKE_EVENT(2, severity::LOW); @@ -139,9 +138,6 @@ private: void readCommandQueue(); - ReturnValue_t buildCommandFromCommand( - DeviceCommandId_t deviceCommand, const uint8_t *commandData, - size_t commandDataLen); /** * @brief Returns the state of a switch (ON - true, or OFF - false). * @param switchNr The number of the switch to check. diff --git a/mission/devices/PCDUHandler.cpp b/mission/devices/PCDUHandler.cpp index 9fe9fbdb..0b3b1459 100644 --- a/mission/devices/PCDUHandler.cpp +++ b/mission/devices/PCDUHandler.cpp @@ -206,6 +206,10 @@ void PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN; pdu = objectManager->get(objects::PDU2_HANDLER); break; + case pcduSwitches::DEPLOYMENT_MECHANISM: + memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM; + pdu = objectManager->get(objects::PDU2_HANDLER); + break; default: sif::error << "PCDUHandler::sendSwitchCommand: Invalid switch number " << std::endl; return; diff --git a/mission/devices/SolarArrayDeploymentHandler.cpp b/mission/devices/SolarArrayDeploymentHandler.cpp new file mode 100644 index 00000000..9c0ebed4 --- /dev/null +++ b/mission/devices/SolarArrayDeploymentHandler.cpp @@ -0,0 +1,198 @@ +#include +#include +#include +#include + +SolarArrayDeploymentHandler::SolarArrayDeploymentHandler(object_id_t setObjectId_, + object_id_t gpioDriverId_, CookieIF * gpioCookie_, object_id_t mainLineSwitcherObjectId_, + uint8_t mainLineSwitch_, gpioId_t deplSA1, gpioId_t deplSA2, uint32_t burnTimeMs) : + SystemObject(setObjectId_), gpioDriverId(gpioDriverId_), gpioCookie(gpioCookie_), mainLineSwitcherObjectId( + mainLineSwitcherObjectId_), mainLineSwitch(mainLineSwitch_), deplSA1(deplSA1), deplSA2( + deplSA2), burnTimeMs(burnTimeMs), actionHelper(this, nullptr) { + commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize, + MessageQueueMessage::MAX_MESSAGE_SIZE); +} + +SolarArrayDeploymentHandler::~SolarArrayDeploymentHandler() { +} + +ReturnValue_t SolarArrayDeploymentHandler::performOperation(uint8_t operationCode) { + + if (operationCode == DeviceHandlerIF::PERFORM_OPERATION) { + handleStateMachine(); + return RETURN_OK; + } + return RETURN_OK; +} + +ReturnValue_t SolarArrayDeploymentHandler::initialize() { + ReturnValue_t result = SystemObject::initialize(); + if (result != RETURN_OK) { + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + gpioInterface = objectManager->get(gpioDriverId); + if (gpioInterface == nullptr) { + sif::error << "SolarArrayDeploymentHandler::initialize: Invalid Gpio interface." + << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + result = gpioInterface->initialize(gpioCookie); + if (result != RETURN_OK) { + sif::error << "SolarArrayDeploymentHandler::initialize: Failed to initialize Gpio interface" + << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + if (mainLineSwitcherObjectId != objects::NO_OBJECT) { + mainLineSwitcher = objectManager->get(mainLineSwitcherObjectId); + if (mainLineSwitcher == nullptr) { + sif::error + << "SolarArrayDeploymentHandler::initialize: Main line switcher failed to fetch object" + << "from object ID." << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; + } + } + + result = actionHelper.initialize(commandQueue); + if (result != RETURN_OK) { + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + return RETURN_OK; +} + +void SolarArrayDeploymentHandler::handleStateMachine() { + switch (stateMachine) { + case WAIT_ON_DELOYMENT_COMMAND: + readCommandQueue(); + break; + case SWITCH_8V_ON: + mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_ON); + mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs()); + stateMachine = WAIT_ON_8V_SWITCH; + break; + case WAIT_ON_8V_SWITCH: + performWaitOn8VActions(); + break; + case SWITCH_DEPL_GPIOS: + switchDeploymentTransistors(); + break; + case WAIT_ON_DEPLOYMENT_FINISH: + handleDeploymentFinish(); + break; + case WAIT_FOR_MAIN_SWITCH_OFF: + if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_OFF) { + stateMachine = FINISHED_DEPLOYMENT; + } else if (mainSwitchCountdown.hasTimedOut()) { + triggerEvent(MAIN_SWITCH_OFF_TIMEOUT); + stateMachine = FINISHED_DEPLOYMENT; + sif::error << "SolarArrayDeploymentHandler::handleStateMachine: Failed to switch main" + << " switch off" << std::endl; + } + case FINISHED_DEPLOYMENT: + break; + default: + sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Invalid state" << std::endl; + break; + } +} + +void SolarArrayDeploymentHandler::performWaitOn8VActions() { + if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_ON) { + stateMachine = SWITCH_DEPL_GPIOS; + } else { + if (mainSwitchCountdown.hasTimedOut()) { + triggerEvent(MAIN_SWITCH_ON_TIMEOUT); + actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS, + MAIN_SWITCH_TIMEOUT_FAILURE); + stateMachine = WAIT_ON_DELOYMENT_COMMAND; + } + } +} + +void SolarArrayDeploymentHandler::switchDeploymentTransistors() { + ReturnValue_t result = RETURN_OK; + result = gpioInterface->pullHigh(deplSA1); + if (result != RETURN_OK) { + sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar" + " array deployment switch 1 high " << std::endl; + /* If gpio switch high failed, state machine is reset to wait for a command reinitiating + * the deployment sequence. */ + stateMachine = WAIT_ON_DELOYMENT_COMMAND; + triggerEvent(DEPL_SA1_GPIO_SWTICH_ON_FAILED); + actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS, + SWITCHING_DEPL_SA2_FAILED); + mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF); + } + result = gpioInterface->pullHigh(deplSA2); + if (result != RETURN_OK) { + sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar" + " array deployment switch 2 high " << std::endl; + stateMachine = WAIT_ON_DELOYMENT_COMMAND; + triggerEvent(DEPL_SA2_GPIO_SWTICH_ON_FAILED); + actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS, + SWITCHING_DEPL_SA2_FAILED); + mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF); + } + deploymentCountdown.setTimeout(burnTimeMs); + stateMachine = WAIT_ON_DEPLOYMENT_FINISH; +} + +void SolarArrayDeploymentHandler::handleDeploymentFinish() { + ReturnValue_t result = RETURN_OK; + if (deploymentCountdown.hasTimedOut()) { + stateMachine = FINISHED_DEPLOYMENT; + actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS, RETURN_OK); + result = gpioInterface->pullLow(deplSA1); + if (result != RETURN_OK) { + sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar" + " array deployment switch 1 low " << std::endl; + } + result = gpioInterface->pullLow(deplSA2); + if (result != RETURN_OK) { + sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar" + " array deployment switch 2 low " << std::endl; + } + mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF); + mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs()); + } +} + +void SolarArrayDeploymentHandler::readCommandQueue() { + CommandMessage command; + ReturnValue_t result = commandQueue->receiveMessage(&command); + if (result != RETURN_OK) { + return; + } + + result = actionHelper.handleActionMessage(&command); + if (result == RETURN_OK) { + return; + } +} + +ReturnValue_t SolarArrayDeploymentHandler::executeAction(ActionId_t actionId, + MessageQueueId_t commandedBy, const uint8_t* data, size_t size) { + ReturnValue_t result; + if (stateMachine != WAIT_ON_DELOYMENT_COMMAND) { + sif::error << "SolarArrayDeploymentHandler::executeAction: Received command while not in" + << "waiting-on-command-state" << std::endl; + return DEPLOYMENT_ALREADY_EXECUTING; + } + if (actionId != DEPLOY_SOLAR_ARRAYS) { + sif::error << "SolarArrayDeploymentHandler::executeAction: Received invalid command" + << std::endl; + result = COMMAND_NOT_SUPPORTED; + } else { + stateMachine = SWITCH_8V_ON; + rememberCommanderId = commandedBy; + result = RETURN_OK; + } + return result; +} + +MessageQueueId_t SolarArrayDeploymentHandler::getCommandQueue() const { + return commandQueue->getId(); +} diff --git a/mission/devices/SolarArrayDeploymentHandler.h b/mission/devices/SolarArrayDeploymentHandler.h new file mode 100644 index 00000000..c45c2ba7 --- /dev/null +++ b/mission/devices/SolarArrayDeploymentHandler.h @@ -0,0 +1,159 @@ +#ifndef MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_ +#define MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/** + * @brief This class is used to control the solar array deployment. + * + * @author J. Meier + */ +class SolarArrayDeploymentHandler: public ExecutableObjectIF, + public SystemObject, + public HasReturnvaluesIF, + public HasActionsIF { +public: + + static const DeviceCommandId_t DEPLOY_SOLAR_ARRAYS = 0x5; + + /** + * @brief constructor + * + * @param setObjectId The object id of the SolarArrayDeploymentHandler. + * @param gpioDriverId The id of the gpio com if. + * @param gpioCookie GpioCookie holding information about the gpios used to switch the + * transistors. + * @param mainLineSwitcherObjectId The object id of the object responsible for switching + * the 8V power source. This is normally the PCDU. + * @param mainLineSwitch The id of the main line switch. This is defined in + * powerSwitcherList.h. + * @param deplSA1 gpioId of the GPIO controlling the deployment 1 transistor. + * @param deplSA2 gpioId of the GPIO controlling the deployment 2 transistor. + * @param burnTimeMs Time duration the power will be applied to the burn wires. + */ + SolarArrayDeploymentHandler(object_id_t setObjectId, object_id_t gpioDriverId, + CookieIF * gpioCookie, object_id_t mainLineSwitcherObjectId, uint8_t mainLineSwitch, + gpioId_t deplSA1, gpioId_t deplSA2, uint32_t burnTimeMs); + + virtual ~SolarArrayDeploymentHandler(); + + virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override; + + virtual MessageQueueId_t getCommandQueue() const override; + virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy, + const uint8_t* data, size_t size) override; + virtual ReturnValue_t initialize() override; + +private: + + static const uint8_t INTERFACE_ID = CLASS_ID::SA_DEPL_HANDLER; + static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA0); + static const ReturnValue_t DEPLOYMENT_ALREADY_EXECUTING = MAKE_RETURN_CODE(0xA1); + static const ReturnValue_t MAIN_SWITCH_TIMEOUT_FAILURE = MAKE_RETURN_CODE(0xA2); + static const ReturnValue_t SWITCHING_DEPL_SA1_FAILED = MAKE_RETURN_CODE(0xA3); + static const ReturnValue_t SWITCHING_DEPL_SA2_FAILED = MAKE_RETURN_CODE(0xA4); + + static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SA_DEPL_HANDLER; + static const Event MAIN_SWITCH_ON_TIMEOUT = MAKE_EVENT(0, severity::LOW); + static const Event MAIN_SWITCH_OFF_TIMEOUT = MAKE_EVENT(1, severity::LOW); + static const Event DEPLOYMENT_FAILED = MAKE_EVENT(2, severity::HIGH); + static const Event DEPL_SA1_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(3, severity::HIGH); + static const Event DEPL_SA2_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(4, severity::HIGH); + + + enum StateMachine { + WAIT_ON_DELOYMENT_COMMAND, + SWITCH_8V_ON, + WAIT_ON_8V_SWITCH, + SWITCH_DEPL_GPIOS, + WAIT_ON_DEPLOYMENT_FINISH, + WAIT_FOR_MAIN_SWITCH_OFF, + FINISHED_DEPLOYMENT + }; + + StateMachine stateMachine = WAIT_ON_DELOYMENT_COMMAND; + + /** + * This countdown is used to check if the PCDU sets the 8V line on in the intended time. + */ + Countdown mainSwitchCountdown; + + /** + * This countdown is used to wait for the burn wire being successful cut. + */ + Countdown deploymentCountdown; + + + /** + * The message queue id of the component commanding an action will be stored in this variable. + * This is necessary to send later the action finish replies. + */ + MessageQueueId_t rememberCommanderId = 0; + + /** Size of command queue */ + size_t cmdQueueSize = 20; + + /** The object ID of the GPIO driver which switches the deployment transistors */ + object_id_t gpioDriverId; + + CookieIF * gpioCookie; + + /** Object id of the object responsible to switch the 8V power input. Typically the PCDU. */ + object_id_t mainLineSwitcherObjectId; + + /** Switch number of the 8V power switch */ + uint8_t mainLineSwitch; + + gpioId_t deplSA1; + gpioId_t deplSA2; + + GpioIF* gpioInterface; + + /** Time duration switches are active to cut the burn wire */ + uint32_t burnTimeMs; + + /** Queue to receive messages from other objects. */ + MessageQueueIF* commandQueue = nullptr; + + /** + * After initialization this pointer will hold the reference to the main line switcher object. + */ + PowerSwitchIF *mainLineSwitcher = nullptr; + + ActionHelper actionHelper; + + void readCommandQueue(); + + /** + * @brief This function performs actions dependent on the current state. + */ + void handleStateMachine(); + + /** + * @brief This function polls the 8V switch state and changes the state machine when the + * switch has been enabled. + */ + void performWaitOn8VActions(); + + /** + * @brief This functions handles the switching of the solar array deployment transistors. + */ + void switchDeploymentTransistors(); + + /** + * @brief This function performs actions to finish the deployment. Essentially switches + * are turned of after the burn time has expired. + */ + void handleDeploymentFinish(); +}; + +#endif /* MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_ */ diff --git a/tmtc b/tmtc index 2b85ece0..110ec964 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 2b85ece07195ee905c35b35494bc7a86b94335f5 +Subproject commit 110ec9644a520af9c6f4cb7f2b5d47f3d34ba256