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This commit is contained in:
Robin Müller
2023-04-11 22:58:13 +02:00
parent 2bb0f530fe
commit c9cc1d4cfe
19 changed files with 200 additions and 149 deletions
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18
mission/controller/ThermalController.cpp
View File

@ -21,7 +21,8 @@
#define LOWER_EBAND_UPPER_LIMITS 0
#define LOWER_PLOC_UPPER_LIMITS 0
ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater)
ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater,
const std::atomic_bool& tcsBoardShortUnavailable)
: ExtendedControllerBase(objectId),
heaterHandler(heater),
sensorTemperatures(this),
@ -66,7 +67,8 @@ ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater
susSet8(objects::SUS_8_R_LOC_XBYBZB_PT_YB),
susSet9(objects::SUS_9_R_LOC_XBYBZB_PT_YF),
susSet10(objects::SUS_10_N_LOC_XMYBZF_PT_ZF),
susSet11(objects::SUS_11_R_LOC_XBYMZB_PT_ZB) {
susSet11(objects::SUS_11_R_LOC_XBYMZB_PT_ZB),
tcsBrdShortlyUnavailable(tcsBoardShortUnavailable) {
resetSensorsArray();
}
@ -134,10 +136,12 @@ void ThermalController::performControlOperation() {
}
}
{
PoolReadGuard pg(&sensorTemperatures);
if (pg.getReadResult() == returnvalue::OK) {
copySensors();
if (not tcsBrdShortlyUnavailable) {
{
PoolReadGuard pg(&sensorTemperatures);
if (pg.getReadResult() == returnvalue::OK) {
copySensors();
}
}
}
{
@ -182,7 +186,7 @@ void ThermalController::performControlOperation() {
}
setMode(MODE_OFF);
}
} else if (mode != MODE_OFF) {
} else if (mode != MODE_OFF and not tcsBrdShortlyUnavailable) {
performThermalModuleCtrl(heaterSwitchStateArray);
}
cycles++;

8
mission/controller/ThermalController.h
View File

@ -22,6 +22,7 @@
#include <mission/tcs/Tmp1075Definitions.h>
#include <mission/utility/trace.h>
#include <atomic>
#include <list>
/**
@ -94,7 +95,8 @@ class ThermalController : public ExtendedControllerBase {
static constexpr int16_t SANITY_LIMIT_LOWER_TEMP = -80;
static constexpr int16_t SANITY_LIMIT_UPPER_TEMP = 160;
ThermalController(object_id_t objectId, HeaterHandler& heater);
ThermalController(object_id_t objectId, HeaterHandler& heater,
const std::atomic_bool& tcsBoardShortUnavailable);
ReturnValue_t initialize() override;
@ -181,6 +183,10 @@ class ThermalController : public ExtendedControllerBase {
susMax1227::SusDataset susSet10;
susMax1227::SusDataset susSet11;
// If the TCS board in unavailable, for example due to a recovery, skip
// some TCS controller tasks to avoid unnecessary events.
const std::atomic_bool& tcsBrdShortlyUnavailable = false;
lp_var_t<float> tempQ7s = lp_var_t<float>(objects::CORE_CONTROLLER, core::PoolIds::TEMPERATURE);
lp_var_t<int16_t> battTemp1 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_1);
lp_var_t<int16_t> battTemp2 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_2);