implemented core switch on state machine

bsp_q7s/boardconfig/busConf.h

@@ -87,10 +87,10 @@ static constexpr char PDEC_RESET[] = "pdec_reset";
 static constexpr char PL_PCDU_ENABLE_VBAT0[] = "enable_plpcdu_vbat0";
 static constexpr char PL_PCDU_ENABLE_VBAT1[] = "enable_plpcdu_vbat1";
 static constexpr char PL_PCDU_ENABLE_DRO[] = "enable_plpcdu_dro";
-static constexpr char PL_PCDU_ENABLE_HPA[] = "enable_plpcdu_hpa";
-static constexpr char PL_PCDU_ENABLE_MPA[] = "enable_plpcdu_mpa";
 static constexpr char PL_PCDU_ENABLE_X8[] = "enable_plpcdu_x8";
 static constexpr char PL_PCDU_ENABLE_TX[] = "enable_plpcdu_tx";
+static constexpr char PL_PCDU_ENABLE_HPA[] = "enable_plpcdu_hpa";
+static constexpr char PL_PCDU_ENABLE_MPA[] = "enable_plpcdu_mpa";
 static constexpr char PL_PCDU_ADC_CS[] = "plpcdu_adc_chip_select";
 
 }  // namespace gpioNames

linux/devices/PayloadPcduHandler.cpp

@@ -4,50 +4,120 @@
 
 PayloadPcduHandler::PayloadPcduHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie,
                                        GpioIF* gpioIF)
-    : DeviceHandlerBase(objectId, comIF, cookie), state(States::ADC_OFF_PL_OFF), gpioIF(gpioIF) {}
+    : DeviceHandlerBase(objectId, comIF, cookie), gpioIF(gpioIF) {}
 
 void PayloadPcduHandler::doStartUp() {
-  switch (state) {
-    case (States::ADC_OFF_PL_OFF): {
-      // Switch on relays here
-      gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT0);
-      gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT1);
-      state = States::SWITCH_ON_RELAY_TRANSITION;
-      break;
+  if((state != States::PCDU_OFF) and (state != States::ON_TRANS_SSR)) {
+    // Config error
+    sif::error << "PayloadPcduHandler::doStartUp: Invalid state" << std::endl;
+  }
+  if (state == States::PCDU_OFF) {
+    // Switch on relays here
+    gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT0);
+    gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT1);
+    state = States::ON_TRANS_SSR;
+    transitionOk = true;
+  }
+  if (state == States::ON_TRANS_SSR) {
+    // If necessary, check whether a certain amount of time has elapsed
+    if(transitionOk) {
+      transitionOk = false;
+      // We are now in ON mode
+      setMode(MODE_ON);
+      // The ADC can now be read. If the values are not close to zero, we should not allow
+      // transition
+      monMode = MonitoringMode::CLOSE_TO_ZERO;
     }
-    case (States::SWITCH_ON_RELAY_TRANSITION): {
-      // If necessary, check whether a certain amount of time has elapsed
-      state = States::ADC_OFF_PL_OFF;
-      break;
-    }
-    default:
-      // Config error
-      sif::error << "PayloadPcduHandler::doStartUp: Invalid state" << std::endl;
   }
 }
 
 void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
   if (mode == _MODE_TO_NORMAL) {
-    switch (state) {
-      case (States::ADC_OFF_PL_OFF): {
-        // Switch on HPA here
+    if (state == States::ON_TRANS_ADC_CLOSE_ZERO) {
+      if(not commandExecuted) {
+        countdown.resetTimer();
+        commandExecuted = true;
+      }
+      // ADC values are ok, 5 seconds have elapsed
+      if(transitionOk and countdown.hasTimedOut()) {
+        state = States::ON_TRANS_DRO;
+        // Now start monitoring for negative voltages instead
+        monMode = MonitoringMode::NEGATIVE;
+        countdown.resetTimer();
+        commandExecuted = false;
+        transitionOk = false;
+      }
+    }
+    if (state == States::ON_TRANS_DRO) {
+      if(not commandExecuted) {
+        // Switch on DRO and start monitoring for negative voltagea
         gpioIF->pullHigh(gpioIds::PLPCDU_ENB_DRO);
-        gpioIF->pullHigh(gpioIds::PLPCDU_ENB_MPA);
-        gpioIF->pullHigh(gpioIds::PLPCDU_ENB_TX);
+        commandExecuted =  true;
+      }
+      // ADC values are ok, 5 seconds have elapsed
+      if(transitionOk and countdown.hasTimedOut()) {
+        state = States::ON_TRANS_X8;
+        countdown.resetTimer();
+        commandExecuted = false;
+        transitionOk = false;
+      }
+    }
+    if (state == States::ON_TRANS_X8) {
+      if(not commandExecuted) {
+        // Switch on X8
         gpioIF->pullHigh(gpioIds::PLPCDU_ENB_X8);
+        commandExecuted =  true;
+      }
+      // ADC values are ok, 5 seconds have elapsed
+      if(transitionOk and countdown.hasTimedOut()) {
+        state = States::ON_TRANS_TX;
+        countdown.resetTimer();
+        commandExecuted = false;
+        transitionOk = false;
+      }
+    }
+    if(state == States::ON_TRANS_TX) {
+      if(not commandExecuted) {
+        // Switch on TX
+        gpioIF->pullHigh(gpioIds::PLPCDU_ENB_TX);
+        commandExecuted =  true;
+      }
+      // ADC values are ok, 5 seconds have elapsed
+      if(transitionOk and countdown.hasTimedOut()) {
+        state = States::ON_TRANS_MPA;
+        countdown.resetTimer();
+        commandExecuted = false;
+        transitionOk = false;
+      }
+    }
+    if(state == States::ON_TRANS_MPA) {
+      if(not commandExecuted) {
+        // Switch on MPA
+        gpioIF->pullHigh(gpioIds::PLPCDU_ENB_MPA);
+        commandExecuted =  true;
+      }
+      // ADC values are ok, 5 seconds have elapsed
+      if(transitionOk and countdown.hasTimedOut()) {
+        state = States::ON_TRANS_HPA;
+        countdown.resetTimer();
+        commandExecuted = false;
+        transitionOk = false;
+      }
+    }
+    if(state == States::ON_TRANS_HPA) {
+      if(not commandExecuted) {
+        // Switch on HPA
         gpioIF->pullHigh(gpioIds::PLPCDU_ENB_HPA);
-        state = States::SWITCH_ON_HPA_TRANSITION;
-        break;
+        commandExecuted =  true;
       }
-      case (States::SWITCH_ON_HPA_TRANSITION): {
-        // If necessary, check whether a certain amount of time has elapsed
-        state = States::ADC_ON_PL_ON;
+      // ADC values are ok, 5 seconds have elapsed
+      if(transitionOk and countdown.hasTimedOut()) {
+        state = States::PCDU_ON;
         setMode(MODE_NORMAL);
-        break;
+        countdown.resetTimer();
+        commandExecuted = false;
+        transitionOk = false;
       }
-      default:
-        // Config error
-        sif::error << "PayloadPcduHandler::doTransition: Invalid state" << std::endl;
     }
   }
 }

linux/devices/PayloadPcduHandler.h

@@ -2,25 +2,61 @@
 #define LINUX_DEVICES_PLPCDUHANDLER_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <fsfw/timemanager/Countdown.h>
 
 #include "fsfw_hal/common/gpio/GpioIF.h"
 
+/**
+ * @brief Device handler for the EIVE Payload PCDU
+ * @details
+ * Documentation:
+ * https://egit.irs.uni-stuttgart.de/eive/eive_dokumente/src/branch/master/400_Raumsegment/412_PayloaPCDUDocumentation/release/EIVE-D-421-001_PLPCDU_Documentation.pdf
+ *
+ * Important components:
+ *  - SSR - Solid State Relay: Decouples voltages from battery
+ *  - DRO - Dielectric Resonsant Oscillator: Generates modulation signal
+ *  - X8: Frequency X8 Multiplicator
+ *  - TX: Transmitter/Sender module. Modulates data onto carrier signal
+ *  - MPA - Medium Power Amplifier
+ *  - HPA - High Power Amplifier
+ */
 class PayloadPcduHandler : DeviceHandlerBase {
  public:
   PayloadPcduHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie, GpioIF* gpioIF);
 
  private:
   enum class States {
-    ADC_OFF_PL_OFF,
-    SWITCH_ON_RELAY_TRANSITION,
-    // In this mode, the handler can start polling the ADC. This is the ON mode
-    ADC_ON_PL_OFF,
-    SWITCH_ON_HPA_TRANSITION,
-    // Now the ADC is actually spitting out sensible values. This is the normal mode with the
-    // experiment being on.
-    ADC_ON_PL_ON
-  };
-  States state;
+    PCDU_OFF,
+    // Solid State Relay, enable battery voltages VBAT0 and VBAT1. This will also switch on
+    // the ADC
+    ON_TRANS_SSR,
+    ON_TRANS_ADC_CLOSE_ZERO,
+    // Enable Dielectric Resonant Oscillator and start monitoring voltages as
+    // soon as DRO voltage reaches 6V
+    ON_TRANS_DRO,
+    // Switch on X8 compoennt and monitor voltages for 5 seconds
+    ON_TRANS_X8,
+    // Switch on TX component and monitor voltages for 5 seconds
+    ON_TRANS_TX,
+    // Switch on MPA component and monitor voltages for 5 seconds
+    ON_TRANS_MPA,
+    // Switch on HPA component and monitor voltages for 5 seconds
+    ON_TRANS_HPA,
+    // All components of the experiment are on
+    PCDU_ON,
+  } state = States::PCDU_OFF;
+
+  enum class MonitoringMode {
+    NONE,
+    CLOSE_TO_ZERO,
+    NEGATIVE
+  } monMode = MonitoringMode::NONE;
+
+  // 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.
+  bool transitionOk = false;
+  bool commandExecuted = false;
+  Countdown countdown = Countdown(5000);
   GpioIF* gpioIF;
 
   void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;

linux/fsfwconfig/devices/gpioIds.h

@@ -115,10 +115,10 @@ enum gpioId_t {
   PLPCDU_ENB_VBAT0,
   PLPCDU_ENB_VBAT1,
   PLPCDU_ENB_DRO,
-  PLPCDU_ENB_HPA,
-  PLPCDU_ENB_MPA,
   PLPCDU_ENB_X8,
   PLPCDU_ENB_TX,
+  PLPCDU_ENB_HPA,
+  PLPCDU_ENB_MPA,
   PLPCDU_ADC_CS
 };
 }