Merge branch 'main' into fused-rot-rate-fix

CHANGELOG.md

@@ -30,11 +30,20 @@ will consitute of a breaking change warranting a new major release:
   detumbling during eclipse, as no relevant rotational rate is available for now.
 - `EiveSystem`: Add a small delay between triggering an event for FDIR reboots and sending the
   command to the core controller.
+- PL PDU: Fixed bounds checking logic. Bound checks will only be performed for modules which are
+  enabled.
 
 ## Changed
 
 - SCEX: Only perform filesystem checks when not in OFF mode.
 - The `EiveSystem` now only sends reboot commands targetting the same image.
+- Added 200 ms delay between switching HPA/MPA/TX/X8 and DRO GPIO pin OFF.
+- PL PCDU ADC set is now automatically enabled for `NORMAL` mode transitions. It is automatically
+  disabled for `OFF` mode transitions.
+
+## Added
+
+- PL PCDU for EM build.
 
 ## Added
 

CMakeLists.txt

@@ -144,7 +144,7 @@ set(OBSW_ADD_RAD_SENSORS
     ${INIT_VAL}
     CACHE STRING "Add Rad Sensor module")
 set(OBSW_ADD_PL_PCDU
-    ${INIT_VAL}
+    1
     CACHE STRING "Add Payload PCDU modukle")
 set(OBSW_ADD_SYRLINKS
     1

bsp_q7s/em/emObjectFactory.cpp

@@ -94,6 +94,9 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_ACS_BOARD == 1
   dummyCfg.addAcsBoardDummies = false;
 #endif
+#if OBSW_ADD_PL_PCDU == 0
+  dummyCfg.addPlPcduDummy = true;
+#endif
 
   PowerSwitchIF* pwrSwitcher = nullptr;
 #if OBSW_ADD_GOMSPACE_PCDU == 0
@@ -107,6 +110,8 @@ void ObjectFactory::produce(void* args) {
 
   new CoreController(objects::CORE_CONTROLLER, enableHkSets);
 
+  auto* stackHandler = new Stack5VHandler(*pwrSwitcher);
+
   // Initialize chip select to avoid SPI bus issues.
   createRadSensorChipSelect(gpioComIF);
 
@@ -146,6 +151,9 @@ void ObjectFactory::produce(void* args) {
   createStrComponents(pwrSwitcher);
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
+#if OBSW_ADD_PL_PCDU == 1
+  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
+#endif
   createPayloadComponents(gpioComIF, *pwrSwitcher);
 
 #if OBSW_ADD_CCSDS_IP_CORES == 1

bsp_q7s/fmObjectFactory.cpp

@@ -81,7 +81,9 @@ void ObjectFactory::produce(void* args) {
   createTmpComponents(tmpDevsToAdd);
 #endif
   createSolarArrayDeploymentComponents(*pwrSwitcher, *gpioComIF);
+#if OBSW_ADD_PL_PCDU == 1
   createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
+#endif
 #if OBSW_ADD_SYRLINKS == 1
   createSyrlinksComponents(pwrSwitcher);
 #endif /* OBSW_ADD_SYRLINKS == 1 */

bsp_q7s/objectFactory.cpp

@@ -902,8 +902,6 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
       new PayloadPcduHandler(objects::PLPCDU_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
                              gpioComIF, SdCardManager::instance(), stackHandler, false);
   spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
-//  plPcduHandler->enablePeriodicPrintout(true, 5);
-//  static_cast<void>(plPcduHandler);
 #if OBSW_TEST_PL_PCDU == 1
   plPcduHandler->setStartUpImmediately();
 #endif

dummies/helperFactory.cpp

@@ -248,9 +248,11 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
     auto* scexDummy = new ScexDummy(objects::SCEX, objects::DUMMY_COM_IF, comCookieDummy);
     scexDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
   }
-  auto* plPcduDummy =
+  if (cfg.addPlPcduDummy) {
-      new PlPcduDummy(objects::PLPCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    auto* plPcduDummy =
-  plPcduDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
+        new PlPcduDummy(objects::PLPCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    plPcduDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
+  }
   if (cfg.addPlocDummies) {
     auto* plocMpsocDummy =
         new PlocMpsocDummy(objects::PLOC_MPSOC_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);

dummies/helperFactory.h

@@ -30,6 +30,7 @@ struct DummyCfg {
   bool addStrDummy = true;
   bool addTmpDummies = true;
   bool addRadSensorDummy = true;
+  bool addPlPcduDummy = false;
   Tmp1075Cfg tmp1075Cfg;
   bool addCamSwitcherDummy = false;
   bool addScexDummy = false;

mission/payload/PayloadPcduHandler.cpp

@@ -1,4 +1,6 @@
-#include <fsfw/src/fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/datapool/PoolReadGuard.h>
+#include "fsfw/thermal/tcsDefinitions.h"
+#include <fsfw/tasks/TaskFactory.h>
 #include <mission/payload/PayloadPcduHandler.h>
 
 #include "OBSWConfig.h"
@@ -64,6 +66,16 @@ void PayloadPcduHandler::doShutDown() {
     return;
   }
   state = States::PL_PCDU_OFF;
+  quickTransitionAlreadyCalled = false;
+  {
+    PoolReadGuard pg(&adcSet);
+    adcSet.setReportingEnabled(false);
+    adcSet.tempC = thermal::INVALID_TEMPERATURE;
+
+    std::memset(adcSet.channels.value, 0, sizeof(adcSet.channels.value));
+    std::memset(adcSet.processed.value, 0, sizeof(adcSet.processed.value));
+    adcSet.setValidity(false, true);
+  }
   // No need to set mode _MODE_POWER_DOWN, power switching was already handled
   setMode(MODE_OFF);
 }
@@ -73,14 +85,7 @@ void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
     stateMachineToNormal(modeFrom, subModeFrom);
     return;
   } else if (getMode() == _MODE_TO_ON and modeFrom == MODE_NORMAL) {
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_HPA);
+    pullAllGpiosLow(200);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_MPA);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_X8);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_DRO);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT0);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
     state = States::STACK_5V_CORRECT;
   }
   DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
@@ -89,6 +94,11 @@ void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
 ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom) {
   using namespace plpcdu;
   bool doFinish = true;
+  if (toNormalOneShot) {
+    PoolReadGuard pg(&adcSet);
+    adcSet.setReportingEnabled(true);
+    toNormalOneShot = false;
+  }
   if (((getSubmode() >> SOLID_STATE_RELAYS_ADC_ON) & 0b1) == 1) {
     if (state == States::PL_PCDU_OFF) {
       sif::error << "PayloadPcduHandler::stateMachineToNormal: Unexpected state PL_PCDU_OFF"
@@ -114,23 +124,23 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
         state = States::ON_TRANS_ADC_CLOSE_ZERO;
         adcCountdown.setTimeout(50);
         adcCountdown.resetTimer();
-        adcState = AdcStates::BOOT_DELAY;
+        adcState = AdcState::BOOT_DELAY;
         doFinish = false;
         // If the values are not close to zero, we should not allow transition
         monMode = MonitoringMode::CLOSE_TO_ZERO;
       }
     }
     if (state == States::ON_TRANS_ADC_CLOSE_ZERO) {
-      if (adcState == AdcStates::BOOT_DELAY) {
+      if (adcState == AdcState::BOOT_DELAY) {
         doFinish = false;
         if (adcCountdown.hasTimedOut()) {
-          adcState = AdcStates::SEND_SETUP;
+          adcState = AdcState::SEND_SETUP;
           adcCmdExecuted = false;
         }
       }
-      if (adcState == AdcStates::SEND_SETUP) {
+      if (adcState == AdcState::SEND_SETUP) {
         if (adcCmdExecuted) {
-          adcState = AdcStates::NORMAL;
+          adcState = AdcState::NORMAL;
           doFinish = true;
           adcCountdown.setTimeout(100);
           adcCountdown.resetTimer();
@@ -167,6 +177,7 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
   switchHandler(MPA_ON, gpioIds::PLPCDU_ENB_MPA, "MPA");
   switchHandler(HPA_ON, gpioIds::PLPCDU_ENB_HPA, "HPA");
   if (doFinish) {
+    toNormalOneShot = true;
     setMode(MODE_NORMAL);
   }
   return returnvalue::OK;
@@ -174,11 +185,11 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
 
 ReturnValue_t PayloadPcduHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
   switch (adcState) {
-    case (AdcStates::SEND_SETUP): {
+    case (AdcState::SEND_SETUP): {
       *id = plpcdu::SETUP_CMD;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
-    case (AdcStates::NORMAL): {
+    case (AdcState::NORMAL): {
       *id = plpcdu::READ_WITH_TEMP_EXT;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
@@ -190,7 +201,7 @@ ReturnValue_t PayloadPcduHandler::buildNormalDeviceCommand(DeviceCommandId_t* id
 }
 
 ReturnValue_t PayloadPcduHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
-  if (adcState == AdcStates::SEND_SETUP) {
+  if (adcState == AdcState::SEND_SETUP) {
     *id = plpcdu::SETUP_CMD;
     return buildCommandFromCommand(*id, nullptr, 0);
   }
@@ -211,9 +222,9 @@ void PayloadPcduHandler::updateSwitchGpio(gpioId_t id, gpio::Levels level) {
 }
 
 void PayloadPcduHandler::fillCommandAndReplyMap() {
-  insertInCommandAndReplyMap(plpcdu::READ_CMD, 2, &adcSet);
+  insertInCommandAndReplyMap(plpcdu::READ_CMD, 2);
-  insertInCommandAndReplyMap(plpcdu::READ_TEMP_EXT, 1, &adcSet);
+  insertInCommandAndReplyMap(plpcdu::READ_TEMP_EXT, 1);
-  insertInCommandAndReplyMap(plpcdu::READ_WITH_TEMP_EXT, 1, &adcSet);
+  insertInCommandAndReplyMap(plpcdu::READ_WITH_TEMP_EXT, 1);
   insertInCommandAndReplyMap(plpcdu::SETUP_CMD, 1);
 }
 
@@ -277,27 +288,31 @@ ReturnValue_t PayloadPcduHandler::interpretDeviceReply(DeviceCommandId_t id,
       break;
     }
     case (READ_CMD): {
-      PoolReadGuard pg(&adcSet);
+      {
-      if (pg.getReadResult() != returnvalue::OK) {
+        PoolReadGuard pg(&adcSet);
-        return pg.getReadResult();
+        if (pg.getReadResult() != returnvalue::OK) {
+          return pg.getReadResult();
+        }
+        handleExtConvRead(packet);
+        checkAdcValues();
+        adcSet.setValidity(true, true);
       }
-      handleExtConvRead(packet);
-      checkAdcValues();
-      adcSet.setValidity(true, true);
       handlePrintout();
       break;
     }
     case (READ_WITH_TEMP_EXT): {
-      PoolReadGuard pg(&adcSet);
+      {
-      if (pg.getReadResult() != returnvalue::OK) {
+        PoolReadGuard pg(&adcSet);
-        return pg.getReadResult();
+        if (pg.getReadResult() != returnvalue::OK) {
+          return pg.getReadResult();
+        }
+        handleExtConvRead(packet);
+        uint8_t tempStartIdx = ADC_REPLY_SIZE + TEMP_REPLY_SIZE - 2;
+        adcSet.tempC.value =
+            max1227::getTemperature(packet[tempStartIdx] << 8 | packet[tempStartIdx + 1]);
+        checkAdcValues();
+        adcSet.setValidity(true, true);
       }
-      handleExtConvRead(packet);
-      uint8_t tempStartIdx = ADC_REPLY_SIZE + TEMP_REPLY_SIZE - 2;
-      adcSet.tempC.value =
-          max1227::getTemperature(packet[tempStartIdx] << 8 | packet[tempStartIdx + 1]);
-      checkAdcValues();
-      adcSet.setValidity(true, true);
       handlePrintout();
       break;
     }
@@ -367,16 +382,9 @@ void PayloadPcduHandler::enablePeriodicPrintout(bool enable, uint8_t divider) {
 
 void PayloadPcduHandler::quickTransitionBackToOff(bool startTransitionToOff, bool notifyFdir) {
   States currentState = state;
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_HPA);
+  pullAllGpiosLow(200);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_MPA);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_X8);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_DRO);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT0);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
   state = States::STACK_5V_SWITCHING;
-  adcState = AdcStates::OFF;
+  adcState = AdcState::OFF;
   if (startTransitionToOff) {
     startTransition(MODE_OFF, 0);
   }
@@ -405,10 +413,13 @@ void PayloadPcduHandler::checkAdcValues() {
   adcSet.processed[U_DRO_DIV_6] = static_cast<float>(adcSet.channels[11]) * SCALE_VOLTAGE;
   float lowerBound = 0.0;
   float upperBound = 0.0;
-  bool adcTransition = false;
+  bool adcTransition = adcState == AdcState::NORMAL and adcCountdown.isBusy();
-  adcTransition = state == States::ON_TRANS_DRO and adcCountdown.isBusy();
+  if (NO_ADC_CHECKS or adcTransition) {
-  // Now check against voltage and current limits, depending on state
+    return;
-  if (state >= States::ON_TRANS_DRO and not adcTransition) {
+  }
+  // Now check against voltage and current limits.
+  uint8_t submode = getSubmode();
+  if (((submode >> NormalSubmodeBits::DRO_ON) & 0b1) == 0b1) {
     if (ssrToDroInjectionRequested) {
       handleFailureInjection("SSR to DRO", NEG_V_OUT_OF_BOUNDS);
       ssrToDroInjectionRequested = false;
@@ -435,8 +446,7 @@ void PayloadPcduHandler::checkAdcValues() {
       return;
     }
   }
-  adcTransition = state == States::ON_TRANS_X8 and adcCountdown.isBusy();
+  if (((submode >> NormalSubmodeBits::X8_ON) & 0b1) == 0b1) {
-  if (state >= States::ON_TRANS_X8 and not adcTransition) {
     if (droToX8InjectionRequested) {
       handleFailureInjection("X8 to TX", U_X8_OUT_OF_BOUNDS);
       droToX8InjectionRequested = false;
@@ -453,8 +463,7 @@ void PayloadPcduHandler::checkAdcValues() {
       return;
     }
   }
-  adcTransition = state == States::ON_TRANS_TX and adcCountdown.isBusy();
+  if (((submode >> NormalSubmodeBits::TX_ON) & 0b1) == 0b1) {
-  if (state >= States::ON_TRANS_TX and not adcTransition) {
     if (txToMpaInjectionRequested) {
       handleFailureInjection("TX to MPA", U_TX_OUT_OF_BOUNDS);
       txToMpaInjectionRequested = false;
@@ -471,8 +480,7 @@ void PayloadPcduHandler::checkAdcValues() {
       return;
     }
   }
-  adcTransition = state == States::ON_TRANS_MPA and adcCountdown.isBusy();
+  if (((submode >> NormalSubmodeBits::MPA_ON) & 0b1) == 0b1) {
-  if (state >= States::ON_TRANS_MPA and not adcTransition) {
     if (mpaToHpaInjectionRequested) {
       handleFailureInjection("MPA to HPA", U_HPA_OUT_OF_BOUNDS);
       mpaToHpaInjectionRequested = false;
@@ -489,8 +497,7 @@ void PayloadPcduHandler::checkAdcValues() {
       return;
     }
   }
-  adcTransition = state == States::ON_TRANS_HPA and adcCountdown.isBusy();
+  if (((submode >> NormalSubmodeBits::HPA_ON) & 0b1) == 0b1) {
-  if (state >= States::ON_TRANS_HPA and not adcTransition) {
     if (allOnInjectRequested) {
       handleFailureInjection("All On", U_HPA_OUT_OF_BOUNDS);
       allOnInjectRequested = false;
@@ -677,6 +684,18 @@ void PayloadPcduHandler::handleFailureInjection(std::string output, Event event)
   droToX8InjectionRequested = false;
 }
 
+void PayloadPcduHandler::pullAllGpiosLow(uint32_t delayBeforeSwitchingOffDro) {
+  sif::info << "Pulling all PL PCDU GPIOs to low" << std::endl;
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_HPA);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_MPA);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_X8);
+  TaskFactory::delayTask(delayBeforeSwitchingOffDro);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_DRO);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT0);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
+}
+
 ReturnValue_t PayloadPcduHandler::handleDoubleParamUpdate(std::string key,
                                                           ParameterWrapper* parameterWrapper,
                                                           const ParameterWrapper* newValues) {
@@ -692,6 +711,8 @@ ReturnValue_t PayloadPcduHandler::handleDoubleParamUpdate(std::string key,
   return params.writeJsonFile();
 }
 
+LocalPoolDataSetBase* PayloadPcduHandler::getDataSetHandle(sid_t sid) { return &adcSet; }
+
 #ifdef XIPHOS_Q7S
 ReturnValue_t PayloadPcduHandler::extConvAsTwoCallback(SpiComIF* comIf, SpiCookie* cookie,
                                                        const uint8_t* sendData, size_t sendLen,

mission/payload/PayloadPcduHandler.h

@@ -76,6 +76,8 @@ class PayloadPcduHandler : public DeviceHandlerBase {
 #endif
 
  private:
+  static constexpr bool NO_ADC_CHECKS = false;
+
   enum class States : uint8_t {
     PL_PCDU_OFF,
     STACK_5V_SWITCHING,
@@ -84,20 +86,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
     // Solid State Relay, enable battery voltages VBAT0 and VBAT1. This will also switch on
     // the ADC
     ON_TRANS_SSR,
-    ON_TRANS_ADC_CLOSE_ZERO,
+    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
-    PL_PCDU_ON,
   } state = States::PL_PCDU_OFF;
 
   duallane::Submodes pwrSubmode = duallane::Submodes::A_SIDE;
@@ -106,7 +95,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
 
   enum class MonitoringMode { NONE, CLOSE_TO_ZERO, NEGATIVE } monMode = MonitoringMode::NONE;
 
-  enum class AdcStates { OFF, BOOT_DELAY, SEND_SETUP, NORMAL } adcState = AdcStates::OFF;
+  enum class AdcState { OFF, BOOT_DELAY, SEND_SETUP, NORMAL } adcState = AdcState::OFF;
 
   bool goToNormalMode = false;
   plpcdu::PlPcduAdcSet adcSet;
@@ -128,6 +117,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   bool mpaToHpaInjectionRequested = false;
   bool allOnInjectRequested = false;
   bool clearSetOnOffFlag = true;
+  bool toNormalOneShot = true;
 
   PeriodicOperationDivider opDivider = PeriodicOperationDivider(5);
   uint8_t tempReadDivisor = 1;
@@ -168,6 +158,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
 
   void handleExtConvRead(const uint8_t* bufStart);
   void handlePrintout();
+  void pullAllGpiosLow(uint32_t delayBeforeSwitchingOffDro);
   void checkAdcValues();
   void handleOutOfBoundsPrintout();
   void checkJsonFileInit();
@@ -178,6 +169,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   ReturnValue_t serializeFloat(uint32_t& param, float val);
   ReturnValue_t handleDoubleParamUpdate(std::string key, ParameterWrapper* parameterWrapper,
                                         const ParameterWrapper* newValues);
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
 };
 
 #endif /* LINUX_DEVICES_PLPCDUHANDLER_H_ */