Merge branch 'mueller/system-subsystems' into mueller/master
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@ -27,7 +27,6 @@ ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
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readCommandQueue();
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return RETURN_OK;
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}
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return RETURN_OK;
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}
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@ -79,25 +78,9 @@ ReturnValue_t PCDUHandler::initialize() {
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void PCDUHandler::initializeSwitchStates() {
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using namespace pcduSwitches;
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switchStates[Switches::PDU2_CH0_Q7S] = pcduSwitches::INIT_STATE_Q7S;
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switchStates[Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8] = pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH1;
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switchStates[Switches::PDU2_CH2_RW_5V] = pcduSwitches::INIT_STATE_RW;
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switchStates[Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V] =
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pcduSwitches::INIT_STATE_TCS_BOARD_8V_HEATER_IN;
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switchStates[Switches::PDU2_CH4_SUS_REDUNDANT_3V3] = pcduSwitches::INIT_STATE_SUS_REDUNDANT;
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switchStates[Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V] =
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pcduSwitches::INIT_STATE_DEPLOYMENT_MECHANISM;
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switchStates[Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8] = pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH6;
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switchStates[Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3] = pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_B;
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switchStates[Switches::PDU2_CH8_PAYLOAD_CAMERA] = pcduSwitches::INIT_STATE_PAYLOAD_CAMERA;
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switchStates[Switches::PDU1_CH0_TCS_BOARD_3V3] = pcduSwitches::INIT_STATE_TCS_BOARD_3V3;
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switchStates[Switches::PDU1_CH1_SYRLINKS_12V] = pcduSwitches::INIT_STATE_SYRLINKS;
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switchStates[Switches::PDU1_CH2_STAR_TRACKER_5V] = pcduSwitches::INIT_STATE_STAR_TRACKER;
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switchStates[Switches::PDU1_CH3_MGT_5V] = pcduSwitches::INIT_STATE_MGT;
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switchStates[Switches::PDU1_CH4_SUS_NOMINAL_3V3] = pcduSwitches::INIT_STATE_SUS_NOMINAL;
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switchStates[Switches::PDU1_CH5_SOLAR_CELL_EXP_5V] = pcduSwitches::INIT_STATE_SOLAR_CELL_EXP;
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switchStates[Switches::PDU1_CH6_PLOC_12V] = pcduSwitches::INIT_STATE_PLOC;
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switchStates[Switches::PDU1_CH7_ACS_A_SIDE_3V3] = pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_A;
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for (uint8_t idx = 0; idx < Switches::NUMBER_OF_SWITCHES; idx++) {
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switchStates[idx] = INIT_SWITCH_STATES[idx];
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}
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}
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void PCDUHandler::readCommandQueue() {
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@ -117,7 +100,7 @@ void PCDUHandler::readCommandQueue() {
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MessageQueueId_t PCDUHandler::getCommandQueue() const { return commandQueue->getId(); }
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void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId) {
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void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
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if (sid == sid_t(objects::PDU2_HANDLER, PDU2::HK_TABLE_DATA_SET_ID)) {
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updateHkTableDataset(storeId, &pdu2HkTableDataset, &timeStampPdu2HkDataset);
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updatePdu2SwitchStates();
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@ -159,25 +142,31 @@ void PCDUHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSet
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void PCDUHandler::updatePdu2SwitchStates() {
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using namespace pcduSwitches;
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GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU2;
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PoolReadGuard rg(&pdu2HkTableDataset);
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if (rg.getReadResult() == RETURN_OK) {
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MutexGuard mg(pwrMutex);
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switchStates[Switches::PDU2_CH0_Q7S] = pdu2HkTableDataset.outEnabledQ7S.value;
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switchStates[Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8] =
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pdu2HkTableDataset.outEnabledPlPCDUCh1.value;
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switchStates[Switches::PDU2_CH2_RW_5V] = pdu2HkTableDataset.outEnabledReactionWheels.value;
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switchStates[Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V] =
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pdu2HkTableDataset.outEnabledTCSBoardHeaterIn.value;
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switchStates[Switches::PDU2_CH4_SUS_REDUNDANT_3V3] =
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pdu2HkTableDataset.outEnabledSUSRedundant.value;
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switchStates[Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V] =
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pdu2HkTableDataset.outEnabledDeplMechanism.value;
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switchStates[Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8] =
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pdu2HkTableDataset.outEnabledPlPCDUCh6.value;
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switchStates[Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3] =
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pdu2HkTableDataset.outEnabledAcsBoardSideB.value;
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switchStates[Switches::PDU2_CH8_PAYLOAD_CAMERA] =
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pdu2HkTableDataset.outEnabledPayloadCamera.value;
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checkAndUpdateSwitch(pdu, Switches::PDU2_CH0_Q7S, pdu2HkTableDataset.outEnabledQ7S.value);
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checkAndUpdateSwitch(pdu, Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
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pdu2HkTableDataset.outEnabledPlPCDUCh1.value);
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checkAndUpdateSwitch(pdu, Switches::PDU2_CH2_RW_5V,
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pdu2HkTableDataset.outEnabledReactionWheels.value);
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checkAndUpdateSwitch(pdu, Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V,
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pdu2HkTableDataset.outEnabledTCSBoardHeaterIn.value);
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checkAndUpdateSwitch(pdu, Switches::PDU2_CH4_SUS_REDUNDANT_3V3,
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pdu2HkTableDataset.outEnabledSUSRedundant.value);
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checkAndUpdateSwitch(pdu, Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
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pdu2HkTableDataset.outEnabledDeplMechanism.value);
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checkAndUpdateSwitch(pdu, Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8,
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pdu2HkTableDataset.outEnabledPlPCDUCh6.value);
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checkAndUpdateSwitch(pdu, Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3,
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pdu2HkTableDataset.outEnabledAcsBoardSideB.value);
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checkAndUpdateSwitch(pdu, Switches::PDU2_CH8_PAYLOAD_CAMERA,
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pdu2HkTableDataset.outEnabledPayloadCamera.value);
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if (firstSwitchInfoPdu2) {
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firstSwitchInfoPdu2 = false;
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}
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} else {
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sif::debug << "PCDUHandler::updatePdu2SwitchStates: Failed to read PDU2 Hk Dataset"
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<< std::endl;
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@ -187,25 +176,31 @@ void PCDUHandler::updatePdu2SwitchStates() {
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void PCDUHandler::updatePdu1SwitchStates() {
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using namespace pcduSwitches;
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PoolReadGuard rg(&pdu1HkTableDataset);
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GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU1;
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if (rg.getReadResult() == RETURN_OK) {
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MutexGuard mg(pwrMutex);
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switchStates[Switches::PDU1_CH0_TCS_BOARD_3V3] = pdu1HkTableDataset.outEnabledTCSBoard3V3.value;
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switchStates[Switches::PDU1_CH1_SYRLINKS_12V] = pdu1HkTableDataset.outEnabledSyrlinks.value;
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switchStates[Switches::PDU1_CH2_STAR_TRACKER_5V] =
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pdu1HkTableDataset.outEnabledStarTracker.value;
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switchStates[Switches::PDU1_CH3_MGT_5V] = pdu1HkTableDataset.outEnabledMGT.value;
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switchStates[Switches::PDU1_CH4_SUS_NOMINAL_3V3] =
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pdu1HkTableDataset.outEnabledSUSNominal.value;
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switchStates[Switches::PDU1_CH5_SOLAR_CELL_EXP_5V] =
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pdu1HkTableDataset.outEnabledSolarCellExp.value;
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switchStates[Switches::PDU1_CH6_PLOC_12V] = pdu1HkTableDataset.outEnabledPLOC.value;
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switchStates[Switches::PDU1_CH7_ACS_A_SIDE_3V3] =
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pdu1HkTableDataset.outEnabledAcsBoardSideA.value;
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switchStates[Switches::PDU1_CH8_UNOCCUPIED] = pdu1HkTableDataset.outEnabledChannel8.value;
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checkAndUpdateSwitch(pdu, Switches::PDU1_CH0_TCS_BOARD_3V3,
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pdu1HkTableDataset.outEnabledTCSBoard3V3.value);
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checkAndUpdateSwitch(pdu, Switches::PDU1_CH1_SYRLINKS_12V,
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pdu1HkTableDataset.outEnabledSyrlinks.value);
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checkAndUpdateSwitch(pdu, Switches::PDU1_CH2_STAR_TRACKER_5V,
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pdu1HkTableDataset.outEnabledStarTracker.value);
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checkAndUpdateSwitch(pdu, Switches::PDU1_CH3_MGT_5V, pdu1HkTableDataset.outEnabledMGT.value);
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checkAndUpdateSwitch(pdu, Switches::PDU1_CH4_SUS_NOMINAL_3V3,
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pdu1HkTableDataset.outEnabledSUSNominal.value);
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checkAndUpdateSwitch(pdu, Switches::PDU1_CH5_SOLAR_CELL_EXP_5V,
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pdu1HkTableDataset.outEnabledSolarCellExp.value);
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checkAndUpdateSwitch(pdu, Switches::PDU1_CH6_PLOC_12V, pdu1HkTableDataset.outEnabledPLOC.value);
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checkAndUpdateSwitch(pdu, Switches::PDU1_CH7_ACS_A_SIDE_3V3,
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pdu1HkTableDataset.outEnabledAcsBoardSideA.value);
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checkAndUpdateSwitch(pdu, Switches::PDU1_CH8_UNOCCUPIED,
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pdu1HkTableDataset.outEnabledChannel8.value);
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if (firstSwitchInfoPdu1) {
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firstSwitchInfoPdu1 = false;
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}
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} else {
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sif::debug << "PCDUHandler::updatePdu1SwitchStates: Failed to read dataset" << std::endl;
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}
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pdu1HkTableDataset.commit();
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}
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LocalDataPoolManager* PCDUHandler::getHkManagerHandle() { return &poolManager; }
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@ -264,11 +259,12 @@ void PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const
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pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
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break;
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}
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// That does not really make sense but let's keep it here for completeness reasons..
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// This is a dangerous command. Reject/Igore it for now
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case pcduSwitches::PDU2_CH0_Q7S: {
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memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_Q7S;
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pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
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break;
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return;
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// memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_Q7S;
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// pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
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// break;
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}
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case pcduSwitches::PDU2_CH1_PL_PCDU_BATT_0_14V8: {
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memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH1;
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@ -347,6 +343,9 @@ void PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const
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if (result != RETURN_OK) {
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sif::debug << "PCDUHandler::sendSwitchCommand: Failed to send message to PDU Handler"
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<< std::endl;
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} else {
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// Can't use trigger event because of const function constraint, but this hack seems to work
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this->forwardEvent(power::SWITCH_CMD_SENT, parameterValue, switchNr);
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}
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}
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@ -375,6 +374,7 @@ object_id_t PCDUHandler::getObjectId() const { return SystemObject::getObjectId(
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ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) {
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using namespace pcduSwitches;
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localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_Q7S, new PoolEntry<int16_t>({0}));
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localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH1,
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new PoolEntry<int16_t>({0}));
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@ -413,28 +413,34 @@ ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDat
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localDataPoolMap.emplace(P60System::PDU2_CONV_EN_3, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(P60System::PDU2_OUT_EN_Q7S,
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new PoolEntry<uint8_t>({pcduSwitches::INIT_STATE_Q7S}));
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localDataPoolMap.emplace(P60System::PDU2_OUT_EN_PAYLOAD_PCDU_CH1,
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new PoolEntry<uint8_t>({pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH1}));
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new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH0_Q7S]}));
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localDataPoolMap.emplace(
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P60System::PDU2_OUT_EN_PAYLOAD_PCDU_CH1,
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new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8]}));
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localDataPoolMap.emplace(P60System::PDU2_OUT_EN_RW,
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new PoolEntry<uint8_t>({pcduSwitches::INIT_STATE_RW}));
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new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH2_RW_5V]}));
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#if BOARD_TE0720 == 1
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localDataPoolMap.emplace(P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>({1}));
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#else
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localDataPoolMap.emplace(
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P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN,
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new PoolEntry<uint8_t>({pcduSwitches::INIT_STATE_TCS_BOARD_8V_HEATER_IN}));
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new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V]}));
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#endif
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localDataPoolMap.emplace(P60System::PDU2_OUT_EN_SUS_REDUNDANT,
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new PoolEntry<uint8_t>({pcduSwitches::INIT_STATE_SUS_REDUNDANT}));
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localDataPoolMap.emplace(P60System::PDU2_OUT_EN_DEPLOYMENT_MECHANISM,
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new PoolEntry<uint8_t>({pcduSwitches::INIT_STATE_DEPLOYMENT_MECHANISM}));
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localDataPoolMap.emplace(P60System::PDU2_OUT_EN_PAYLOAD_PCDU_CH6,
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new PoolEntry<uint8_t>({pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH6}));
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localDataPoolMap.emplace(P60System::PDU2_OUT_EN_ACS_BOARD_SIDE_B,
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new PoolEntry<uint8_t>({pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_B}));
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localDataPoolMap.emplace(P60System::PDU2_OUT_EN_PAYLOAD_CAMERA,
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new PoolEntry<uint8_t>({pcduSwitches::INIT_STATE_PAYLOAD_CAMERA}));
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localDataPoolMap.emplace(
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P60System::PDU2_OUT_EN_SUS_REDUNDANT,
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new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH4_SUS_REDUNDANT_3V3]}));
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localDataPoolMap.emplace(
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P60System::PDU2_OUT_EN_DEPLOYMENT_MECHANISM,
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new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V]}));
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localDataPoolMap.emplace(
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P60System::PDU2_OUT_EN_PAYLOAD_PCDU_CH6,
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new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8]}));
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localDataPoolMap.emplace(
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P60System::PDU2_OUT_EN_ACS_BOARD_SIDE_B,
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new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3]}));
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localDataPoolMap.emplace(
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P60System::PDU2_OUT_EN_PAYLOAD_CAMERA,
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new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH8_PAYLOAD_CAMERA]}));
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localDataPoolMap.emplace(P60System::PDU2_BOOTCAUSE, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(P60System::PDU2_BOOTCNT, new PoolEntry<uint32_t>({0}));
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@ -496,16 +502,32 @@ ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDat
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new PoolEntry<int16_t>({0}));
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localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_CHANNEL8, new PoolEntry<int16_t>({0}));
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localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_TCS_BOARD_3V3, new PoolEntry<int16_t>({0}));
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localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_SYRLINKS, new PoolEntry<int16_t>({0}));
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localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_STAR_TRACKER, new PoolEntry<int16_t>({0}));
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localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_MGT, new PoolEntry<int16_t>({0}));
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localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_SUS_NOMINAL, new PoolEntry<int16_t>({0}));
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localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_SOLAR_CELL_EXP, new PoolEntry<int16_t>({0}));
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localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_PLOC, new PoolEntry<int16_t>({0}));
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localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_ACS_BOARD_SIDE_A,
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new PoolEntry<int16_t>({0}));
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localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_CHANNEL8, new PoolEntry<int16_t>({0}));
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localDataPoolMap.emplace(
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P60System::PDU1_VOLTAGE_OUT_TCS_BOARD_3V3,
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new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH0_TCS_BOARD_3V3]}));
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localDataPoolMap.emplace(
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P60System::PDU1_VOLTAGE_OUT_SYRLINKS,
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new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH1_SYRLINKS_12V]}));
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localDataPoolMap.emplace(
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P60System::PDU1_VOLTAGE_OUT_STAR_TRACKER,
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new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH2_STAR_TRACKER_5V]}));
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localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_MGT,
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new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH3_MGT_5V]}));
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localDataPoolMap.emplace(
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P60System::PDU1_VOLTAGE_OUT_SUS_NOMINAL,
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new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH4_SUS_NOMINAL_3V3]}));
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localDataPoolMap.emplace(
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P60System::PDU1_VOLTAGE_OUT_SOLAR_CELL_EXP,
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new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH5_SOLAR_CELL_EXP_5V]}));
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localDataPoolMap.emplace(
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P60System::PDU1_VOLTAGE_OUT_PLOC,
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new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH6_PLOC_12V]}));
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localDataPoolMap.emplace(
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P60System::PDU1_VOLTAGE_OUT_ACS_BOARD_SIDE_A,
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new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH7_ACS_A_SIDE_3V3]}));
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localDataPoolMap.emplace(
|
||||
P60System::PDU1_VOLTAGE_OUT_CHANNEL8,
|
||||
new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH8_UNOCCUPIED]}));
|
||||
|
||||
localDataPoolMap.emplace(P60System::PDU1_VCC, new PoolEntry<int16_t>({0}));
|
||||
localDataPoolMap.emplace(P60System::PDU1_VBAT, new PoolEntry<int16_t>({0}));
|
||||
@ -595,3 +617,27 @@ LocalPoolDataSetBase* PCDUHandler::getDataSetHandle(sid_t sid) {
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
void PCDUHandler::checkAndUpdateSwitch(GOMSPACE::Pdu pdu, pcduSwitches::Switches switchIdx,
|
||||
uint8_t setValue) {
|
||||
using namespace pcduSwitches;
|
||||
if (switchStates[switchIdx] != setValue) {
|
||||
#if OBSW_INITIALIZE_SWITCHES == 1
|
||||
// This code initializes the switches to the default init switch states on every reboot.
|
||||
// This is not done by the PCDU unless it is power-cycled.
|
||||
if (((pdu == GOMSPACE::Pdu::PDU1) and firstSwitchInfoPdu1) or
|
||||
((pdu == GOMSPACE::Pdu::PDU2) and firstSwitchInfoPdu2)) {
|
||||
ReturnValue_t state = PowerSwitchIF::SWITCH_OFF;
|
||||
if (INIT_SWITCH_STATES[switchIdx] == ON) {
|
||||
state = PowerSwitchIF::SWITCH_ON;
|
||||
}
|
||||
sendSwitchCommand(switchIdx, state);
|
||||
} else {
|
||||
triggerEvent(power::SWITCH_HAS_CHANGED, setValue, switchIdx);
|
||||
}
|
||||
#else
|
||||
triggerEvent(power::SWITCH_HAS_CHANGED, setValue, switchIdx);
|
||||
#endif
|
||||
}
|
||||
switchStates[switchIdx] = setValue;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user