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Merge remote-tracking branch 'origin/develop' into thermal_controller
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This commit is contained in:
Robin Müller
2023-03-24 21:15:29 +01:00
parent 9c8fc84053 61c26fe53a
commit f71972609c
187 changed files with 2110 additions and 1427 deletions
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10
mission/controller/AcsController.cpp
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@ -1,7 +1,7 @@
#include "AcsController.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <mission/acsDefs.h>
#include <mission/acs/defs.h>
#include <mission/config/torquer.h>
AcsController::AcsController(object_id_t objectId)
@ -289,6 +289,7 @@ void AcsController::performPointingCtrl() {
&susDataProcessed, &mekfData, &acsParameters);
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
mekfInvalidCounter++;
if (not mekfInvalidFlag) {
triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true;
@ -299,15 +300,18 @@ void AcsController::performPointingCtrl() {
if (mekfInvalidCounter > acsParameters.onBoardParams.mekfViolationTimer) {
// Trigger this so STR FDIR can set the device faulty.
EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0);
mekfInvalidCounter = 0;
}
mekfInvalidCounter++;
// commandActuators(0, 0, 0, acsParameters.magnetorquesParameter.torqueDuration,
// cmdSpeedRws[0],
// cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
// acsParameters.rwHandlingParameters.rampTime);
return;
} else {
mekfInvalidFlag = false;
if (mekfInvalidFlag) {
triggerEvent(acs::MEKF_RECOVERY);
mekfInvalidFlag = false;
}
mekfInvalidCounter = 0;
}
uint8_t enableAntiStiction = true;

4
mission/controller/AcsController.h
View File

@ -9,8 +9,8 @@
#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
#include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>
#include <fsfw_hal/devicehandlers/MgmRM3100Handler.h>
#include <mission/devices/devicedefinitions/imtqHelpers.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
#include <mission/acs/imtqHelpers.h>
#include <mission/acs/rwHelpers.h>
#include <mission/devices/devicedefinitions/susMax1227Helpers.h>
#include <mission/trace.h>

49
mission/controller/ThermalController.cpp
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@ -4,16 +4,16 @@
#include <eive/objects.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/thermal/ThermalComponentIF.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
#include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
#include <mission/acs/gyroAdisHelpers.h>
#include <mission/acs/imtqHelpers.h>
#include <mission/acs/rwHelpers.h>
#include <mission/com/syrlinksDefs.h>
#include <mission/devices/devicedefinitions/BpxBatteryDefinitions.h>
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
#include <mission/devices/devicedefinitions/GyroL3GD20Definitions.h>
#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
#include <mission/devices/devicedefinitions/imtqHelpers.h>
#include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
#include <objects/systemObjectList.h>
// Enabling this should trigger a special event which in turn should trigger a system reaction.
@ -628,7 +628,6 @@ void ThermalController::copySus() {
}
void ThermalController::copyDevices() {
lp_var_t<float> tempQ7s = lp_var_t<float>(objects::CORE_CONTROLLER, core::PoolIds::TEMPERATURE);
{
PoolReadGuard pg(&tempQ7s, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() == returnvalue::OK) {
@ -641,8 +640,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int16_t> battTemp1 =
lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_1);
PoolReadGuard pg(&battTemp1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read battery temperature 1" << std::endl;
@ -655,8 +652,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int16_t> battTemp2 =
lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_2);
PoolReadGuard pg(&battTemp2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read battery temperature 2" << std::endl;
@ -669,8 +664,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int16_t> battTemp3 =
lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_3);
PoolReadGuard pg(&battTemp3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read battery temperature 3" << std::endl;
@ -683,8 +676,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int16_t> battTemp4 =
lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_4);
PoolReadGuard pg(&battTemp4, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read battery temperature 4" << std::endl;
@ -697,7 +688,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, rws::TEMPERATURE_C);
PoolReadGuard pg(&tempRw1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read reaction wheel 1 temperature" << std::endl;
@ -710,7 +700,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, rws::TEMPERATURE_C);
PoolReadGuard pg(&tempRw2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read reaction wheel 2 temperature" << std::endl;
@ -723,7 +712,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, rws::TEMPERATURE_C);
PoolReadGuard pg(&tempRw3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read reaction wheel 3 temperature" << std::endl;
@ -736,7 +724,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int32_t> tempRw4 = lp_var_t<int32_t>(objects::RW4, rws::TEMPERATURE_C);
PoolReadGuard pg(&tempRw4, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read reaction wheel 4 temperature" << std::endl;
@ -749,8 +736,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempStartracker =
lp_var_t<float>(objects::STAR_TRACKER, startracker::MCU_TEMPERATURE);
PoolReadGuard pg(&tempStartracker, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read startracker temperature" << std::endl;
@ -763,8 +748,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempSyrlinksPowerAmplifier =
lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER);
PoolReadGuard pg(&tempSyrlinksPowerAmplifier, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read syrlinks power amplifier temperature"
@ -778,8 +761,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempSyrlinksBasebandBoard =
lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
PoolReadGuard pg(&tempSyrlinksBasebandBoard, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read syrlinks baseband board temperature"
@ -793,7 +774,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int16_t> tempMgt = lp_var_t<int16_t>(objects::IMTQ_HANDLER, imtq::MCU_TEMPERATURE);
PoolReadGuard pg(&tempMgt, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read MGT temperature" << std::endl;
@ -806,8 +786,6 @@ void ThermalController::copyDevices() {
}
{
lp_vec_t<float, 3> tempAcu =
lp_vec_t<float, 3>(objects::ACU_HANDLER, ACU::pool::ACU_TEMPERATURES);
PoolReadGuard pg(&tempAcu, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read ACU temperatures" << std::endl;
@ -822,7 +800,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempPdu1 = lp_var_t<float>(objects::PDU1_HANDLER, PDU::pool::PDU_TEMPERATURE);
PoolReadGuard pg(&tempPdu1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read PDU1 temperature" << std::endl;
@ -835,7 +812,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempPdu2 = lp_var_t<float>(objects::PDU2_HANDLER, PDU::pool::PDU_TEMPERATURE);
PoolReadGuard pg(&tempPdu2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read PDU2 temperature" << std::endl;
@ -848,8 +824,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> temp1P60dock =
lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_1);
PoolReadGuard pg(&temp1P60dock, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read P60 dock temperature 1" << std::endl;
@ -862,8 +836,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> temp2P60dock =
lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_2);
PoolReadGuard pg(&temp2P60dock, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read P60 dock temperature 2" << std::endl;
@ -876,8 +848,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempGyro0 =
lp_var_t<float>(objects::GYRO_0_ADIS_HANDLER, adis1650x::TEMPERATURE);
PoolReadGuard pg(&tempGyro0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read gyro 0 temperature" << std::endl;
@ -890,7 +860,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempGyro1 = lp_var_t<float>(objects::GYRO_1_L3G_HANDLER, l3gd20h::TEMPERATURE);
PoolReadGuard pg(&tempGyro1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read gyro 1 temperature" << std::endl;
@ -903,8 +872,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempGyro2 =
lp_var_t<float>(objects::GYRO_2_ADIS_HANDLER, adis1650x::TEMPERATURE);
PoolReadGuard pg(&tempGyro2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read gyro 2 temperature" << std::endl;
@ -917,7 +884,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempGyro3 = lp_var_t<float>(objects::GYRO_3_L3G_HANDLER, l3gd20h::TEMPERATURE);
PoolReadGuard pg(&tempGyro3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read gyro 3 temperature" << std::endl;
@ -930,8 +896,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempMgm0 =
lp_var_t<float>(objects::MGM_0_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
PoolReadGuard pg(&tempMgm0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read MGM 0 temperature" << std::endl;
@ -944,8 +908,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempMgm2 =
lp_var_t<float>(objects::MGM_2_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
PoolReadGuard pg(&tempMgm2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read MGM 2 temperature" << std::endl;
@ -958,7 +920,6 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempAdcPayloadPcdu = lp_var_t<float>(objects::PLPCDU_HANDLER, plpcdu::TEMP);
PoolReadGuard pg(&tempAdcPayloadPcdu, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read payload PCDU ADC temperature" << std::endl;

51
mission/controller/ThermalController.h
View File

@ -1,12 +1,23 @@
#ifndef MISSION_CONTROLLER_THERMALCONTROLLER_H_
#define MISSION_CONTROLLER_THERMALCONTROLLER_H_
#include <bsp_q7s/core/CoreDefinitions.h>
#include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/devicehandlers/DeviceHandlerThermalSet.h>
#include <fsfw/timemanager/Countdown.h>
#include <mission/controller/controllerdefinitions/tcsCtrlDefs.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
#include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
#include <mission/acs/gyroAdisHelpers.h>
#include <mission/acs/imtqHelpers.h>
#include <mission/acs/rwHelpers.h>
#include <mission/com/syrlinksDefs.h>
#include <mission/controller/controllerdefinitions/ThermalControllerDefinitions.h>
#include <mission/devices/devicedefinitions/BpxBatteryDefinitions.h>
#include <mission/devices/devicedefinitions/Max31865Definitions.h>
#include <mission/devices/devicedefinitions/Tmp1075Definitions.h>
#include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
#include <mission/devices/devicedefinitions/susMax1227Helpers.h>
#include <list>
@ -155,6 +166,44 @@ class ThermalController : public ExtendedControllerBase {
susMax1227::SusDataset susSet10;
susMax1227::SusDataset susSet11;
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, BpxBattery::BATT_TEMP_1);
lp_var_t<int16_t> battTemp2 =
lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_2);
lp_var_t<int16_t> battTemp3 =
lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_3);
lp_var_t<int16_t> battTemp4 =
lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_4);
lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, rws::TEMPERATURE_C);
lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, rws::TEMPERATURE_C);
lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, rws::TEMPERATURE_C);
lp_var_t<int32_t> tempRw4 = lp_var_t<int32_t>(objects::RW4, rws::TEMPERATURE_C);
lp_var_t<float> tempStartracker =
lp_var_t<float>(objects::STAR_TRACKER, startracker::MCU_TEMPERATURE);
lp_var_t<float> tempSyrlinksPowerAmplifier =
lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER);
lp_var_t<float> tempSyrlinksBasebandBoard =
lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
lp_var_t<int16_t> tempMgt = lp_var_t<int16_t>(objects::IMTQ_HANDLER, imtq::MCU_TEMPERATURE);
lp_vec_t<float, 3> tempAcu =
lp_vec_t<float, 3>(objects::ACU_HANDLER, ACU::pool::ACU_TEMPERATURES);
lp_var_t<float> tempPdu1 = lp_var_t<float>(objects::PDU1_HANDLER, PDU::pool::PDU_TEMPERATURE);
lp_var_t<float> tempPdu2 = lp_var_t<float>(objects::PDU2_HANDLER, PDU::pool::PDU_TEMPERATURE);
lp_var_t<float> temp1P60dock =
lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_1);
lp_var_t<float> temp2P60dock =
lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_2);
lp_var_t<float> tempGyro0 = lp_var_t<float>(objects::GYRO_0_ADIS_HANDLER, adis1650x::TEMPERATURE);
lp_var_t<float> tempGyro1 = lp_var_t<float>(objects::GYRO_1_L3G_HANDLER, l3gd20h::TEMPERATURE);
lp_var_t<float> tempGyro2 = lp_var_t<float>(objects::GYRO_2_ADIS_HANDLER, adis1650x::TEMPERATURE);
lp_var_t<float> tempGyro3 = lp_var_t<float>(objects::GYRO_3_L3G_HANDLER, l3gd20h::TEMPERATURE);
lp_var_t<float> tempMgm0 =
lp_var_t<float>(objects::MGM_0_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
lp_var_t<float> tempMgm2 =
lp_var_t<float>(objects::MGM_2_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
lp_var_t<float> tempAdcPayloadPcdu = lp_var_t<float>(objects::PLPCDU_HANDLER, plpcdu::TEMP);
// TempLimits
TempLimits acsBoardLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
TempLimits mgtLimits = TempLimits(-40.0, -40.0, 65.0, 70.0, 70.0);

8
mission/controller/acs/SensorValues.h
View File

@ -3,12 +3,12 @@
#include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>
#include <fsfw_hal/devicehandlers/MgmRM3100Handler.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
#include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
#include <mission/acs/gyroAdisHelpers.h>
#include <mission/acs/imtqHelpers.h>
#include <mission/acs/rwHelpers.h>
#include <mission/devices/devicedefinitions/GPSDefinitions.h>
#include <mission/devices/devicedefinitions/GyroL3GD20Definitions.h>
#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
#include <mission/devices/devicedefinitions/imtqHelpers.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
#include <mission/devices/devicedefinitions/susMax1227Helpers.h>
namespace ACS {