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Merge branch 'develop' into imtq_lower_integration_time
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Robin Müller
2023-04-03 15:13:00 +02:00
parent 5dcafa1de0 bc582abcb3
commit fba856a9a9
58 changed files with 1204 additions and 605 deletions
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2
mission/SolarArrayDeploymentHandler.cpp
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@ -17,7 +17,7 @@ static constexpr bool DEBUG_MODE = true;
SolarArrayDeploymentHandler::SolarArrayDeploymentHandler(object_id_t setObjectId_,
GpioIF& gpioInterface,
PowerSwitchIF& mainLineSwitcher_,
pcdu::Switches mainLineSwitch_,
power::Switches mainLineSwitch_,
gpioId_t deplSA1, gpioId_t deplSA2,
SdCardMountedIF& sdcMountedIF)
: SystemObject(setObjectId_),

2
mission/SolarArrayDeploymentHandler.h
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@ -107,7 +107,7 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
* @param burnTimeMs Time duration the power will be applied to the burn wires.
*/
SolarArrayDeploymentHandler(object_id_t setObjectId, GpioIF& gpio,
PowerSwitchIF& mainLineSwitcher, pcdu::Switches mainLineSwitch,
PowerSwitchIF& mainLineSwitcher, power::Switches mainLineSwitch,
gpioId_t deplSA1, gpioId_t deplSA2, SdCardMountedIF& sdcMountedIF);
virtual ~SolarArrayDeploymentHandler();

1084
mission/controller/ThermalController.cpp
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File diff suppressed because it is too large Load Diff

148
mission/controller/ThermalController.h
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@ -13,7 +13,7 @@
#include <mission/acs/str/strHelpers.h>
#include <mission/acs/susMax1227Helpers.h>
#include <mission/com/syrlinksDefs.h>
#include <mission/controller/controllerdefinitions/ThermalControllerDefinitions.h>
#include <mission/controller/tcsDefs.h>
#include <mission/payload/payloadPcduDefinitions.h>
#include <mission/power/bpxBattDefs.h>
#include <mission/power/gsDefs.h>
@ -45,6 +45,48 @@ struct TempLimits {
float nopUpperLimit;
};
struct ThermalState {
uint8_t errorCounter;
bool heating;
uint32_t heaterStartTime;
};
struct HeaterState {
bool switchTransition;
HeaterHandler::SwitchState target;
uint8_t heaterSwitchControlCycles;
};
using HeaterSwitchStates = std::array<HeaterHandler::SwitchState, heater::NUMBER_OF_SWITCHES>;
enum ThermalComponents : uint8_t {
NONE = 0,
ACS_BOARD = 1,
MGT = 2,
RW = 3,
STR = 4,
IF_BOARD = 5,
TCS_BOARD = 6,
OBC = 7,
OBCIF_BOARD = 8,
SBAND_TRANSCEIVER = 9,
PCDUP60_BOARD = 10,
PCDUACU = 11,
PCDUPDU = 12,
PLPCDU_BOARD = 13,
PLOCMISSION_BOARD = 14,
PLOCPROCESSING_BOARD = 15,
DAC = 16,
CAMERA = 17,
DRO = 18,
X8 = 19,
HPA = 20,
TX = 21,
MPA = 22,
SCEX_BOARD = 23,
NUM_ENTRIES
};
class ThermalController : public ExtendedControllerBase {
public:
static const uint16_t INVALID_TEMPERATURE = 999;
@ -55,7 +97,19 @@ class ThermalController : public ExtendedControllerBase {
ReturnValue_t initialize() override;
protected:
void performThermalModuleCtrl();
struct HeaterContext {
public:
HeaterContext(heater::Switchers switchNr, heater::Switchers redundantSwitchNr,
const TempLimits& tempLimit)
: switchNr(switchNr), redSwitchNr(redundantSwitchNr), tempLimit(tempLimit) {}
bool doHeaterHandling = true;
heater::Switchers switchNr;
HeaterHandler::SwitchState switchState = HeaterHandler::SwitchState::OFF;
heater::Switchers redSwitchNr;
const TempLimits& tempLimit;
};
void performThermalModuleCtrl(const HeaterSwitchStates& heaterSwitchStates);
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -67,16 +121,7 @@ class ThermalController : public ExtendedControllerBase {
uint32_t* msToReachTheMode) override;
private:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_CONTROLLER;
static constexpr Event NO_VALID_SENSOR_TEMPERATURE = MAKE_EVENT(0, severity::MEDIUM);
static constexpr Event NO_HEALTHY_HEATER_AVAILABLE = MAKE_EVENT(1, severity::MEDIUM);
static constexpr Event SYRLINKS_OVERHEATING = MAKE_EVENT(2, severity::HIGH);
static constexpr Event PLOC_OVERHEATING = MAKE_EVENT(3, severity::HIGH);
static constexpr Event OBC_OVERHEATING = MAKE_EVENT(4, severity::HIGH);
static constexpr Event HPA_OVERHEATING = MAKE_EVENT(5, severity::HIGH);
static constexpr Event PLPCDU_OVERHEATING = MAKE_EVENT(6, severity::HIGH);
static const uint32_t DELAY = 500;
static const uint32_t INIT_DELAY = 1500;
static const uint32_t TEMP_OFFSET = 5;
@ -96,22 +141,22 @@ class ThermalController : public ExtendedControllerBase {
DeviceHandlerThermalSet imtqThermalSet;
// Temperature Sensors
MAX31865::PrimarySet max31865Set0;
MAX31865::PrimarySet max31865Set1;
MAX31865::PrimarySet max31865Set2;
MAX31865::PrimarySet max31865Set3;
MAX31865::PrimarySet max31865Set4;
MAX31865::PrimarySet max31865Set5;
MAX31865::PrimarySet max31865Set6;
MAX31865::PrimarySet max31865Set7;
MAX31865::PrimarySet max31865Set8;
MAX31865::PrimarySet max31865Set9;
MAX31865::PrimarySet max31865Set10;
MAX31865::PrimarySet max31865Set11;
MAX31865::PrimarySet max31865Set12;
MAX31865::PrimarySet max31865Set13;
MAX31865::PrimarySet max31865Set14;
MAX31865::PrimarySet max31865Set15;
MAX31865::PrimarySet maxSet0PlocHspd;
MAX31865::PrimarySet maxSet1PlocMissionBrd;
MAX31865::PrimarySet maxSet2PlCam;
MAX31865::PrimarySet maxSet3DacHspd;
MAX31865::PrimarySet maxSet4Str;
MAX31865::PrimarySet maxSet5Rw1MxMy;
MAX31865::PrimarySet maxSet6Dro;
MAX31865::PrimarySet maxSet7Scex;
MAX31865::PrimarySet maxSet8X8;
MAX31865::PrimarySet maxSet9Hpa;
MAX31865::PrimarySet maxSet10EbandTx;
MAX31865::PrimarySet maxSet11Mpa;
MAX31865::PrimarySet maxSet31865Set12;
MAX31865::PrimarySet maxSet13PlPcduHspd;
MAX31865::PrimarySet maxSet14TcsBrd;
MAX31865::PrimarySet maxSet15Imtq;
TMP1075::Tmp1075Dataset tmp1075SetTcs0;
TMP1075::Tmp1075Dataset tmp1075SetTcs1;
@ -191,18 +236,38 @@ class ThermalController : public ExtendedControllerBase {
TempLimits dacLimits = TempLimits(-65.0, -40.0, 113.0, 118.0, 150.0);
TempLimits cameraLimits = TempLimits(-40.0, -30.0, 60.0, 65.0, 85.0);
TempLimits droLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
TempLimits x8Limits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
TempLimits hpaLimits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
TempLimits txLimits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
TempLimits mpaLimits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
TempLimits x8Limits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
TempLimits hpaLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
TempLimits txLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
TempLimits mpaLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
TempLimits scexBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 150.0);
double sensorTemp = INVALID_TEMPERATURE;
ThermalComponents thermalComponent = NONE;
bool redSwitchNrInUse = false;
MessageQueueId_t camId = MessageQueueIF::NO_QUEUE;
bool componentAboveCutOffLimit = false;
bool componentAboveUpperLimit = false;
Event overHeatEventToTrigger;
bool eBandTooHotFlag = false;
bool camTooHotOneShotFlag = false;
bool scexTooHotFlag = false;
bool plocTooHotFlag = false;
bool pcduSystemTooHotFlag = false;
bool syrlinksTooHotFlag = false;
bool obcTooHotFlag = false;
bool strTooHotFlag = false;
bool rwTooHotFlag = false;
// Initial delay to make sure all pool variables have been initialized their owners
Countdown initialCountdown = Countdown(DELAY);
bool transitionToOff = false;
uint32_t transitionToOffCycles = 0;
uint32_t cycles = 0;
std::array<ThermalState, 30> thermalStates{};
std::array<HeaterState, 7> heaterStates{};
// Initial delay to make sure all pool variables have been initialized their owners.
// Also, wait for system initialization to complete.
Countdown initialCountdown = Countdown(INIT_DELAY);
#if OBSW_THREAD_TRACING == 1
uint32_t opCounter = 0;
@ -221,14 +286,18 @@ class ThermalController : public ExtendedControllerBase {
static constexpr dur_millis_t MUTEX_TIMEOUT = 50;
void startTransition(Mode_t mode, Submode_t submode) override;
void resetSensorsArray();
void copySensors();
void copySus();
void copyDevices();
void ctrlComponentTemperature(heater::Switchers switchNr, heater::Switchers redSwitchNr,
TempLimits& tempLimit);
void ctrlHeater(heater::Switchers switchNr, heater::Switchers redSwitchNr, TempLimits& tempLimit);
void ctrlComponentTemperature(HeaterContext& heaterContext);
void checkLimitsAndCtrlHeater(HeaterContext& heaterContext);
bool heaterCtrlCheckUpperLimits(HeaterContext& heaterContext);
void heaterCtrlTempTooHighHandler(HeaterContext& heaterContext, const char* whatLimit);
bool chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr);
bool selectAndReadSensorTemp();
@ -255,6 +324,11 @@ class ThermalController : public ExtendedControllerBase {
void ctrlTx();
void ctrlMpa();
void ctrlScexBoard();
void heaterTransitionControl(const HeaterSwitchStates& currentHeaterStates);
void setMode(Mode_t mode);
uint32_t tempFloatToU32() const;
bool tooHotHandler(object_id_t object, bool& oneShotFlag);
void tooHotHandlerWhichClearsOneShotFlag(object_id_t object, bool& oneShotFlag);
};
#endif /* MISSION_CONTROLLER_THERMALCONTROLLER_H_ */

60
mission/controller/controllerdefinitions/ThermalControllerDefinitions.h → mission/controller/tcsDefs.h
View File

@ -5,9 +5,19 @@
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include "devices/heaterSwitcherList.h"
#include "eive/eventSubsystemIds.h"
namespace tcsCtrl {
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_CONTROLLER;
static constexpr Event NO_VALID_SENSOR_TEMPERATURE = MAKE_EVENT(0, severity::MEDIUM);
static constexpr Event NO_HEALTHY_HEATER_AVAILABLE = MAKE_EVENT(1, severity::MEDIUM);
static constexpr Event SYRLINKS_OVERHEATING = MAKE_EVENT(2, severity::HIGH);
static constexpr Event OBC_OVERHEATING = MAKE_EVENT(4, severity::HIGH);
static constexpr Event CAMERA_OVERHEATING = MAKE_EVENT(5, severity::HIGH);
static constexpr Event PCDU_SYSTEM_OVERHEATING = MAKE_EVENT(6, severity::HIGH);
static constexpr Event HEATER_NOT_OFF_FOR_OFF_MODE = MAKE_EVENT(7, severity::MEDIUM);
enum SetId : uint32_t {
SENSOR_TEMPERATURES = 0,
DEVICE_TEMPERATURES = 1,
@ -93,34 +103,33 @@ static const uint8_t ENTRIES_SUS_TEMPERATURE_SET = 12;
*/
class SensorTemperatures : public StaticLocalDataSet<ENTRIES_SENSOR_TEMPERATURE_SET> {
public:
SensorTemperatures(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SENSOR_TEMPERATURES) {}
explicit SensorTemperatures(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, SENSOR_TEMPERATURES) {}
SensorTemperatures(object_id_t objectId)
explicit SensorTemperatures(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, SENSOR_TEMPERATURES)) {}
lp_var_t<float> sensor_ploc_heatspreader =
lp_var_t<float> plocHeatspreader =
lp_var_t<float>(sid.objectId, PoolIds::SENSOR_PLOC_HEATSPREADER, this);
lp_var_t<float> sensor_ploc_missionboard =
lp_var_t<float> plocMissionboard =
lp_var_t<float>(sid.objectId, PoolIds::SENSOR_PLOC_MISSIONBOARD, this);
lp_var_t<float> sensor_4k_camera = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_4K_CAMERA, this);
lp_var_t<float> sensor_dac_heatspreader =
lp_var_t<float> payload4kCamera = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_4K_CAMERA, this);
lp_var_t<float> dacHeatspreader =
lp_var_t<float>(sid.objectId, PoolIds::SENSOR_DAC_HEATSPREADER, this);
lp_var_t<float> sensor_startracker =
lp_var_t<float>(sid.objectId, PoolIds::SENSOR_STARTRACKER, this);
lp_var_t<float> sensor_rw1 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_RW1, this);
lp_var_t<float> sensor_scex = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_SCEX, this);
lp_var_t<float> sensor_tx_modul = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TX_MODUL, this);
lp_var_t<float> startracker = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_STARTRACKER, this);
lp_var_t<float> rw1 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_RW1, this);
lp_var_t<float> scex = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_SCEX, this);
lp_var_t<float> eBandTx = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TX_MODUL, this);
// E-Band module
lp_var_t<float> sensor_dro = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_DRO, this);
lp_var_t<float> sensor_mpa = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_MPA, this);
lp_var_t<float> sensor_x8 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_X8, this);
lp_var_t<float> sensor_hpa = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_HPA, this);
lp_var_t<float> sensor_acu = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_ACU, this);
lp_var_t<float> sensor_plpcdu_heatspreader =
lp_var_t<float> dro = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_DRO, this);
lp_var_t<float> mpa = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_MPA, this);
lp_var_t<float> x8 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_X8, this);
lp_var_t<float> hpa = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_HPA, this);
lp_var_t<float> acu = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_ACU, this);
lp_var_t<float> plpcduHeatspreader =
lp_var_t<float>(sid.objectId, PoolIds::SENSOR_PLPCDU_HEATSPREADER, this);
lp_var_t<float> sensor_tcs_board = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TCS_BOARD, this);
lp_var_t<float> sensor_magnettorquer =
lp_var_t<float>(sid.objectId, PoolIds::SENSOR_MAGNETTORQUER, this);
lp_var_t<float> tcsBoard = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TCS_BOARD, this);
lp_var_t<float> mgt = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_MAGNETTORQUER, this);
lp_var_t<float> tmp1075Tcs0 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TMP1075_TCS_0, this);
lp_var_t<float> tmp1075Tcs1 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TMP1075_TCS_1, this);
lp_var_t<float> tmp1075PlPcdu0 =
@ -137,9 +146,10 @@ class SensorTemperatures : public StaticLocalDataSet<ENTRIES_SENSOR_TEMPERATURE_
*/
class DeviceTemperatures : public StaticLocalDataSet<ENTRIES_DEVICE_TEMPERATURE_SET> {
public:
DeviceTemperatures(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, DEVICE_TEMPERATURES) {}
explicit DeviceTemperatures(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, DEVICE_TEMPERATURES) {}
DeviceTemperatures(object_id_t objectId)
explicit DeviceTemperatures(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, DEVICE_TEMPERATURES)) {}
lp_var_t<float> q7s = lp_var_t<float>(sid.objectId, PoolIds::TEMP_Q7S, this);
@ -178,9 +188,11 @@ class DeviceTemperatures : public StaticLocalDataSet<ENTRIES_DEVICE_TEMPERATURE_
*/
class SusTemperatures : public StaticLocalDataSet<ENTRIES_SUS_TEMPERATURE_SET> {
public:
SusTemperatures(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SUS_TEMPERATURES) {}
explicit SusTemperatures(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, SUS_TEMPERATURES) {}
SusTemperatures(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, SUS_TEMPERATURES)) {}
explicit SusTemperatures(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, SUS_TEMPERATURES)) {}
lp_var_t<float> sus_0_n_loc_xfyfzm_pt_xf =
lp_var_t<float>(sid.objectId, PoolIds::SUS_0_N_LOC_XFYFZM_PT_XF, this);

4
mission/genericFactory.cpp
View File

@ -295,7 +295,7 @@ void ObjectFactory::createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF&
{new HealthDevice(objects::HEATER_7_SYRLINKS, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_7},
}});
heaterHandler = new HeaterHandler(objects::HEATER_HANDLER, &gpioIF, helper, &pwrSwitcher,
pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
power::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
heaterHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
}
@ -365,7 +365,7 @@ void ObjectFactory::createAcsBoardAssy(PowerSwitchIF& pwrSwitcher,
TcsBoardAssembly* ObjectFactory::createTcsBoardAssy(PowerSwitchIF& pwrSwitcher) {
TcsBoardHelper helper(RTD_INFOS);
auto* tcsBoardAss = new TcsBoardAssembly(objects::TCS_BOARD_ASS, &pwrSwitcher,
pcdu::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
power::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
tcsBoardAss->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
return tcsBoardAss;
}

85
mission/power/PcduHandler.cpp
View File

@ -41,9 +41,9 @@ ReturnValue_t PcduHandler::performOperation(uint8_t counter) {
PoolReadGuard pg(&switcherSet.p60Dock5VStack);
if (pg.getReadResult() == returnvalue::OK) {
if (switcherSet.p60Dock5VStack.value != switchState) {
triggerEvent(power::SWITCH_HAS_CHANGED, switchState, pcdu::Switches::P60_DOCK_5V_STACK);
triggerEvent(power::SWITCH_HAS_CHANGED, switchState, power::Switches::P60_DOCK_5V_STACK);
MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
switchStates[pcdu::P60_DOCK_5V_STACK] = switchState;
switchStates[power::P60_DOCK_5V_STACK] = switchState;
}
switcherSet.p60Dock5VStack.setValid(true);
switcherSet.p60Dock5VStack.value = switchState;
@ -103,7 +103,7 @@ ReturnValue_t PcduHandler::initialize() {
void PcduHandler::initializeSwitchStates() {
using namespace pcdu;
try {
for (uint8_t idx = 0; idx < NUMBER_OF_SWITCHES; idx++) {
for (uint8_t idx = 0; idx < power::NUMBER_OF_SWITCHES; idx++) {
if (idx < PDU::CHANNELS_LEN) {
switchStates[idx] = INIT_SWITCHES_PDU1.at(idx);
} else if (idx < PDU::CHANNELS_LEN * 2) {
@ -181,22 +181,23 @@ void PcduHandler::updatePdu2SwitchStates() {
}
switcherSet.pdu2Switches.setValid(true);
MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH0_Q7S, pdu2CoreHk.outputEnables[Channels::Q7S]);
checkAndUpdatePduSwitch(pdu, power::PDU2_CH0_Q7S, pdu2CoreHk.outputEnables[Channels::Q7S]);
checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
checkAndUpdatePduSwitch(pdu, power::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
pdu2CoreHk.outputEnables[Channels::PAYLOAD_PCDU_CH1]);
checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH2_RW_5V, pdu2CoreHk.outputEnables[Channels::RW]);
checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V,
checkAndUpdatePduSwitch(pdu, power::Switches::PDU2_CH2_RW_5V,
pdu2CoreHk.outputEnables[Channels::RW]);
checkAndUpdatePduSwitch(pdu, power::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V,
pdu2CoreHk.outputEnables[Channels::TCS_HEATER_IN]);
checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH4_SUS_REDUNDANT_3V3,
checkAndUpdatePduSwitch(pdu, power::Switches::PDU2_CH4_SUS_REDUNDANT_3V3,
pdu2CoreHk.outputEnables[Channels::SUS_REDUNDANT]);
checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
checkAndUpdatePduSwitch(pdu, power::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
pdu2CoreHk.outputEnables[Channels::DEPY_MECHANISM]);
checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8,
checkAndUpdatePduSwitch(pdu, power::Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8,
pdu2CoreHk.outputEnables[Channels::PAYLOAD_PCDU_CH6]);
checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3,
checkAndUpdatePduSwitch(pdu, power::Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3,
pdu2CoreHk.outputEnables[Channels::ACS_B_SIDE]);
checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH8_PAYLOAD_CAMERA,
checkAndUpdatePduSwitch(pdu, power::Switches::PDU2_CH8_PAYLOAD_CAMERA,
pdu2CoreHk.outputEnables[Channels::PAYLOAD_CAMERA]);
if (firstSwitchInfoPdu2) {
firstSwitchInfoPdu2 = false;
@ -218,23 +219,23 @@ void PcduHandler::updatePdu1SwitchStates() {
}
switcherSet.pdu1Switches.setValid(true);
MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH0_TCS_BOARD_3V3,
checkAndUpdatePduSwitch(pdu, power::Switches::PDU1_CH0_TCS_BOARD_3V3,
pdu1CoreHk.outputEnables[Channels::TCS_BOARD_3V3]);
checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH1_SYRLINKS_12V,
checkAndUpdatePduSwitch(pdu, power::Switches::PDU1_CH1_SYRLINKS_12V,
pdu1CoreHk.outputEnables[Channels::SYRLINKS]);
checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH2_STAR_TRACKER_5V,
checkAndUpdatePduSwitch(pdu, power::Switches::PDU1_CH2_STAR_TRACKER_5V,
pdu1CoreHk.outputEnables[Channels::STR]);
checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH3_MGT_5V,
checkAndUpdatePduSwitch(pdu, power::Switches::PDU1_CH3_MGT_5V,
pdu1CoreHk.outputEnables[Channels::MGT]);
checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH4_SUS_NOMINAL_3V3,
checkAndUpdatePduSwitch(pdu, power::Switches::PDU1_CH4_SUS_NOMINAL_3V3,
pdu1CoreHk.outputEnables[Channels::SUS_NOMINAL]);
checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH5_SOLAR_CELL_EXP_5V,
checkAndUpdatePduSwitch(pdu, power::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V,
pdu1CoreHk.outputEnables[Channels::SOL_CELL_EXPERIMENT]);
checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH6_PLOC_12V,
checkAndUpdatePduSwitch(pdu, power::Switches::PDU1_CH6_PLOC_12V,
pdu1CoreHk.outputEnables[Channels::PLOC]);
checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH7_ACS_A_SIDE_3V3,
checkAndUpdatePduSwitch(pdu, power::Switches::PDU1_CH7_ACS_A_SIDE_3V3,
pdu1CoreHk.outputEnables[Channels::ACS_A_SIDE]);
checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH8_UNOCCUPIED,
checkAndUpdatePduSwitch(pdu, power::Switches::PDU1_CH8_UNOCCUPIED,
pdu1CoreHk.outputEnables[Channels::UNUSED]);
if (firstSwitchInfoPdu1) {
firstSwitchInfoPdu1 = false;
@ -255,99 +256,99 @@ ReturnValue_t PcduHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO
GomspaceDeviceHandler* module = nullptr;
switch (switchNr) {
case pcdu::PDU1_CH0_TCS_BOARD_3V3: {
case power::PDU1_CH0_TCS_BOARD_3V3: {
memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_TCS_BOARD_3V3;
module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
break;
}
case pcdu::PDU1_CH1_SYRLINKS_12V: {
case power::PDU1_CH1_SYRLINKS_12V: {
memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_SYRLINKS;
module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
break;
}
case pcdu::PDU1_CH2_STAR_TRACKER_5V: {
case power::PDU1_CH2_STAR_TRACKER_5V: {
memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_STAR_TRACKER;
module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
break;
}
case pcdu::PDU1_CH3_MGT_5V: {
case power::PDU1_CH3_MGT_5V: {
memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_MGT;
module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
break;
}
case pcdu::PDU1_CH4_SUS_NOMINAL_3V3: {
case power::PDU1_CH4_SUS_NOMINAL_3V3: {
memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_SUS_NOMINAL;
module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
break;
}
case pcdu::PDU1_CH5_SOLAR_CELL_EXP_5V: {
case power::PDU1_CH5_SOLAR_CELL_EXP_5V: {
memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_SOLAR_CELL_EXP;
module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
break;
}
case pcdu::PDU1_CH6_PLOC_12V: {
case power::PDU1_CH6_PLOC_12V: {
memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_PLOC;
module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
break;
}
case pcdu::PDU1_CH7_ACS_A_SIDE_3V3: {
case power::PDU1_CH7_ACS_A_SIDE_3V3: {
memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_A;
module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
break;
}
case pcdu::PDU1_CH8_UNOCCUPIED: {
case power::PDU1_CH8_UNOCCUPIED: {
memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_CHANNEL8;
module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
break;
}
// This is a dangerous command. Reject/Igore it for now
case pcdu::PDU2_CH0_Q7S: {
case power::PDU2_CH0_Q7S: {
return returnvalue::FAILED;
// memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_Q7S;
// pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
// break;
}
case pcdu::PDU2_CH1_PL_PCDU_BATT_0_14V8: {
case power::PDU2_CH1_PL_PCDU_BATT_0_14V8: {
memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH1;
module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
break;
}
case pcdu::PDU2_CH2_RW_5V: {
case power::PDU2_CH2_RW_5V: {
memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_RW;
module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
break;
}
case pcdu::PDU2_CH3_TCS_BOARD_HEATER_IN_8V: {
case power::PDU2_CH3_TCS_BOARD_HEATER_IN_8V: {
memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN;
module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
break;
}
case pcdu::PDU2_CH4_SUS_REDUNDANT_3V3: {
case power::PDU2_CH4_SUS_REDUNDANT_3V3: {
memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_SUS_REDUNDANT;
module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
break;
}
case pcdu::PDU2_CH5_DEPLOYMENT_MECHANISM_8V: {
case power::PDU2_CH5_DEPLOYMENT_MECHANISM_8V: {
memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM;
module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
break;
}
case pcdu::PDU2_CH6_PL_PCDU_BATT_1_14V8: {
case power::PDU2_CH6_PL_PCDU_BATT_1_14V8: {
memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6;
module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
break;
}
case pcdu::PDU2_CH7_ACS_BOARD_SIDE_B_3V3: {
case power::PDU2_CH7_ACS_BOARD_SIDE_B_3V3: {
memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_B;
module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
break;
}
case pcdu::PDU2_CH8_PAYLOAD_CAMERA: {
case power::PDU2_CH8_PAYLOAD_CAMERA: {
memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA;
module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
break;
}
case pcdu::P60_DOCK_5V_STACK: {
case power::P60_DOCK_5V_STACK: {
memoryAddress = P60Dock::CONFIG_ADDRESS_OUT_EN_5V_STACK;
module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::P60DOCK_HANDLER);
break;
@ -399,7 +400,7 @@ ReturnValue_t PcduHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO
ReturnValue_t PcduHandler::sendFuseOnCommand(uint8_t fuseNr) { return returnvalue::OK; }
ReturnValue_t PcduHandler::getSwitchState(uint8_t switchNr) const {
if (switchNr >= pcdu::NUMBER_OF_SWITCHES) {
if (switchNr >= power::NUMBER_OF_SWITCHES) {
sif::debug << "PCDUHandler::getSwitchState: Invalid switch number" << std::endl;
return returnvalue::FAILED;
}
@ -459,7 +460,7 @@ LocalPoolDataSetBase* PcduHandler::getDataSetHandle(sid_t sid) {
}
}
void PcduHandler::checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx,
void PcduHandler::checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, power::Switches switchIdx,
uint8_t setValue) {
using namespace pcdu;
if (switchStates[switchIdx] != setValue) {

4
mission/power/PcduHandler.h
View File

@ -88,7 +88,7 @@ class PcduHandler : public PowerSwitchIF,
CCSDSTime::CDS_short timeStampPdu1HkDataset;
uint8_t SWITCH_STATE_UNKNOWN = 2;
uint8_t switchStates[pcdu::NUMBER_OF_SWITCHES];
uint8_t switchStates[power::NUMBER_OF_SWITCHES];
/**
* Pointer to the IPCStore.
* This caches the pointer received from the objectManager in the constructor.
@ -137,7 +137,7 @@ class PcduHandler : public PowerSwitchIF,
*/
void updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset,
CCSDSTime::CDS_short* datasetTimeStamp);
void checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx, uint8_t setValue);
void checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, power::Switches switchIdx, uint8_t setValue);
};
#endif /* MISSION_POWER_PCDUHANDLER_H_ */

27
mission/power/defs.h
View File

@ -3,11 +3,38 @@
#include <fsfw/events/Event.h>
#include <fsfw/modes/ModeMessage.h>
#include <fsfw/power/definitions.h>
#include "eive/eventSubsystemIds.h"
namespace power {
/* Switches are uint8_t datatype and go from 0 to 255 */
enum Switches : power::Switch_t {
PDU1_CH0_TCS_BOARD_3V3,
PDU1_CH1_SYRLINKS_12V,
PDU1_CH2_STAR_TRACKER_5V,
PDU1_CH3_MGT_5V,
PDU1_CH4_SUS_NOMINAL_3V3,
PDU1_CH5_SOLAR_CELL_EXP_5V,
PDU1_CH6_PLOC_12V,
PDU1_CH7_ACS_A_SIDE_3V3,
PDU1_CH8_UNOCCUPIED,
PDU2_CH0_Q7S,
PDU2_CH1_PL_PCDU_BATT_0_14V8,
PDU2_CH2_RW_5V,
PDU2_CH3_TCS_BOARD_HEATER_IN_8V,
PDU2_CH4_SUS_REDUNDANT_3V3,
PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
PDU2_CH6_PL_PCDU_BATT_1_14V8,
PDU2_CH7_ACS_BOARD_SIDE_B_3V3,
PDU2_CH8_PAYLOAD_CAMERA,
P60_DOCK_5V_STACK,
NUMBER_OF_SWITCHES
};
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_HANDLER;
//! [EXPORT] : [COMMENT] Indicates that a FSFW object requested setting a switch
//! P1: 1 if on was requested, 0 for off | P2: Switch Index

29
mission/power/gsDefs.h
View File

@ -11,6 +11,7 @@
#include "devices/powerSwitcherList.h"
#include "fsfw/platform.h"
#include "mission/power/defs.h"
namespace GOMSPACE {
@ -715,32 +716,6 @@ namespace pcdu {
enum PoolIds : uint32_t { PDU1_SWITCHES, PDU2_SWITCHES, P60DOCK_SWITCHES };
/* Switches are uint8_t datatype and go from 0 to 255 */
enum Switches : power::Switch_t {
PDU1_CH0_TCS_BOARD_3V3,
PDU1_CH1_SYRLINKS_12V,
PDU1_CH2_STAR_TRACKER_5V,
PDU1_CH3_MGT_5V,
PDU1_CH4_SUS_NOMINAL_3V3,
PDU1_CH5_SOLAR_CELL_EXP_5V,
PDU1_CH6_PLOC_12V,
PDU1_CH7_ACS_A_SIDE_3V3,
PDU1_CH8_UNOCCUPIED,
PDU2_CH0_Q7S,
PDU2_CH1_PL_PCDU_BATT_0_14V8,
PDU2_CH2_RW_5V,
PDU2_CH3_TCS_BOARD_HEATER_IN_8V,
PDU2_CH4_SUS_REDUNDANT_3V3,
PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
PDU2_CH6_PL_PCDU_BATT_1_14V8,
PDU2_CH7_ACS_BOARD_SIDE_B_3V3,
PDU2_CH8_PAYLOAD_CAMERA,
P60_DOCK_5V_STACK,
NUMBER_OF_SWITCHES
};
static const uint8_t ON = 1;
static const uint8_t OFF = 0;
@ -760,7 +735,7 @@ const std::array<uint8_t, PDU::CHANNELS_LEN> INIT_SWITCHES_PDU2 = {ON, OFF, OFF
static constexpr uint32_t SWITCHER_SET_ID = 0;
class SwitcherStates : public StaticLocalDataSet<NUMBER_OF_SWITCHES> {
class SwitcherStates : public StaticLocalDataSet<power::NUMBER_OF_SWITCHES> {
public:
SwitcherStates(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SWITCHER_SET_ID) {}

4
mission/system/acs/AcsBoardAssembly.h
View File

@ -113,8 +113,8 @@ class AcsBoardAssembly : public DualLaneAssemblyBase {
void selectGpsInDualMode(duallane::Submodes side);
private:
static constexpr pcdu::Switches SWITCH_A = pcdu::Switches::PDU1_CH7_ACS_A_SIDE_3V3;
static constexpr pcdu::Switches SWITCH_B = pcdu::Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3;
static constexpr power::Switches SWITCH_A = power::Switches::PDU1_CH7_ACS_A_SIDE_3V3;
static constexpr power::Switches SWITCH_B = power::Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3;
AcsBoardHelper helper;
GpioIF* gpioIF = nullptr;

2
mission/system/acs/DualLaneAssemblyBase.cpp
View File

@ -5,7 +5,7 @@
#include "OBSWConfig.h"
DualLaneAssemblyBase::DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
pcdu::Switches switch1, pcdu::Switches switch2,
power::Switches switch1, power::Switches switch2,
Event pwrTimeoutEvent, Event sideSwitchNotAllowedEvent,
Event transitionOtherSideFailedEvent)
: AssemblyBase(objectId, 20),

4
mission/system/acs/DualLaneAssemblyBase.h
View File

@ -18,8 +18,8 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
static constexpr UniqueEventId_t POWER_STATE_MACHINE_TIMEOUT_ID = 2;
static constexpr UniqueEventId_t SIDE_SWITCH_TRANSITION_NOT_ALLOWED_ID = 3;
DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher, pcdu::Switches switch1,
pcdu::Switches switch2, Event pwrSwitchTimeoutEvent,
DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switches switch1,
power::Switches switch2, Event pwrSwitchTimeoutEvent,
Event sideSwitchNotAllowedEvent, Event transitionOtherSideFailedEvent);
protected:

4
mission/system/acs/SusAssembly.h
View File

@ -44,8 +44,8 @@ class SusAssembly : public DualLaneAssemblyBase {
private:
enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING } state = States::IDLE;
static constexpr pcdu::Switches SWITCH_NOM = pcdu::Switches::PDU1_CH4_SUS_NOMINAL_3V3;
static constexpr pcdu::Switches SWITCH_RED = pcdu::Switches::PDU2_CH4_SUS_REDUNDANT_3V3;
static constexpr power::Switches SWITCH_NOM = power::Switches::PDU1_CH4_SUS_NOMINAL_3V3;
static constexpr power::Switches SWITCH_RED = power::Switches::PDU2_CH4_SUS_REDUNDANT_3V3;
FixedArrayList<ModeListEntry, NUMBER_SUN_SENSORS> modeTable;
SusAssHelper helper;

35
mission/system/com/ComSubsystem.cpp
View File

@ -1,5 +1,6 @@
#include "ComSubsystem.h"
#include <fsfw/events/Event.h>
#include <fsfw/events/EventManagerIF.h>
#include <fsfw/ipc/MutexGuard.h>
#include <fsfw/ipc/QueueFactory.h>
@ -7,6 +8,7 @@
#include <linux/ipcore/PdecHandler.h>
#include <mission/com/defs.h>
#include <mission/config/comCfg.h>
#include <mission/controller/tcsDefs.h>
#include <utility>
@ -21,7 +23,13 @@ ComSubsystem::ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequence
}
void ComSubsystem::performChildOperation() {
Subsystem::performChildOperation();
readEventQueue();
if (performRecoveryToRxOnly and not isInTransition) {
startRxOnlyRecovery(true);
// To avoid immediately enabling TX after falling back.
rememberBitLock = false;
}
// Execute default rate sequence after transition has been completed
if (rememberBitLock and not isInTransition) {
startRxAndTxLowRateSeq();
@ -30,8 +38,6 @@ void ComSubsystem::performChildOperation() {
if (countdownActive) {
checkTransmitterCountdown();
}
Subsystem::performChildOperation();
}
MessageQueueId_t ComSubsystem::getCommandQueue() const { return Subsystem::getCommandQueue(); }
@ -93,7 +99,11 @@ ReturnValue_t ComSubsystem::initialize() {
"listener"
<< std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = manager->subscribeToEvent(eventQueue->getId(),
event::getEventId(tcsCtrl::SYRLINKS_OVERHEATING));
if (result != returnvalue::OK) {
return ObjectManager::CHILD_INIT_FAILED;
}
result = manager->subscribeToEventRange(eventQueue->getId(),
event::getEventId(PdecHandler::CARRIER_LOCK),
@ -144,6 +154,19 @@ void ComSubsystem::readEventQueue() {
void ComSubsystem::handleEventMessage(EventMessage *eventMessage) {
Event event = eventMessage->getEvent();
switch (event) {
case tcsCtrl::SYRLINKS_OVERHEATING: {
// This event overrides the bit lock.
rememberBitLock = false;
if (mode == com::RX_ONLY) {
return;
}
if (isInTransition) {
performRecoveryToRxOnly = true;
return;
}
startRxOnlyRecovery(true);
break;
}
case PdecHandler::BIT_LOCK_PDEC: {
handleBitLockEvent();
break;
@ -191,6 +214,12 @@ void ComSubsystem::checkTransmitterCountdown() {
}
}
void ComSubsystem::startRxOnlyRecovery(bool forced) {
modeHelper.setForced(forced);
startTransition(com::RX_ONLY, 0);
performRecoveryToRxOnly = false;
}
bool ComSubsystem::isTxMode(Mode_t mode) {
if ((mode == com::Submode::RX_AND_TX_DEFAULT_DATARATE) ||
(mode == com::Submode::RX_AND_TX_LOW_DATARATE) ||

2
mission/system/com/ComSubsystem.h
View File

@ -57,6 +57,7 @@ class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
* @brief Enables transmitter in low rate mode
*/
void startRxAndTxLowRateSeq();
void startRxOnlyRecovery(bool forced);
/**
* @brief Returns true if mode is a mode where the transmitter is on
@ -73,6 +74,7 @@ class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
MessageQueueIF *eventQueue = nullptr;
bool enableTxWhenCarrierLock = false;
bool performRecoveryToRxOnly = false;
// Countdown will be started as soon as the transmitter was enabled
Countdown transmitterCountdown;

5
mission/system/objects/CamSwitcher.cpp
View File

@ -3,3 +3,8 @@
CamSwitcher::CamSwitcher(object_id_t objectId, PowerSwitchIF &pwrSwitcher,
power::Switch_t pwrSwitch)
: PowerSwitcherComponent(objectId, &pwrSwitcher, pwrSwitch) {}
void CamSwitcher::performFaultyOperation() {
if (not switcher.active() and switcher.getState() != PowerSwitcher::SWITCH_IS_OFF) {
switcher.turnOff();
}
}

1
mission/system/objects/CamSwitcher.h
View File

@ -8,6 +8,7 @@ class CamSwitcher : public PowerSwitcherComponent {
CamSwitcher(object_id_t objectId, PowerSwitchIF &pwrSwitcher, power::Switch_t pwrSwitch);
private:
void performFaultyOperation() override;
};
#endif /* MISSION_SYSTEM_OBJECTS_CAMSWITCHER_H_ */

48
mission/system/objects/EiveSystem.cpp
View File

@ -4,11 +4,15 @@
#include <fsfw/events/EventManager.h>
#include <fsfw/ipc/QueueFactory.h>
#include <mission/acs/defs.h>
#include <mission/com/defs.h>
#include <mission/controller/tcsDefs.h>
#include "mission/sysDefs.h"
EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables)
: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {
auto mqArgs = MqArgs(getObjectId(), static_cast<void*>(this));
auto mqArgs = MqArgs(SubsystemBase::getObjectId(), static_cast<void*>(this));
eventQueue =
QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
}
@ -16,15 +20,15 @@ EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
void EiveSystem::announceMode(bool recursive) {
const char* modeStr = "UNKNOWN";
switch (mode) {
case (acs::AcsMode::OFF): {
modeStr = "OFF";
case (satsystem::Mode::BOOT): {
modeStr = "OFF/BOOT";
break;
}
case (acs::AcsMode::SAFE): {
case (satsystem::Mode::SAFE): {
modeStr = "SAFE";
break;
}
case (acs::AcsMode::PTG_IDLE): {
case (satsystem::Mode::PTG_IDLE): {
modeStr = "POINTING IDLE";
break;
}
@ -46,12 +50,16 @@ void EiveSystem::announceMode(bool recursive) {
}
void EiveSystem::performChildOperation() {
Subsystem::performChildOperation();
handleEventMessages();
return Subsystem::performChildOperation();
if (not isInTransition and performSafeRecovery) {
commandSelfToSafe();
performSafeRecovery = false;
}
}
ReturnValue_t EiveSystem::initialize() {
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
auto* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
if (manager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "AcsSubsystem::initialize: Invalid event manager" << std::endl;
@ -67,21 +75,37 @@ ReturnValue_t EiveSystem::initialize() {
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
manager->subscribeToEvent(eventQueue->getId(),
event::getEventId(tcsCtrl::PCDU_SYSTEM_OVERHEATING));
manager->subscribeToEvent(eventQueue->getId(), event::getEventId(tcsCtrl::OBC_OVERHEATING));
return Subsystem::initialize();
}
void EiveSystem::handleEventMessages() {
EventMessage event;
for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
result = eventQueue->receiveMessage(&event)) {
for (ReturnValue_t status = eventQueue->receiveMessage(&event); status == returnvalue::OK;
status = eventQueue->receiveMessage(&event)) {
switch (event.getMessageId()) {
case EventMessage::EVENT_MESSAGE:
switch (event.getEvent()) {
case tcsCtrl::OBC_OVERHEATING:
case tcsCtrl::PCDU_SYSTEM_OVERHEATING: {
if (isInTransition) {
performSafeRecovery = true;
return;
}
commandSelfToSafe();
break;
}
}
break;
default:
sif::debug << "AcsSubsystem::performChildOperation: Did not subscribe "
"to this event message"
<< std::endl;
sif::debug << "EiveSystem: Did not subscribe to event " << event.getEvent() << std::endl;
break;
}
}
}
void EiveSystem::commandSelfToSafe() { startTransition(satsystem::Mode::SAFE, 0); }

6
mission/system/objects/EiveSystem.h
View File

@ -8,12 +8,14 @@ class EiveSystem : public Subsystem {
EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
private:
MessageQueueIF* eventQueue = nullptr;
bool performSafeRecovery = false;
ReturnValue_t initialize() override;
void performChildOperation() override;
void announceMode(bool recursive) override;
void handleEventMessages();
MessageQueueIF* eventQueue = nullptr;
void commandSelfToSafe();
};
#endif /* MISSION_SYSTEM_EIVESYSTEM_H_ */

2
mission/system/objects/Stack5VHandler.h
View File

@ -31,7 +31,7 @@ class Stack5VHandler {
HandlerState handlerState = HandlerState::IDLE;
bool radSensorIsOn = false;
bool plPcduIsOn = false;
pcdu::Switches stackSwitch = pcdu::Switches::P60_DOCK_5V_STACK;
power::Switches stackSwitch = power::Switches::P60_DOCK_5V_STACK;
bool updateInternalStates();
};

15
mission/tcs/HeaterHandler.cpp
View File

@ -38,7 +38,7 @@ HeaterHandler::HeaterHandler(object_id_t setObjectId_, GpioIF* gpioInterface_, H
cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
HeaterHandler::~HeaterHandler() {}
HeaterHandler::~HeaterHandler() = default;
ReturnValue_t HeaterHandler::performOperation(uint8_t operationCode) {
try {
@ -259,7 +259,7 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
// Check state of main line switch
ReturnValue_t mainSwitchState = mainLineSwitcher->getSwitchState(mainLineSwitch);
if (mainSwitchState == PowerSwitchIF::SWITCH_ON) {
if (checkSwitchState(heaterIdx) == SwitchState::OFF) {
if (getSwitchState(heaterIdx) == SwitchState::OFF) {
gpioId_t gpioId = heater.gpioId;
result = gpioInterface->pullHigh(gpioId);
if (result != returnvalue::OK) {
@ -292,12 +292,13 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
} else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF && heater.waitMainSwitchOn) {
// Just waiting for the main switch being set on
return;
} else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF) {
} else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF or
mainSwitchState == PowerSwitchIF::SWITCH_UNKNOWN) {
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_ON);
heater.mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
heater.waitMainSwitchOn = true;
} else {
sif::debug << "HeaterHandler::handleSwitchHandling: Failed to get state of"
sif::debug << "HeaterHandler::handleSwitchOnCommand: Failed to get state of"
<< " main line switch" << std::endl;
if (heater.replyQueue != commandQueue->getId()) {
actionHelper.finish(false, heater.replyQueue, heater.action, mainSwitchState);
@ -310,7 +311,7 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
ReturnValue_t result = returnvalue::OK;
auto& heater = heaterVec.at(heaterIdx);
// Check whether switch is already off
if (checkSwitchState(heaterIdx)) {
if (getSwitchState(heaterIdx)) {
gpioId_t gpioId = heater.gpioId;
result = gpioInterface->pullLow(gpioId);
if (result != returnvalue::OK) {
@ -344,7 +345,7 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
heater.cmdActive = false;
}
HeaterHandler::SwitchState HeaterHandler::checkSwitchState(heater::Switchers switchNr) const {
HeaterHandler::SwitchState HeaterHandler::getSwitchState(heater::Switchers switchNr) const {
MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
return heaterVec.at(switchNr).switchState;
}
@ -428,7 +429,7 @@ ReturnValue_t HeaterHandler::getSwitchState(uint8_t switchNr) const {
if (switchNr > 7) {
return returnvalue::FAILED;
}
if (checkSwitchState(static_cast<heater::Switchers>(switchNr)) == SwitchState::ON) {
if (getSwitchState(static_cast<heater::Switchers>(switchNr)) == SwitchState::ON) {
return PowerSwitchIF::SWITCH_ON;
}
return PowerSwitchIF::SWITCH_OFF;

2
mission/tcs/HeaterHandler.h
View File

@ -174,7 +174,7 @@ class HeaterHandler : public ExecutableObjectIF,
* @brief Returns the state of a switch (ON - true, or OFF - false).
* @param switchNr The number of the switch to check.
*/
SwitchState checkSwitchState(heater::Switchers switchNr) const;
SwitchState getSwitchState(heater::Switchers switchNr) const;
/**
* @brief This function runs commands waiting for execution.