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fixes for PCDU code and switcher list handling
This commit is contained in:
Robin Müller 2022-03-03 15:37:36 +01:00
parent 1586c3e69a
commit ff0da65662
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GPG Key ID: 11D4952C8CCEF814
11 changed files with 418 additions and 309 deletions
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57
bsp_hosted/fsfwconfig/devices/powerSwitcherList.h
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@ -1,57 +0,0 @@
#ifndef FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
#define FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
#include <OBSWConfig.h>
namespace pcduSwitches {
/* Switches are uint8_t datatype and go from 0 to 255 */
enum SwitcherList {
Q7S,
PAYLOAD_PCDU_CH1,
RW,
TCS_BOARD_8V_HEATER_IN,
SUS_REDUNDANT,
DEPLOYMENT_MECHANISM,
PAYLOAD_PCDU_CH6,
ACS_BOARD_SIDE_B,
PAYLOAD_CAMERA,
TCS_BOARD_3V3,
SYRLINKS,
STAR_TRACKER,
MGT,
SUS_NOMINAL,
SOLAR_CELL_EXP,
PLOC,
ACS_BOARD_SIDE_A,
NUMBER_OF_SWITCHES
};
static const uint8_t ON = 1;
static const uint8_t OFF = 0;
/* Output states after reboot of the PDUs */
static const uint8_t INIT_STATE_Q7S = ON;
static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
static const uint8_t INIT_STATE_RW = OFF;
#if BOARD_TE0720 == 1
/* Because the TE0720 is not connected to the PCDU, this switch is always on */
static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
#else
static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = OFF;
#endif
static const uint8_t INIT_STATE_SUS_REDUNDANT = OFF;
static const uint8_t INIT_STATE_DEPLOYMENT_MECHANISM = OFF;
static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH6 = OFF;
static const uint8_t INIT_STATE_ACS_BOARD_SIDE_B = OFF;
static const uint8_t INIT_STATE_PAYLOAD_CAMERA = OFF;
static const uint8_t INIT_STATE_TCS_BOARD_3V3 = OFF;
static const uint8_t INIT_STATE_SYRLINKS = OFF;
static const uint8_t INIT_STATE_STAR_TRACKER = OFF;
static const uint8_t INIT_STATE_MGT = OFF;
static const uint8_t INIT_STATE_SUS_NOMINAL = OFF;
static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF;
static const uint8_t INIT_STATE_PLOC = OFF;
static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF;
} // namespace pcduSwitches
#endif /* FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ */

6
bsp_q7s/core/ObjectFactory.cpp
View File

@ -737,7 +737,7 @@ void ObjectFactory::createHeaterComponents() {
heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN);
objects::PCDU_HANDLER, pcduSwitches::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
}
void ObjectFactory::createSolarArrayDeploymentComponents() {
@ -757,8 +757,8 @@ void ObjectFactory::createSolarArrayDeploymentComponents() {
// TODO: Find out burn time. For now set to 1000 ms.
new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
solarArrayDeplCookie, objects::PCDU_HANDLER,
pcduSwitches::DEPLOYMENT_MECHANISM, gpioIds::DEPLSA1,
gpioIds::DEPLSA2, 1000);
pcduSwitches::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
}
void ObjectFactory::createSyrlinksComponents() {

88
common/config/devices/powerSwitcherList.h
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@ -6,54 +6,58 @@
#include <cstdint>
namespace pcduSwitches {
/* Switches are uint8_t datatype and go from 0 to 255 */
enum SwitcherList: uint8_t {
Q7S,
PAYLOAD_PCDU_CH1,
RW,
TCS_BOARD_8V_HEATER_IN,
SUS_REDUNDANT,
DEPLOYMENT_MECHANISM,
PAYLOAD_PCDU_CH6,
ACS_BOARD_SIDE_B,
PAYLOAD_CAMERA,
TCS_BOARD_3V3,
SYRLINKS,
STAR_TRACKER,
MGT,
SUS_NOMINAL,
SOLAR_CELL_EXP,
PLOC,
ACS_BOARD_SIDE_A,
/* Switches are uint8_t datatype and go from 0 to 255 */
enum Switches: uint8_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,
NUMBER_OF_SWITCHES
};
};
static const uint8_t ON = 1;
static const uint8_t OFF = 0;
static const uint8_t ON = 1;
static const uint8_t OFF = 0;
/* Output states after reboot of the PDUs */
static const uint8_t INIT_STATE_Q7S = ON;
static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
static const uint8_t INIT_STATE_RW = OFF;
/* Output states after reboot of the PDUs */
#if BOARD_TE0720 == 1
/* Because the TE0720 is not connected to the PCDU, this switch is always on */
static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
/* Because the TE0720 is not connected to the PCDU, this switch is always on */
static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
#else
static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = OFF;
static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = OFF;
#endif
static const uint8_t INIT_STATE_SUS_REDUNDANT = OFF;
static const uint8_t INIT_STATE_DEPLOYMENT_MECHANISM = OFF;
static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH6 = OFF;
static const uint8_t INIT_STATE_ACS_BOARD_SIDE_B = OFF;
static const uint8_t INIT_STATE_PAYLOAD_CAMERA = OFF;
static const uint8_t INIT_STATE_TCS_BOARD_3V3 = OFF;
static const uint8_t INIT_STATE_SYRLINKS = OFF;
static const uint8_t INIT_STATE_STAR_TRACKER = OFF;
static const uint8_t INIT_STATE_MGT = OFF;
static const uint8_t INIT_STATE_SUS_NOMINAL = OFF;
static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF;
static const uint8_t INIT_STATE_PLOC = OFF;
static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF;
static const uint8_t INIT_STATE_SYRLINKS = OFF;
static const uint8_t INIT_STATE_STAR_TRACKER = OFF;
static const uint8_t INIT_STATE_MGT = OFF;
static const uint8_t INIT_STATE_SUS_NOMINAL = OFF;
static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF;
static const uint8_t INIT_STATE_PLOC = OFF;
static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF;
static const uint8_t INIT_STATE_Q7S = ON;
static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
static const uint8_t INIT_STATE_RW = OFF;
static const uint8_t INIT_STATE_SUS_REDUNDANT = OFF;
static const uint8_t INIT_STATE_DEPLOYMENT_MECHANISM = OFF;
static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH6 = OFF;
static const uint8_t INIT_STATE_ACS_BOARD_SIDE_B = OFF;
static const uint8_t INIT_STATE_PAYLOAD_CAMERA = OFF;
static const uint8_t INIT_STATE_TCS_BOARD_3V3 = OFF;
}

8
linux/devices/GPSHyperionLinuxController.cpp
View File

@ -28,8 +28,8 @@ LocalPoolDataSetBase *GPSHyperionLinuxController::getDataSetHandle(sid_t sid) {
ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
if(not modeCommanded) {
if(mode == MODE_ON or mode == MODE_OFF) {
if (not modeCommanded) {
if (mode == MODE_ON or mode == MODE_OFF) {
// 10 minutes time to reach fix
*msToReachTheMode = 600000;
maxTimeToReachFix.resetTimer();
@ -122,9 +122,9 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
// 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
gpsSet.fixMode.value = gps->fix.mode;
if (gps->fix.mode == 0 or gps->fix.mode == 1) {
if(modeCommanded and maxTimeToReachFix.hasTimedOut()) {
if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
// We are supposed to be on and functioning, but not fix was found
if(mode == MODE_ON or mode == MODE_NORMAL) {
if (mode == MODE_ON or mode == MODE_NORMAL) {
mode = MODE_OFF;
}
modeCommanded = false;

57
linux/fsfwconfig/devices/powerSwitcherList.h
View File

@ -1,57 +0,0 @@
#ifndef FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
#define FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
#include "OBSWConfig.h"
namespace pcduSwitches {
/* Switches are uint8_t datatype and go from 0 to 255 */
enum SwitcherList : uint8_t {
Q7S,
PAYLOAD_PCDU_CH1,
RW,
TCS_BOARD_8V_HEATER_IN,
SUS_REDUNDANT,
DEPLOYMENT_MECHANISM,
PAYLOAD_PCDU_CH6,
ACS_BOARD_SIDE_B,
PAYLOAD_CAMERA,
TCS_BOARD_3V3,
SYRLINKS,
STAR_TRACKER,
MGT,
SUS_NOMINAL,
SOLAR_CELL_EXP,
PLOC,
ACS_BOARD_SIDE_A,
NUMBER_OF_SWITCHES
};
static const uint8_t ON = 1;
static const uint8_t OFF = 0;
/* Output states after reboot of the PDUs */
static const uint8_t INIT_STATE_Q7S = ON;
static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
static const uint8_t INIT_STATE_RW = OFF;
#if BOARD_TE0720 == 1
/* Because the TE0720 is not connected to the PCDU, this switch is always on */
static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
#else
static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = OFF;
#endif
static const uint8_t INIT_STATE_SUS_REDUNDANT = OFF;
static const uint8_t INIT_STATE_DEPLOYMENT_MECHANISM = OFF;
static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH6 = OFF;
static const uint8_t INIT_STATE_ACS_BOARD_SIDE_B = OFF;
static const uint8_t INIT_STATE_PAYLOAD_CAMERA = OFF;
static const uint8_t INIT_STATE_TCS_BOARD_3V3 = OFF;
static const uint8_t INIT_STATE_SYRLINKS = OFF;
static const uint8_t INIT_STATE_STAR_TRACKER = OFF;
static const uint8_t INIT_STATE_MGT = OFF;
static const uint8_t INIT_STATE_SUS_NOMINAL = OFF;
static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF;
static const uint8_t INIT_STATE_PLOC = OFF;
static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF;
} // namespace pcduSwitches
#endif /* FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ */

128
mission/devices/PCDUHandler.cpp
View File

@ -1,10 +1,11 @@
#include "PCDUHandler.h"
#include <OBSWConfig.h>
#include <devices/powerSwitcherList.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/housekeeping/HousekeepingSnapshot.h>
#include <fsfw/ipc/QueueFactory.h>
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
#include <objects/systemObjectList.h>
PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize)
: SystemObject(setObjectId),
@ -74,24 +75,26 @@ ReturnValue_t PCDUHandler::initialize() {
}
void PCDUHandler::initializeSwitchStates() {
switchStates[pcduSwitches::Q7S] = pcduSwitches::INIT_STATE_Q7S;
switchStates[pcduSwitches::PAYLOAD_PCDU_CH1] = pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH1;
switchStates[pcduSwitches::RW] = pcduSwitches::INIT_STATE_RW;
switchStates[pcduSwitches::TCS_BOARD_8V_HEATER_IN] =
using namespace pcduSwitches;
switchStates[Switches::PDU2_CH0_Q7S] = pcduSwitches::INIT_STATE_Q7S;
switchStates[Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8] = pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH1;
switchStates[Switches::PDU2_CH2_RW_5V] = pcduSwitches::INIT_STATE_RW;
switchStates[Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V] =
pcduSwitches::INIT_STATE_TCS_BOARD_8V_HEATER_IN;
switchStates[pcduSwitches::SUS_REDUNDANT] = pcduSwitches::INIT_STATE_SUS_REDUNDANT;
switchStates[pcduSwitches::DEPLOYMENT_MECHANISM] = pcduSwitches::INIT_STATE_DEPLOYMENT_MECHANISM;
switchStates[pcduSwitches::PAYLOAD_PCDU_CH6] = pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH6;
switchStates[pcduSwitches::ACS_BOARD_SIDE_B] = pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_B;
switchStates[pcduSwitches::PAYLOAD_CAMERA] = pcduSwitches::INIT_STATE_PAYLOAD_CAMERA;
switchStates[pcduSwitches::TCS_BOARD_3V3] = pcduSwitches::INIT_STATE_TCS_BOARD_3V3;
switchStates[pcduSwitches::SYRLINKS] = pcduSwitches::INIT_STATE_SYRLINKS;
switchStates[pcduSwitches::STAR_TRACKER] = pcduSwitches::INIT_STATE_STAR_TRACKER;
switchStates[pcduSwitches::MGT] = pcduSwitches::INIT_STATE_MGT;
switchStates[pcduSwitches::SUS_NOMINAL] = pcduSwitches::INIT_STATE_SUS_NOMINAL;
switchStates[pcduSwitches::SOLAR_CELL_EXP] = pcduSwitches::INIT_STATE_SOLAR_CELL_EXP;
switchStates[pcduSwitches::PLOC] = pcduSwitches::INIT_STATE_PLOC;
switchStates[pcduSwitches::ACS_BOARD_SIDE_A] = pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_A;
switchStates[Switches::PDU2_CH4_SUS_REDUNDANT_3V3] = pcduSwitches::INIT_STATE_SUS_REDUNDANT;
switchStates[Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V] =
pcduSwitches::INIT_STATE_DEPLOYMENT_MECHANISM;
switchStates[Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8] = pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH6;
switchStates[Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3] = pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_B;
switchStates[Switches::PDU2_CH8_PAYLOAD_CAMERA] = pcduSwitches::INIT_STATE_PAYLOAD_CAMERA;
switchStates[Switches::PDU1_CH0_TCS_BOARD_3V3] = pcduSwitches::INIT_STATE_TCS_BOARD_3V3;
switchStates[Switches::PDU1_CH1_SYRLINKS_12V] = pcduSwitches::INIT_STATE_SYRLINKS;
switchStates[Switches::PDU1_CH2_STAR_TRACKER_5V] = pcduSwitches::INIT_STATE_STAR_TRACKER;
switchStates[Switches::PDU1_CH3_MGT_5V] = pcduSwitches::INIT_STATE_MGT;
switchStates[Switches::PDU1_CH4_SUS_NOMINAL_3V3] = pcduSwitches::INIT_STATE_SUS_NOMINAL;
switchStates[Switches::PDU1_CH5_SOLAR_CELL_EXP_5V] = pcduSwitches::INIT_STATE_SOLAR_CELL_EXP;
switchStates[Switches::PDU1_CH6_PLOC_12V] = pcduSwitches::INIT_STATE_PLOC;
switchStates[Switches::PDU1_CH7_ACS_A_SIDE_3V3] = pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_A;
}
void PCDUHandler::readCommandQueue() {
@ -152,36 +155,48 @@ void PCDUHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSet
}
void PCDUHandler::updatePdu2SwitchStates() {
// TODO: pool read helper
if (pdu2HkTableDataset.read() == RETURN_OK) {
switchStates[pcduSwitches::Q7S] = pdu2HkTableDataset.outEnabledQ7S.value;
switchStates[pcduSwitches::PAYLOAD_PCDU_CH1] = pdu2HkTableDataset.outEnabledPlPCDUCh1.value;
switchStates[pcduSwitches::RW] = pdu2HkTableDataset.outEnabledReactionWheels.value;
switchStates[pcduSwitches::TCS_BOARD_8V_HEATER_IN] =
using namespace pcduSwitches;
PoolReadGuard rf(&pdu2HkTableDataset);
if (rf.getReadResult() == RETURN_OK) {
switchStates[Switches::PDU2_CH0_Q7S] = pdu2HkTableDataset.outEnabledQ7S.value;
switchStates[Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8] =
pdu2HkTableDataset.outEnabledPlPCDUCh1.value;
switchStates[Switches::PDU2_CH2_RW_5V] = pdu2HkTableDataset.outEnabledReactionWheels.value;
switchStates[Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V] =
pdu2HkTableDataset.outEnabledTCSBoardHeaterIn.value;
switchStates[pcduSwitches::SUS_REDUNDANT] = pdu2HkTableDataset.outEnabledSUSRedundant.value;
switchStates[pcduSwitches::DEPLOYMENT_MECHANISM] =
switchStates[Switches::PDU2_CH4_SUS_REDUNDANT_3V3] =
pdu2HkTableDataset.outEnabledSUSRedundant.value;
switchStates[Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V] =
pdu2HkTableDataset.outEnabledDeplMechanism.value;
switchStates[pcduSwitches::PAYLOAD_PCDU_CH6] = pdu2HkTableDataset.outEnabledPlPCDUCh6.value;
switchStates[pcduSwitches::ACS_BOARD_SIDE_B] = pdu2HkTableDataset.outEnabledAcsBoardSideB.value;
switchStates[pcduSwitches::PAYLOAD_CAMERA] = pdu2HkTableDataset.outEnabledPayloadCamera.value;
switchStates[Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8] =
pdu2HkTableDataset.outEnabledPlPCDUCh6.value;
switchStates[Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3] =
pdu2HkTableDataset.outEnabledAcsBoardSideB.value;
switchStates[Switches::PDU2_CH8_PAYLOAD_CAMERA] =
pdu2HkTableDataset.outEnabledPayloadCamera.value;
} else {
sif::debug << "PCDUHandler::updatePdu2SwitchStates: Failed to read PDU2 Hk Dataset"
<< std::endl;
}
pdu2HkTableDataset.commit();
}
void PCDUHandler::updatePdu1SwitchStates() {
if (pdu1HkTableDataset.read() == RETURN_OK) {
switchStates[pcduSwitches::TCS_BOARD_3V3] = pdu1HkTableDataset.voltageOutTCSBoard3V3.value;
switchStates[pcduSwitches::SYRLINKS] = pdu1HkTableDataset.voltageOutSyrlinks.value;
switchStates[pcduSwitches::STAR_TRACKER] = pdu1HkTableDataset.voltageOutStarTracker.value;
switchStates[pcduSwitches::MGT] = pdu1HkTableDataset.voltageOutMGT.value;
switchStates[pcduSwitches::SUS_NOMINAL] = pdu1HkTableDataset.voltageOutSUSNominal.value;
switchStates[pcduSwitches::SOLAR_CELL_EXP] = pdu1HkTableDataset.voltageOutSolarCellExp.value;
switchStates[pcduSwitches::PLOC] = pdu1HkTableDataset.voltageOutPLOC.value;
switchStates[pcduSwitches::ACS_BOARD_SIDE_A] = pdu1HkTableDataset.voltageOutACSBoardSideA.value;
using namespace pcduSwitches;
PoolReadGuard rf(&pdu1HkTableDataset);
switchStates[Switches::PDU1_CH0_TCS_BOARD_3V3] = pdu1HkTableDataset.outEnabledTCSBoard3V3.value;
switchStates[Switches::PDU1_CH1_SYRLINKS_12V] = pdu1HkTableDataset.outEnabledSyrlinks.value;
switchStates[Switches::PDU1_CH2_STAR_TRACKER_5V] =
pdu1HkTableDataset.outEnabledStarTracker.value;
switchStates[Switches::PDU1_CH3_MGT_5V] = pdu1HkTableDataset.outEnabledMGT.value;
switchStates[Switches::PDU1_CH4_SUS_NOMINAL_3V3] =
pdu1HkTableDataset.outEnabledSUSNominal.value;
switchStates[Switches::PDU1_CH5_SOLAR_CELL_EXP_5V] =
pdu1HkTableDataset.outEnabledSolarCellExp.value;
switchStates[Switches::PDU1_CH6_PLOC_12V] = pdu1HkTableDataset.outEnabledPLOC.value;
switchStates[Switches::PDU1_CH7_ACS_A_SIDE_3V3] =
pdu1HkTableDataset.outEnabledAcsBoardSideA.value;
switchStates[Switches::PDU1_CH8_UNOCCUPIED] = pdu1HkTableDataset.outEnabledChannel8.value;
} else {
sif::debug << "PCDUHandler::updatePdu1SwitchStates: Failed to read dataset" << std::endl;
}
@ -191,25 +206,50 @@ void PCDUHandler::updatePdu1SwitchStates() {
LocalDataPoolManager* PCDUHandler::getHkManagerHandle() { return &poolManager; }
void PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const {
using namespace pcduSwitches;
ReturnValue_t result;
uint16_t memoryAddress;
uint16_t memoryAddress = 0;
size_t parameterValueSize = sizeof(uint8_t);
uint8_t parameterValue;
GomspaceDeviceHandler* pdu;
uint8_t parameterValue = 0;
GomspaceDeviceHandler* pdu = nullptr;
switch (switchNr) {
case pcduSwitches::TCS_BOARD_8V_HEATER_IN:
case pcduSwitches::PDU1_CH0_TCS_BOARD_3V3: {
memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_TCS_BOARD_3V3;
pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
break;
}
case pcduSwitches::PDU1_CH1_SYRLINKS_12V: {
memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_SYRLINKS;
pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
break;
}
case pcduSwitches::PDU1_CH2_STAR_TRACKER_5V: {
memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_STAR_TRACKER;
pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
break;
}
case pcduSwitches::PDU1_CH3_MGT_5V: {
memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_MGT;
pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
break;
}
case pcduSwitches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V: {
memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN;
pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
break;
case pcduSwitches::DEPLOYMENT_MECHANISM:
}
case pcduSwitches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V: {
memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM;
pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
break;
default:
}
default: {
sif::error << "PCDUHandler::sendSwitchCommand: Invalid switch number " << std::endl;
return;
}
}
switch (onOff) {
case PowerSwitchIF::SWITCH_ON:

83
mission/system/AcsBoardAssembly.cpp
View File

@ -1,12 +1,11 @@
#include "AcsBoardAssembly.h"
#include <devices/powerSwitcherList.h>
#include <fsfw/power/PowerSwitchIF.h>
#include <fsfw/serviceinterface.h>
AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId,
PowerSwitchIF* switcher, AcsBoardHelper helper)
: AssemblyBase(objectId, parentId), switcher(switcher), helper(helper) {
: AssemblyBase(objectId, parentId), pwrSwitcher(switcher), helper(helper) {
if (switcher == nullptr) {
sif::error << "AcsBoardAssembly::AcsBoardAssembly: Invalid Power Switcher "
"IF passed"
@ -26,14 +25,12 @@ AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId,
ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode) {
ReturnValue_t result = RETURN_OK;
if (currentMode == mode and submode == currentSubmode) {
return result;
}
refreshHelperModes();
if (state == States::MODE_COMMANDING) {
powerStateMachine(mode, submode);
if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
powerStateMachine(submode);
if (state == States::MODE_COMMANDING) {
handleNormalOrOnModeCmd(mode, submode);
}
} else {
modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
@ -54,7 +51,6 @@ ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
modeTable[ModeTableIdx::GPS].setMode(MODE_OFF);
modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
}
}
HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
executeTable(tableIter);
@ -63,22 +59,22 @@ ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
refreshHelperModes();
if(wantedSubmode == A_SIDE) {
if((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or
if (wantedSubmode == A_SIDE) {
if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or
(helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode) or
helper.gpsMode != wantedMode) {
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
return RETURN_OK;
} else if (wantedSubmode == B_SIDE) {
if((helper.gyro2SideBMode != wantedMode and helper.gyro3SideBMode != wantedMode) or
if ((helper.gyro2SideBMode != wantedMode and helper.gyro3SideBMode != wantedMode) or
(helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or
helper.gpsMode != wantedMode) {
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
return RETURN_OK;
} else if(wantedSubmode == DUAL_MODE) {
if((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode and
} else if (wantedSubmode == DUAL_MODE) {
if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode and
helper.gyro2AdisIdSideB != wantedMode and helper.gyro3SideBMode != wantedMode) or
(helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode and
helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or
@ -102,7 +98,7 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
ReturnValue_t result = RETURN_OK;
Mode_t tgtMode = DeviceHandlerIF::MODE_NORMAL;
auto cmdSeq = [&](object_id_t objectId, ModeTableIdx tableIdx) {
if(tgtMode == DeviceHandlerIF::MODE_NORMAL) {
if (tgtMode == DeviceHandlerIF::MODE_NORMAL) {
if (isUseable(objectId, mode)) {
if (helper.gyro0SideAMode != MODE_OFF) {
modeTable[tableIdx].setMode(tgtMode);
@ -113,7 +109,7 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
modeTable[tableIdx].setSubmode(SUBMODE_NONE);
}
}
} else if(tgtMode == MODE_ON) {
} else if (tgtMode == MODE_ON) {
if (isUseable(objectId, mode)) {
modeTable[tableIdx].setMode(MODE_ON);
modeTable[tableIdx].setSubmode(SUBMODE_NONE);
@ -172,64 +168,84 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
return result;
}
void AcsBoardAssembly::powerStateMachine(Submode_t submode) {
ReturnValue_t switchStateA = switcher->getSwitchState(pcduSwitches::ACS_BOARD_SIDE_A);
ReturnValue_t switchStateB = switcher->getSwitchState(pcduSwitches::ACS_BOARD_SIDE_B);
void AcsBoardAssembly::powerStateMachine(Mode_t mode, Submode_t submode) {
ReturnValue_t switchStateA = RETURN_OK;
ReturnValue_t switchStateB = RETURN_OK;
if (state == States::IDLE or state == States::SWITCHING_POWER) {
switchStateA = pwrSwitcher->getSwitchState(SWITCH_A);
switchStateB = pwrSwitcher->getSwitchState(SWITCH_B);
if (mode == MODE_OFF) {
if (switchStateA == PowerSwitchIF::SWITCH_OFF and switchStateB == PowerSwitchIF::SWITCH_OFF) {
state = States::MODE_COMMANDING;
return;
}
} else {
switch (submode) {
case (A_SIDE): {
if (switchStateA == PowerSwitchIF::SWITCH_ON and switchStateB == PowerSwitchIF::SWITCH_OFF) {
if (switchStateA == PowerSwitchIF::SWITCH_ON and
switchStateB == PowerSwitchIF::SWITCH_OFF) {
state = States::MODE_COMMANDING;
return;
}
break;
}
case (B_SIDE): {
if (switchStateA == PowerSwitchIF::SWITCH_OFF and switchStateB == PowerSwitchIF::SWITCH_ON) {
if (switchStateA == PowerSwitchIF::SWITCH_OFF and
switchStateB == PowerSwitchIF::SWITCH_ON) {
state = States::MODE_COMMANDING;
return;
}
break;
}
case (DUAL_MODE): {
if (switchStateA == PowerSwitchIF::SWITCH_ON and switchStateB == PowerSwitchIF::SWITCH_ON) {
if (switchStateA == PowerSwitchIF::SWITCH_ON and
switchStateB == PowerSwitchIF::SWITCH_ON) {
state = States::MODE_COMMANDING;
return;
}
}
}
}
}
if (state == States::IDLE) {
if (mode == MODE_OFF) {
if (switchStateA != PowerSwitchIF::SWITCH_OFF) {
pwrSwitcher->sendSwitchCommand(SWITCH_A, false);
}
if (switchStateB != PowerSwitchIF::SWITCH_OFF) {
pwrSwitcher->sendSwitchCommand(SWITCH_B, false);
}
} else {
switch (submode) {
case (A_SIDE): {
if (switchStateA != PowerSwitchIF::SWITCH_ON) {
// Set A side on first in power switcher IF
switcher->sendSwitchCommand(pcduSwitches::ACS_BOARD_SIDE_A, true);
pwrSwitcher->sendSwitchCommand(SWITCH_A, true);
}
if (switchStateB != PowerSwitchIF::SWITCH_OFF) {
switcher->sendSwitchCommand(pcduSwitches::ACS_BOARD_SIDE_B, false);
pwrSwitcher->sendSwitchCommand(SWITCH_B, false);
}
break;
}
case (B_SIDE): {
if (switchStateA != PowerSwitchIF::SWITCH_OFF) {
// Set A side on first in power switcher IF
switcher->sendSwitchCommand(pcduSwitches::ACS_BOARD_SIDE_A, false);
pwrSwitcher->sendSwitchCommand(SWITCH_A, false);
}
if (switchStateB != PowerSwitchIF::SWITCH_ON) {
switcher->sendSwitchCommand(pcduSwitches::ACS_BOARD_SIDE_B, true);
pwrSwitcher->sendSwitchCommand(SWITCH_B, true);
}
break;
}
case (DUAL_MODE): {
if (switchStateA != PowerSwitchIF::SWITCH_ON) {
// Set A side on first in power switcher IF
switcher->sendSwitchCommand(pcduSwitches::ACS_BOARD_SIDE_A, true);
pwrSwitcher->sendSwitchCommand(SWITCH_A, true);
}
if (switchStateB != PowerSwitchIF::SWITCH_ON) {
switcher->sendSwitchCommand(pcduSwitches::ACS_BOARD_SIDE_B, true);
pwrSwitcher->sendSwitchCommand(SWITCH_B, true);
}
break;
}
}
}
state = States::SWITCHING_POWER;
}
if (state == States::SWITCHING_POWER) {
@ -274,7 +290,7 @@ ReturnValue_t AcsBoardAssembly::initialize() {
}
ReturnValue_t AcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
if(submode != A_SIDE and submode != B_SIDE and submode != DUAL_MODE) {
if (submode != A_SIDE and submode != B_SIDE and submode != DUAL_MODE) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
@ -296,6 +312,11 @@ bool AcsBoardAssembly::isUseable(object_id_t object, Mode_t mode) {
return false;
}
void AcsBoardAssembly::handleModeReached() {
AssemblyBase::handleModeReached();
state = States::IDLE;
}
void AcsBoardAssembly::refreshHelperModes() {
helper.gyro0SideAMode = childrenMap[helper.gyro0AdisIdSideA].mode;
helper.gyro1SideAMode = childrenMap[helper.gyro1L3gIdSideA].mode;

42
mission/system/AcsBoardAssembly.h
View File

@ -1,6 +1,7 @@
#ifndef MISSION_SYSTEM_ACSBOARDASSEMBLY_H_
#define MISSION_SYSTEM_ACSBOARDASSEMBLY_H_
#include <devices/powerSwitcherList.h>
#include <fsfw/devicehandlers/AssemblyBase.h>
#include <fsfw/objectmanager/frameworkObjects.h>
@ -52,37 +53,40 @@ enum ModeTableIdx : uint8_t {
GPS = 8
};
static constexpr uint8_t NUMBER_DEVICES_MODE_TABLE = 9;
class PowerSwitchIF;
class AcsBoardAssembly : public AssemblyBase {
public:
AcsBoardAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* switcher,
AcsBoardHelper helper);
private:
enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING };
States state = States::IDLE;
Mode_t currentMode = MODE_OFF;
Submode_t currentSubmode = A_SIDE;
PowerSwitchIF* switcher = nullptr;
AcsBoardHelper helper;
void initModeTableEntry(object_id_t id, ModeListEntry& entry);
ReturnValue_t initialize() override;
FixedArrayList<ModeListEntry, NUMBER_DEVICES_MODE_TABLE> modeTable;
static constexpr uint8_t NUMBER_DEVICES_MODE_TABLE = 9;
static constexpr Submode_t A_SIDE = 0;
static constexpr Submode_t B_SIDE = 1;
static constexpr Submode_t DUAL_MODE = 2;
AcsBoardAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
AcsBoardHelper helper);
private:
static constexpr pcduSwitches::Switches SWITCH_A =
pcduSwitches::Switches::PDU1_CH7_ACS_A_SIDE_3V3;
static constexpr pcduSwitches::Switches SWITCH_B =
pcduSwitches::Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3;
enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING } state = States::IDLE;
PowerSwitchIF* pwrSwitcher = nullptr;
AcsBoardHelper helper;
FixedArrayList<ModeListEntry, NUMBER_DEVICES_MODE_TABLE> modeTable;
void initModeTableEntry(object_id_t id, ModeListEntry& entry);
ReturnValue_t initialize() override;
// AssemblyBase overrides
ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
void handleModeReached() override;
/**
* Check whether it makes sense to send mode commands to the device
@ -92,7 +96,7 @@ class AcsBoardAssembly : public AssemblyBase {
*/
bool isUseable(object_id_t object, Mode_t mode);
ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
void powerStateMachine(Submode_t submode);
void powerStateMachine(Mode_t mode, Submode_t submode);
void refreshHelperModes();
};

1
mission/system/CMakeLists.txt
View File

@ -1,5 +1,6 @@
target_sources(${LIB_EIVE_MISSION} PRIVATE
AcsBoardAssembly.cpp
SusAssembly.cpp
AcsSubsystem.cpp
TcsSubsystem.cpp
EiveSystem.cpp

101
mission/system/SusAssembly.cpp Normal file
View File

@ -0,0 +1,101 @@
#include "SusAssembly.h"
#include <devices/powerSwitcherList.h>
#include <fsfw/power/PowerSwitchIF.h>
#include <fsfw/serviceinterface.h>
SusAssembly::SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
SusAssHelper helper)
: AssemblyBase(objectId, parentId), helper(helper), pwrSwitcher(pwrSwitcher) {}
ReturnValue_t SusAssembly::commandChildren(Mode_t mode, Submode_t submode) {
ReturnValue_t result = RETURN_OK;
refreshHelperModes();
return RETURN_OK;
}
ReturnValue_t SusAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
return RETURN_OK;
}
ReturnValue_t SusAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
if (submode != NOMINAL and submode != REDUNDANT and submode != DUAL_MODE) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SusAssembly::initialize() {
ReturnValue_t result = RETURN_OK;
for (const auto& id : helper.susIds) {
result = registerChild(id);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
return result;
}
bool SusAssembly::isUseable(object_id_t object, Mode_t mode) {
if (healthHelper.healthTable->isFaulty(object)) {
return false;
}
// Check if device is already in target mode
if (childrenMap[object].mode == mode) {
return true;
}
if (healthHelper.healthTable->isCommandable(object)) {
return true;
}
return false;
}
void SusAssembly::powerStateMachine(Mode_t mode, Submode_t submode) {
ReturnValue_t switchStateNom = RETURN_OK;
ReturnValue_t switchStateRed = RETURN_OK;
if (state == States::IDLE or state == States::SWITCHING_POWER) {
switchStateNom = pwrSwitcher->getSwitchState(pcduSwitches::PDU1_CH4_SUS_NOMINAL_3V3);
switchStateRed = pwrSwitcher->getSwitchState(pcduSwitches::PDU2_CH4_SUS_REDUNDANT_3V3);
if (mode == MODE_OFF) {
if (switchStateNom == PowerSwitchIF::SWITCH_OFF and
switchStateRed == PowerSwitchIF::SWITCH_OFF) {
state = States::MODE_COMMANDING;
return;
}
} else {
switch (submode) {
case (NOMINAL): {
if (switchStateNom == PowerSwitchIF::SWITCH_ON and
switchStateRed == PowerSwitchIF::SWITCH_OFF) {
state = States::MODE_COMMANDING;
return;
}
break;
}
case (REDUNDANT): {
if (switchStateNom == PowerSwitchIF::SWITCH_OFF and
switchStateRed == PowerSwitchIF::SWITCH_ON) {
state = States::MODE_COMMANDING;
return;
}
break;
}
case (DUAL_MODE): {
if (switchStateNom == PowerSwitchIF::SWITCH_ON and
switchStateRed == PowerSwitchIF::SWITCH_ON) {
state = States::MODE_COMMANDING;
return;
}
}
}
}
}
}
void SusAssembly::refreshHelperModes() {
for (uint8_t idx = 0; idx < helper.susModes.size(); idx++) {
helper.susModes[idx] = childrenMap[helper.susIds[idx]].mode;
}
}

52
mission/system/SusAssembly.h Normal file
View File

@ -0,0 +1,52 @@
#ifndef MISSION_SYSTEM_SUSASSEMBLY_H_
#define MISSION_SYSTEM_SUSASSEMBLY_H_
#include <fsfw/devicehandlers/AssemblyBase.h>
struct SusAssHelper {
public:
SusAssHelper(std::array<object_id_t, 12> susIds) : susIds(susIds) {}
std::array<object_id_t, 12> susIds = {objects::NO_OBJECT};
std::array<Mode_t, 12> susModes = {HasModesIF::MODE_OFF};
};
class PowerSwitchIF;
class SusAssembly : AssemblyBase {
public:
static constexpr uint8_t NUMBER_SUN_SENSORS = 12;
static constexpr Submode_t NOMINAL = 0;
static constexpr Submode_t REDUNDANT = 1;
static constexpr Submode_t DUAL_MODE = 2;
SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
SusAssHelper helper);
private:
enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING } state = States::IDLE;
FixedArrayList<ModeListEntry, NUMBER_SUN_SENSORS> modeTable;
SusAssHelper helper;
PowerSwitchIF* pwrSwitcher = nullptr;
ReturnValue_t initialize() override;
// AssemblyBase overrides
ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
/**
* Check whether it makes sense to send mode commands to the device
* @param object
* @param mode
* @return
*/
bool isUseable(object_id_t object, Mode_t mode);
void powerStateMachine(Mode_t mode, Submode_t submode);
void refreshHelperModes();
};
#endif /* MISSION_SYSTEM_SUSASSEMBLY_H_ */