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IMTQ: Lower Integration Time #552

Merged
muellerr merged 9 commits from imtq_lower_integration_time into develop 2023-04-03 15:43:31 +02:00
Conversation 0 Commits 9 Files Changed 10 +1204 -605
58 changed files with 1204 additions and 605 deletions
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Showing only changes of commit fba856a9a9 - Show all commits

1
.idea/cmake.xml
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@ -2,7 +2,6 @@
<project version="4">
<component name="CMakeSharedSettings">
<configurations>
<configuration PROFILE_NAME="Debug" ENABLED="true" CONFIG_NAME="Debug" NO_GENERATOR="true" />
<configuration PROFILE_NAME="Debug Q7S" ENABLED="true" CONFIG_NAME="Debug" TOOLCHAIN_NAME="Q7S" GENERATION_OPTIONS="-DTGT_BSP=&quot;arm/q7s&quot;" NO_GENERATOR="true">
<ADDITIONAL_GENERATION_ENVIRONMENT>
<envs>

4
CHANGELOG.md
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@ -100,6 +100,7 @@ will consitute of a breaking change warranting a new major release:
## Added
- Version of thermal controller which performs basic control tasks.
- The event `MEKF_RECOVERY` will be triggered in case the `MEKF` does manage to recover itself.
- The persistent TM stores now have low priorities and behave like background threads now. This
should prevent them from blocking or slowing down the system even during dumps
@ -111,6 +112,8 @@ will consitute of a breaking change warranting a new major release:
## Changed
- EIVE system fallback and COM system fallback: Perform general subsystem handling first, then
event reception, and finally any new transition handling.
- Rework FSFW OSALs to properly support regular scheduling (NICE priorities) and real-time
scheduling.
- STR: Move datalink layer to `StrComHandler` completely. DLL is now completely hidden from
@ -134,6 +137,7 @@ will consitute of a breaking change warranting a new major release:
- Bugfix for STR: Some action commands wrongfully declined.
- STR: No normal command handling while a special request like an image upload is active.
- RS485 data line was not enabled when the transmitter was switched on.
>>>>>>> origin/develop
# [v1.39.0] 2023-03-21

2
CMakeLists.txt
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@ -113,7 +113,7 @@ set(OBSW_ADD_TCS_CTRL
1
CACHE STRING "Add TCS controllers")
set(OBSW_ADD_HEATERS
${INIT_VAL}
1
CACHE STRING "Add TCS heaters")
set(OBSW_ADD_PLOC_SUPERVISOR
${INIT_VAL}

7
bsp_hosted/ObjectFactory.cpp
View File

@ -11,6 +11,7 @@
#include "../mission/utility/DummySdCardManager.h"
#include "OBSWConfig.h"
#include "fsfw/platform.h"
#include "fsfw/power/PowerSwitchIF.h"
#include "fsfw_tests/integration/task/TestTask.h"
#if OBSW_ADD_TMTC_UDP_SERVER == 1
@ -67,6 +68,12 @@ void ObjectFactory::produce(void* args) {
auto* dummyGpioIF = new DummyGpioIF();
auto* dummySwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
std::vector<ReturnValue_t> switcherList;
auto initVal = PowerSwitchIF::SWITCH_OFF;
for (unsigned i = 0; i < 18; i++) {
switcherList.emplace_back(initVal);
}
dummySwitcher->setInitialSwitcherList(switcherList);
#ifdef PLATFORM_UNIX
new SerialComIF(objects::UART_COM_IF);
#if OBSW_ADD_PLOC_MPSOC == 1

16
bsp_hosted/fsfwconfig/events/translateEvents.cpp
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@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 284 translations.
* @details
* Generated on: 2023-04-01 15:26:43
* Generated on: 2023-04-01 16:00:01
*/
#include "translateEvents.h"
@ -272,10 +272,10 @@ const char *I2C_UNAVAILABLE_REBOOT_STRING = "I2C_UNAVAILABLE_REBOOT";
const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
const char *PLOC_OVERHEATING_STRING = "PLOC_OVERHEATING";
const char *OBC_OVERHEATING_STRING = "OBC_OVERHEATING";
const char *HPA_OVERHEATING_STRING = "HPA_OVERHEATING";
const char *PLPCDU_OVERHEATING_STRING = "PLPCDU_OVERHEATING";
const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
@ -824,14 +824,14 @@ const char *translateEvents(Event event) {
return NO_HEALTHY_HEATER_AVAILABLE_STRING;
case (14102):
return SYRLINKS_OVERHEATING_STRING;
case (14103):
return PLOC_OVERHEATING_STRING;
case (14104):
return OBC_OVERHEATING_STRING;
case (14105):
return HPA_OVERHEATING_STRING;
return CAMERA_OVERHEATING_STRING;
case (14106):
return PLPCDU_OVERHEATING_STRING;
return PCDU_SYSTEM_OVERHEATING_STRING;
case (14107):
return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
case (14201):
return TX_TIMER_EXPIRED_STRING;
case (14202):

2
bsp_hosted/fsfwconfig/objects/translateObjects.cpp
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@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 171 translations.
* Generated on: 2023-04-01 15:26:43
* Generated on: 2023-04-01 16:00:01
*/
#include "translateObjects.h"

7
bsp_hosted/scheduling.cpp
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@ -156,6 +156,10 @@ void scheduling::initTasks() {
if (result != returnvalue::OK) {
scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
}
result = thermalTask->addComponent(objects::HEATER_HANDLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
}
FixedTimeslotTaskIF* pstTask = factory->createFixedTimeslotTask(
"DUMMY_PST", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
@ -193,7 +197,8 @@ void scheduling::initTasks() {
#endif /* OBSW_ADD_TEST_CODE == 1 */
PeriodicTaskIF* dummyTask = factory->createPeriodicTask(
"DUMMY_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
"DUMMY_TASK", 35, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
dummyTask->addComponent(objects::THERMAL_TEMP_INSERTER);
scheduling::scheduleTmpTempSensors(dummyTask);
scheduling::scheduleRtdSensors(dummyTask);
dummyTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);

14
bsp_q7s/core/ObjectFactory.cpp
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@ -592,7 +592,7 @@ void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitc
}
new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, gpioIF, pwrSwitcher,
pcdu::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
power::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
gpioIds::DEPLSA1, gpioIds::DEPLSA2, *SdCardManager::instance());
}
@ -608,7 +608,7 @@ void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
auto syrlinksHandler =
new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::SYRLINKS_COM_HANDLER,
syrlinksUartCookie, pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
syrlinksUartCookie, power::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
syrlinksHandler->setPowerSwitcher(pwrSwitcher);
syrlinksHandler->connectModeTreeParent(*syrlinksAssy);
#if OBSW_DEBUG_SYRLINKS == 1
@ -620,7 +620,7 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
using namespace gpio;
std::stringstream consumer;
auto* camSwitcher =
new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, pcdu::PDU2_CH8_PAYLOAD_CAMERA);
new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, power::PDU2_CH8_PAYLOAD_CAMERA);
camSwitcher->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
#if OBSW_ADD_PLOC_MPSOC == 1
consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
@ -653,7 +653,7 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
auto* supvHandler = new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
pcdu::PDU1_CH6_PLOC_12V, *supvHelper);
power::PDU1_CH6_PLOC_12V, *supvHelper);
supvHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
static_cast<void>(consumer);
@ -730,7 +730,7 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
rws[idx] = rwHandler;
}
createRwAssy(*pwrSwitcher, pcdu::Switches::PDU2_CH2_RW_5V, rws, rwIds);
createRwAssy(*pwrSwitcher, power::Switches::PDU2_CH2_RW_5V, rws, rwIds);
#endif /* OBSW_ADD_RW == 1 */
}
@ -968,7 +968,7 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
auto strFdir = new StrFdir(objects::STAR_TRACKER);
auto starTracker =
new StarTrackerHandler(objects::STAR_TRACKER, objects::STR_COM_IF, starTrackerCookie,
paramJsonFile, strComIF, pcdu::PDU1_CH2_STAR_TRACKER_5V);
paramJsonFile, strComIF, power::PDU1_CH2_STAR_TRACKER_5V);
starTracker->setPowerSwitcher(pwrSwitcher);
starTracker->connectModeTreeParent(*strAssy);
starTracker->setCustomFdir(strFdir);
@ -981,7 +981,7 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enable
new ImtqPollingTask(objects::IMTQ_POLLING, I2C_FATAL_ERRORS);
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::IMTQ_POLLING, imtqI2cCookie,
pcdu::Switches::PDU1_CH3_MGT_5V, enableHkSets);
power::Switches::PDU1_CH3_MGT_5V, enableHkSets);
imtqHandler->enableThermalModule(ThermalStateCfg());
imtqHandler->setPowerSwitcher(pwrSwitcher);
imtqHandler->connectModeTreeParent(*imtqAssy);

4
bsp_q7s/em/emObjectFactory.cpp
View File

@ -137,8 +137,8 @@ void ObjectFactory::produce(void* args) {
pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
#endif
createAcsController(true, enableHkSets);
HeaterHandler* heaterHandler = nullptr;
ObjectFactory::createGenericHeaterComponents(*gpioComIF, *pwrSwitcher, heaterHandler);
HeaterHandler* heaterHandler;
createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
createThermalController(*heaterHandler);
satsystem::init();
}

2
bsp_q7s/fmObjectFactory.cpp
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@ -97,7 +97,7 @@ void ObjectFactory::produce(void* args) {
#if OBSW_ADD_SCEX_DEVICE == 1
createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
power::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
#endif
/* Test Task */
#if OBSW_ADD_TEST_CODE == 1

2
dummies/GyroAdisDummy.cpp
View File

@ -46,7 +46,7 @@ ReturnValue_t GyroAdisDummy::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(adis1650x::ACCELERATION_X, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(adis1650x::ACCELERATION_Y, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(adis1650x::ACCELERATION_Z, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(adis1650x::TEMPERATURE, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(adis1650x::TEMPERATURE, new PoolEntry<float>({10.0}, true));
return returnvalue::OK;
}

11
dummies/Max31865Dummy.cpp
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@ -1,5 +1,7 @@
#include "Max31865Dummy.h"
#include "fsfw/datapool/PoolReadGuard.h"
using namespace returnvalue;
Max31865Dummy::Max31865Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
@ -28,15 +30,20 @@ ReturnValue_t Max31865Dummy::initializeLocalDataPool(localpool::DataPool &localD
LocalDataPoolManager &poolManager) {
using namespace MAX31865;
localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::RTD_VALUE), new PoolEntry<float>({0}));
localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::TEMPERATURE_C), new PoolEntry<float>({0}));
localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::TEMPERATURE_C),
new PoolEntry<float>({10.0}, true));
localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::LAST_FAULT_BYTE),
new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::FAULT_BYTE), new PoolEntry<uint8_t>({0}));
return OK;
}
void Max31865Dummy::setTemperature(float temperature) {
void Max31865Dummy::setTemperature(float temperature, bool valid) {
PoolReadGuard pg(&set);
if (pg.getReadResult() == returnvalue::OK) {
set.temperatureCelcius.value = temperature;
set.setValidity(valid, true);
}
}
LocalPoolDataSetBase *Max31865Dummy::getDataSetHandle(sid_t sid) { return &set; }

2
dummies/Max31865Dummy.h
View File

@ -10,7 +10,7 @@ class Max31865Dummy : public DeviceHandlerBase {
Max31865Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
Max31865Dummy(object_id_t objectId, CookieIF *comCookie);
void setTemperature(float temperature);
void setTemperature(float temperature, bool setValid);
private:
MAX31865::PrimarySet set;

2
dummies/MgmLIS3MDLDummy.cpp
View File

@ -40,7 +40,7 @@ uint32_t MgmLIS3MDLDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
ReturnValue_t MgmLIS3MDLDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(mgmLis3::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(mgmLis3::TEMPERATURE_CELCIUS, new PoolEntry<float>({10.0}, true));
localDataPoolMap.emplace(mgmLis3::FIELD_STRENGTHS,
new PoolEntry<float>({1.02, 0.56, -0.78}, true));
return returnvalue::OK;

2
dummies/P60DockDummy.cpp
View File

@ -2,6 +2,8 @@
#include <mission/power/gsDefs.h>
#include "fsfw/datapool/PoolReadGuard.h"
P60DockDummy::P60DockDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie) {}

4
dummies/P60DockDummy.h
View File

@ -3,6 +3,8 @@
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include "mission/power/gsDefs.h"
class P60DockDummy : public DeviceHandlerBase {
public:
static const DeviceCommandId_t SIMPLE_COMMAND = 1;
@ -15,6 +17,8 @@ class P60DockDummy : public DeviceHandlerBase {
virtual ~P60DockDummy();
protected:
lp_var_t<float> temp1 = lp_var_t<float>(this, P60Dock::pool::P60DOCK_TEMPERATURE_1);
lp_var_t<float> temp2 = lp_var_t<float>(this, P60Dock::pool::P60DOCK_TEMPERATURE_2);
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;

2
dummies/PlocMpsocDummy.h
View File

@ -2,6 +2,8 @@
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include "mission/power/defs.h"
class PlocMpsocDummy : public DeviceHandlerBase {
public:
static const DeviceCommandId_t SIMPLE_COMMAND = 1;

13
dummies/PlocSupervisorDummy.cpp
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@ -1,8 +1,10 @@
#include "PlocSupervisorDummy.h"
PlocSupervisorDummy::PlocSupervisorDummy(object_id_t objectId, object_id_t comif,
CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie) {}
CookieIF *comCookie, PowerSwitchIF &pwrSwitcher)
: DeviceHandlerBase(objectId, comif, comCookie) {
setPowerSwitcher(&pwrSwitcher);
}
PlocSupervisorDummy::~PlocSupervisorDummy() {}
@ -42,3 +44,10 @@ ReturnValue_t PlocSupervisorDummy::initializeLocalDataPool(localpool::DataPool &
LocalDataPoolManager &poolManager) {
return returnvalue::OK;
}
ReturnValue_t PlocSupervisorDummy::getSwitches(const uint8_t **switches,
uint8_t *numberOfSwitches) {
*numberOfSwitches = 1;
*switches = reinterpret_cast<const uint8_t *>(&switchId);
return returnvalue::OK;
}

7
dummies/PlocSupervisorDummy.h
View File

@ -1,6 +1,7 @@
#pragma once
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/power/defs.h>
class PlocSupervisorDummy : public DeviceHandlerBase {
public:
@ -10,10 +11,13 @@ class PlocSupervisorDummy : public DeviceHandlerBase {
static const uint8_t SIMPLE_COMMAND_DATA = 1;
static const uint8_t PERIODIC_REPLY_DATA = 2;
PlocSupervisorDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
PlocSupervisorDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
PowerSwitchIF &pwrSwitcher);
virtual ~PlocSupervisorDummy();
protected:
const power::Switches switchId = power::Switches::PDU1_CH6_PLOC_12V;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
@ -27,4 +31,5 @@ class PlocSupervisorDummy : public DeviceHandlerBase {
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
ReturnValue_t getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) override;
};

2
dummies/StarTrackerDummy.cpp
View File

@ -40,7 +40,7 @@ uint32_t StarTrackerDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo)
ReturnValue_t StarTrackerDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(startracker::MCU_TEMPERATURE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(startracker::MCU_TEMPERATURE, new PoolEntry<float>({10.0}, true));
localDataPoolMap.emplace(startracker::TICKS_SOLUTION_SET, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(startracker::TIME_SOLUTION_SET, new PoolEntry<uint64_t>({0}));

4
dummies/SyrlinksDummy.cpp
View File

@ -40,7 +40,7 @@ uint32_t SyrlinksDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { r
ReturnValue_t SyrlinksDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(syrlinks::TEMP_BASEBAND_BOARD, new PoolEntry<float>({0}));
localDataPoolMap.emplace(syrlinks::TEMP_POWER_AMPLIFIER, new PoolEntry<float>({0}));
localDataPoolMap.emplace(syrlinks::TEMP_BASEBAND_BOARD, new PoolEntry<float>({10}, true));
localDataPoolMap.emplace(syrlinks::TEMP_POWER_AMPLIFIER, new PoolEntry<float>({10}, true));
return returnvalue::OK;
}

30
dummies/TemperatureSensorInserter.cpp
View File

@ -9,7 +9,7 @@
TemperatureSensorInserter::TemperatureSensorInserter(object_id_t objectId,
Max31865DummyMap tempSensorDummies_,
Tmp1075DummyMap tempTmpSensorDummies_)
: SystemObject(objects::THERMAL_TEMP_INSERTER),
: SystemObject(objectId),
max31865DummyMap(std::move(tempSensorDummies_)),
tmp1075DummyMap(std::move(tempTmpSensorDummies_)) {}
@ -22,6 +22,32 @@ ReturnValue_t TemperatureSensorInserter::initialize() {
}
ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
// TODO: deviceSensors
if (not tempsWereInitialized) {
for (auto& rtdDummy : max31865DummyMap) {
rtdDummy.second->setTemperature(10, true);
}
for (auto& tmpDummy : tmp1075DummyMap) {
tmpDummy.second->setTemperature(10, true);
}
tempsWereInitialized = true;
}
if (cycles == 10) {
max31865DummyMap[objects::RTD_9_IC12_HPA]->setTemperature(-100, true);
max31865DummyMap[objects::RTD_11_IC14_MPA]->setTemperature(-100, true);
}
if (cycles == 35) {
max31865DummyMap[objects::RTD_9_IC12_HPA]->setTemperature(0, true);
max31865DummyMap[objects::RTD_11_IC14_MPA]->setTemperature(0, true);
max31865DummyMap[objects::RTD_2_IC5_4K_CAMERA]->setTemperature(-100, true);
}
if (cycles == 60) {
max31865DummyMap[objects::RTD_9_IC12_HPA]->setTemperature(-100, true);
max31865DummyMap[objects::RTD_11_IC14_MPA]->setTemperature(0, true);
}
/*
ReturnValue_t result = max31865PlocHeatspreaderSet.read();
if (result != returnvalue::OK) {
@ -36,5 +62,7 @@ ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
}
max31865PlocHeatspreaderSet.commit();
*/
cycles++;
return returnvalue::OK;
}
ReturnValue_t TemperatureSensorInserter::initializeAfterTaskCreation() { return returnvalue::OK; }

3
dummies/TemperatureSensorInserter.h
View File

@ -14,6 +14,7 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
Tmp1075DummyMap tempTmpSensorDummies_);
ReturnValue_t initialize() override;
ReturnValue_t initializeAfterTaskCreation() override;
protected:
ReturnValue_t performOperation(uint8_t opCode) override;
@ -23,6 +24,8 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
Tmp1075DummyMap tmp1075DummyMap;
enum TestCase { NONE = 0, COOL_SYRLINKS = 1 };
int iteration = 0;
uint32_t cycles = 0;
bool tempsWereInitialized = false;
bool performTest = false;
TestCase testCase = TestCase::NONE;

8
dummies/Tmp1075Dummy.cpp
View File

@ -1,5 +1,6 @@
#include "Tmp1075Dummy.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <mission/tcs/Tmp1075Definitions.h>
using namespace returnvalue;
@ -26,11 +27,16 @@ ReturnValue_t Tmp1075Dummy::scanForReply(const uint8_t *start, size_t len,
ReturnValue_t Tmp1075Dummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
return 0;
}
void Tmp1075Dummy::setTemperature(float temperature, bool valid) {
PoolReadGuard pg(&set);
set.temperatureCelcius.value = temperature;
set.setValidity(valid, true);
}
void Tmp1075Dummy::fillCommandAndReplyMap() {}
uint32_t Tmp1075Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 1000; }
ReturnValue_t Tmp1075Dummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(TMP1075::TEMPERATURE_C_TMP1075, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(TMP1075::TEMPERATURE_C_TMP1075, new PoolEntry<float>({10.0}, true));
return OK;
}
LocalPoolDataSetBase *Tmp1075Dummy::getDataSetHandle(sid_t sid) { return &set; }

1
dummies/Tmp1075Dummy.h
View File

@ -8,6 +8,7 @@
class Tmp1075Dummy : public DeviceHandlerBase {
public:
Tmp1075Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
void setTemperature(float temperature, bool setValid);
private:
TMP1075::Tmp1075Dataset set;

8
dummies/helperFactory.cpp
View File

@ -57,7 +57,7 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
rws[1] = new RwDummy(objects::RW2, objects::DUMMY_COM_IF, comCookieDummy);
rws[2] = new RwDummy(objects::RW3, objects::DUMMY_COM_IF, comCookieDummy);
rws[3] = new RwDummy(objects::RW4, objects::DUMMY_COM_IF, comCookieDummy);
ObjectFactory::createRwAssy(pwrSwitcher, pcdu::Switches::PDU2_CH2_RW_5V, rws, rwIds);
ObjectFactory::createRwAssy(pwrSwitcher, power::Switches::PDU2_CH2_RW_5V, rws, rwIds);
new SaDeplDummy(objects::SOLAR_ARRAY_DEPL_HANDLER);
auto* strAssy = new StrAssembly(objects::STR_ASSY);
strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
@ -213,7 +213,7 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
}
}
auto* camSwitcher =
new CamSwitcher(objects::CAM_SWITCHER, pwrSwitcher, pcdu::Switches::PDU2_CH8_PAYLOAD_CAMERA);
new CamSwitcher(objects::CAM_SWITCHER, pwrSwitcher, power::Switches::PDU2_CH8_PAYLOAD_CAMERA);
camSwitcher->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
auto* scexDummy = new ScexDummy(objects::SCEX, objects::DUMMY_COM_IF, comCookieDummy);
scexDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
@ -224,8 +224,8 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
auto* plocMpsocDummy =
new PlocMpsocDummy(objects::PLOC_MPSOC_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
plocMpsocDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
auto* plocSupervisorDummy = new PlocSupervisorDummy(objects::PLOC_SUPERVISOR_HANDLER,
objects::DUMMY_COM_IF, comCookieDummy);
auto* plocSupervisorDummy = new PlocSupervisorDummy(
objects::PLOC_SUPERVISOR_HANDLER, objects::DUMMY_COM_IF, comCookieDummy, pwrSwitcher);
plocSupervisorDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
}
}

2
fsfw

@ -1 +1 @@
Subproject commit 4f632e2c6866cee88dd9920a965aa0d079799aa3
Subproject commit e2e87b149d91c51196c76d6b84243fce1c77a28a

14
generators/bsp_hosted_events.csv
View File

@ -261,13 +261,13 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
14007;0x36b7;REBOOT_COUNTER;INFO;Total reboot counter, which is the sum of the boot count of all individual images.;bsp_q7s/core/CoreController.h
14008;0x36b8;INDIVIDUAL_BOOT_COUNTS;INFO;Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.;bsp_q7s/core/CoreController.h
14010;0x36ba;I2C_UNAVAILABLE_REBOOT;MEDIUM;No description;bsp_q7s/core/CoreController.h
14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/ThermalController.h
14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/ThermalController.h
14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
14103;0x3717;PLOC_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
14104;0x3718;OBC_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
14105;0x3719;HPA_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
14106;0x371a;PLPCDU_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/tcsDefs.h
14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/tcsDefs.h
14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
14104;0x3718;OBC_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
14105;0x3719;CAMERA_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
14106;0x371a;PCDU_SYSTEM_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
14107;0x371b;HEATER_NOT_OFF_FOR_OFF_MODE;MEDIUM;No description;mission/controller/tcsDefs.h
14201;0x3779;TX_TIMER_EXPIRED;INFO;The transmit timer to protect the Syrlinks expired P1: The current timer value;mission/system/com/ComSubsystem.h
14202;0x377a;BIT_LOCK_TX_ON;INFO;Transmitter will be turned on due to detection of bitlock;mission/system/com/ComSubsystem.h
14300;0x37dc;POSSIBLE_FILE_CORRUPTION;LOW;P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp.;mission/persistentTmStoreDefs.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
261 14007 0x36b7 REBOOT_COUNTER INFO Total reboot counter, which is the sum of the boot count of all individual images. bsp_q7s/core/CoreController.h
262 14008 0x36b8 INDIVIDUAL_BOOT_COUNTS INFO Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1. bsp_q7s/core/CoreController.h
263 14010 0x36ba I2C_UNAVAILABLE_REBOOT MEDIUM No description bsp_q7s/core/CoreController.h
264 14100 0x3714 NO_VALID_SENSOR_TEMPERATURE MEDIUM No description mission/controller/tcsDefs.h
265 14101 0x3715 NO_HEALTHY_HEATER_AVAILABLE MEDIUM No description mission/controller/tcsDefs.h
266 14102 0x3716 SYRLINKS_OVERHEATING HIGH No description mission/controller/tcsDefs.h
267 14104 0x3718 OBC_OVERHEATING HIGH No description mission/controller/tcsDefs.h
268 14105 0x3719 CAMERA_OVERHEATING HIGH No description mission/controller/tcsDefs.h
269 14106 0x371a PCDU_SYSTEM_OVERHEATING HIGH No description mission/controller/tcsDefs.h
270 14107 0x371b HEATER_NOT_OFF_FOR_OFF_MODE MEDIUM No description mission/controller/tcsDefs.h
271 14201 0x3779 TX_TIMER_EXPIRED INFO The transmit timer to protect the Syrlinks expired P1: The current timer value mission/system/com/ComSubsystem.h
272 14202 0x377a BIT_LOCK_TX_ON INFO Transmitter will be turned on due to detection of bitlock mission/system/com/ComSubsystem.h
273 14300 0x37dc POSSIBLE_FILE_CORRUPTION LOW P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp. mission/persistentTmStoreDefs.h

14
generators/bsp_q7s_events.csv
View File

@ -261,13 +261,13 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
14007;0x36b7;REBOOT_COUNTER;INFO;Total reboot counter, which is the sum of the boot count of all individual images.;bsp_q7s/core/CoreController.h
14008;0x36b8;INDIVIDUAL_BOOT_COUNTS;INFO;Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.;bsp_q7s/core/CoreController.h
14010;0x36ba;I2C_UNAVAILABLE_REBOOT;MEDIUM;No description;bsp_q7s/core/CoreController.h
14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/ThermalController.h
14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/ThermalController.h
14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
14103;0x3717;PLOC_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
14104;0x3718;OBC_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
14105;0x3719;HPA_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
14106;0x371a;PLPCDU_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/tcsDefs.h
14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/tcsDefs.h
14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
14104;0x3718;OBC_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
14105;0x3719;CAMERA_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
14106;0x371a;PCDU_SYSTEM_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
14107;0x371b;HEATER_NOT_OFF_FOR_OFF_MODE;MEDIUM;No description;mission/controller/tcsDefs.h
14201;0x3779;TX_TIMER_EXPIRED;INFO;The transmit timer to protect the Syrlinks expired P1: The current timer value;mission/system/com/ComSubsystem.h
14202;0x377a;BIT_LOCK_TX_ON;INFO;Transmitter will be turned on due to detection of bitlock;mission/system/com/ComSubsystem.h
14300;0x37dc;POSSIBLE_FILE_CORRUPTION;LOW;P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp.;mission/persistentTmStoreDefs.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
261 14007 0x36b7 REBOOT_COUNTER INFO Total reboot counter, which is the sum of the boot count of all individual images. bsp_q7s/core/CoreController.h
262 14008 0x36b8 INDIVIDUAL_BOOT_COUNTS INFO Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1. bsp_q7s/core/CoreController.h
263 14010 0x36ba I2C_UNAVAILABLE_REBOOT MEDIUM No description bsp_q7s/core/CoreController.h
264 14100 0x3714 NO_VALID_SENSOR_TEMPERATURE MEDIUM No description mission/controller/tcsDefs.h
265 14101 0x3715 NO_HEALTHY_HEATER_AVAILABLE MEDIUM No description mission/controller/tcsDefs.h
266 14102 0x3716 SYRLINKS_OVERHEATING HIGH No description mission/controller/tcsDefs.h
267 14104 0x3718 OBC_OVERHEATING HIGH No description mission/controller/tcsDefs.h
268 14105 0x3719 CAMERA_OVERHEATING HIGH No description mission/controller/tcsDefs.h
269 14106 0x371a PCDU_SYSTEM_OVERHEATING HIGH No description mission/controller/tcsDefs.h
270 14107 0x371b HEATER_NOT_OFF_FOR_OFF_MODE MEDIUM No description mission/controller/tcsDefs.h
271 14201 0x3779 TX_TIMER_EXPIRED INFO The transmit timer to protect the Syrlinks expired P1: The current timer value mission/system/com/ComSubsystem.h
272 14202 0x377a BIT_LOCK_TX_ON INFO Transmitter will be turned on due to detection of bitlock mission/system/com/ComSubsystem.h
273 14300 0x37dc POSSIBLE_FILE_CORRUPTION LOW P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp. mission/persistentTmStoreDefs.h

16
generators/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 284 translations.
* @details
* Generated on: 2023-04-01 15:26:43
* Generated on: 2023-04-01 16:00:01
*/
#include "translateEvents.h"
@ -270,10 +270,10 @@ const char *I2C_UNAVAILABLE_REBOOT_STRING = "I2C_UNAVAILABLE_REBOOT";
const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
const char *PLOC_OVERHEATING_STRING = "PLOC_OVERHEATING";
const char *OBC_OVERHEATING_STRING = "OBC_OVERHEATING";
const char *HPA_OVERHEATING_STRING = "HPA_OVERHEATING";
const char *PLPCDU_OVERHEATING_STRING = "PLPCDU_OVERHEATING";
const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
@ -822,14 +822,14 @@ const char *translateEvents(Event event) {
return NO_HEALTHY_HEATER_AVAILABLE_STRING;
case (14102):
return SYRLINKS_OVERHEATING_STRING;
case (14103):
return PLOC_OVERHEATING_STRING;
case (14104):
return OBC_OVERHEATING_STRING;
case (14105):
return HPA_OVERHEATING_STRING;
return CAMERA_OVERHEATING_STRING;
case (14106):
return PLPCDU_OVERHEATING_STRING;
return PCDU_SYSTEM_OVERHEATING_STRING;
case (14107):
return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
case (14201):
return TX_TIMER_EXPIRED_STRING;
case (14202):

2
generators/objects/translateObjects.cpp
View File

@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 175 translations.
* Generated on: 2023-04-01 15:26:43
* Generated on: 2023-04-01 16:00:01
*/
#include "translateObjects.h"

16
linux/fsfwconfig/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 284 translations.
* @details
* Generated on: 2023-04-01 15:26:43
* Generated on: 2023-04-01 16:00:01
*/
#include "translateEvents.h"
@ -272,10 +272,10 @@ const char *I2C_UNAVAILABLE_REBOOT_STRING = "I2C_UNAVAILABLE_REBOOT";
const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
const char *PLOC_OVERHEATING_STRING = "PLOC_OVERHEATING";
const char *OBC_OVERHEATING_STRING = "OBC_OVERHEATING";
const char *HPA_OVERHEATING_STRING = "HPA_OVERHEATING";
const char *PLPCDU_OVERHEATING_STRING = "PLPCDU_OVERHEATING";
const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
@ -824,14 +824,14 @@ const char *translateEvents(Event event) {
return NO_HEALTHY_HEATER_AVAILABLE_STRING;
case (14102):
return SYRLINKS_OVERHEATING_STRING;
case (14103):
return PLOC_OVERHEATING_STRING;
case (14104):
return OBC_OVERHEATING_STRING;
case (14105):
return HPA_OVERHEATING_STRING;
return CAMERA_OVERHEATING_STRING;
case (14106):
return PLPCDU_OVERHEATING_STRING;
return PCDU_SYSTEM_OVERHEATING_STRING;
case (14107):
return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
case (14201):
return TX_TIMER_EXPIRED_STRING;
case (14202):

2
linux/fsfwconfig/objects/translateObjects.cpp
View File

@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 175 translations.
* Generated on: 2023-04-01 15:26:43
* Generated on: 2023-04-01 16:00:01
*/
#include "translateObjects.h"

2
mission/SolarArrayDeploymentHandler.cpp
View File

@ -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
View File

@ -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();

1076
mission/controller/ThermalController.cpp
View File

File diff suppressed because it is too large Load Diff

148
mission/controller/ThermalController.h
View File

@ -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.

2
tmtc

@ -1 +1 @@
Subproject commit 0f2daf94dfaf3651330275ce5e5868fab263b56f
Subproject commit cef8d623c9fa11237fc8e51e5fd4dab750a5602b

4
unittest/controller/testThermalController.cpp
View File

@ -4,6 +4,7 @@
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <mission/controller/ThermalController.h>
#include <mission/system/objects/CamSwitcher.h>
#include <catch2/catch_test_macros.hpp>
@ -19,7 +20,8 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
TemperatureSensorInserter::Tmp1075DummyMap map1;
new TemperatureSensorInserter(objects::THERMAL_TEMP_INSERTER, map0, map1);
auto dummyGpioIF = new DummyGpioIF();
auto dummySwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
auto* dummySwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
new CamSwitcher(objects::CAM_SWITCHER, *dummySwitcher, power::Switches::PDU2_CH8_PAYLOAD_CAMERA);
// TODO: Create dummy heater handler
HeaterHandler* heaterHandler = nullptr;
// new ThermalController(objects::THERMAL_CONTROLLER);