eive/eive-obsw
eive/eive-obsw
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Xiphos WDT #797

Merged
muellerr merged 18 commits from add-xiphos-wdt-handling into main 2023-10-11 19:50:00 +02:00
Conversation 0 Commits 18 Files Changed 20 +1160 -39
51 changed files with 1160 additions and 39 deletions
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Showing only changes of commit b5cd64ea00 - Show all commits

9
CHANGELOG.md
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@ -16,6 +16,15 @@ will consitute of a breaking change warranting a new major release:
# [unreleased]
- Bumped `eive-tmtc` to v5.7.0.
- Bumped `eive-fsfw`
## Added
- EPS Subsystem has been added to EIVE System Tree
- Power Controller for calculating the State of Charge and FDIR regarding low SoC has been
introduced.
## Changed
- Changed internals for MPSoC boot process to make the code more understandable and some

19
bsp_hosted/fsfwconfig/events/translateEvents.cpp
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@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 308 translations.
* @brief Auto-generated event translation file. Contains 313 translations.
* @details
* Generated on: 2023-09-25 17:49:54
* Generated on: 2023-10-10 13:50:27
*/
#include "translateEvents.h"
@ -105,6 +105,11 @@ const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
const char *FDIR_REACTION_IGNORED_STRING = "FDIR_REACTION_IGNORED";
const char *DATASET_READ_FAILED_STRING = "DATASET_READ_FAILED";
const char *VOLTAGE_OUT_OF_BOUNDS_STRING = "VOLTAGE_OUT_OF_BOUNDS";
const char *TIMEDELTA_OUT_OF_BOUNDS_STRING = "TIMEDELTA_OUT_OF_BOUNDS";
const char *POWER_LEVEL_LOW_STRING = "POWER_LEVEL_LOW";
const char *POWER_LEVEL_CRITICAL_STRING = "POWER_LEVEL_CRITICAL";
const char *GPIO_PULL_HIGH_FAILED_STRING = "GPIO_PULL_HIGH_FAILED";
const char *GPIO_PULL_LOW_FAILED_STRING = "GPIO_PULL_LOW_FAILED";
const char *HEATER_WENT_ON_STRING = "HEATER_WENT_ON";
@ -516,6 +521,16 @@ const char *translateEvents(Event event) {
return SWITCHING_Q7S_DENIED_STRING;
case (11303):
return FDIR_REACTION_IGNORED_STRING;
case (11304):
return DATASET_READ_FAILED_STRING;
case (11305):
return VOLTAGE_OUT_OF_BOUNDS_STRING;
case (11306):
return TIMEDELTA_OUT_OF_BOUNDS_STRING;
case (11307):
return POWER_LEVEL_LOW_STRING;
case (11308):
return POWER_LEVEL_CRITICAL_STRING;
case (11400):
return GPIO_PULL_HIGH_FAILED_STRING;
case (11401):

10
bsp_hosted/fsfwconfig/objects/translateObjects.cpp
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@ -1,14 +1,15 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 171 translations.
* Generated on: 2023-09-25 17:49:54
* Contains 173 translations.
* Generated on: 2023-10-10 13:50:27
*/
#include "translateObjects.h"
const char *TEST_TASK_STRING = "TEST_TASK";
const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
const char *POWER_CONTROLLER_STRING = "POWER_CONTROLLER";
const char *GLOBAL_JSON_CFG_STRING = "GLOBAL_JSON_CFG";
const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
@ -164,6 +165,7 @@ const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
const char *EPS_SUBSYSTEM_STRING = "EPS_SUBSYSTEM";
const char *MISC_TM_STORE_STRING = "MISC_TM_STORE";
const char *OK_TM_STORE_STRING = "OK_TM_STORE";
const char *NOT_OK_TM_STORE_STRING = "NOT_OK_TM_STORE";
@ -186,6 +188,8 @@ const char *translateObject(object_id_t object) {
return ACS_CONTROLLER_STRING;
case 0x43000003:
return CORE_CONTROLLER_STRING;
case 0x43000004:
return POWER_CONTROLLER_STRING;
case 0x43000006:
return GLOBAL_JSON_CFG_STRING;
case 0x43400001:
@ -496,6 +500,8 @@ const char *translateObject(object_id_t object) {
return TCS_SUBSYSTEM_STRING;
case 0x73010004:
return COM_SUBSYSTEM_STRING;
case 0x73010005:
return EPS_SUBSYSTEM_STRING;
case 0x73020001:
return MISC_TM_STORE_STRING;
case 0x73020002:

21
bsp_q7s/em/emObjectFactory.cpp
View File

@ -108,6 +108,17 @@ void ObjectFactory::produce(void* args) {
#endif
satsystem::EIVE_SYSTEM.setI2cRecoveryParams(pwrSwitcher);
const char* battAndImtqI2cDev = q7s::I2C_PL_EIVE;
if (core::FW_VERSION_MAJOR >= 4) {
battAndImtqI2cDev = q7s::I2C_PS_EIVE;
}
static_cast<void>(battAndImtqI2cDev);
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
#endif
createPowerController(true, enableHkSets);
dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF, enableHkSets);
new CoreController(objects::CORE_CONTROLLER, enableHkSets);
@ -128,12 +139,6 @@ void ObjectFactory::produce(void* args) {
gpioChecker(gpioComIF->addGpios(acsBoardGpios), "ACS Board");
#endif
const char* battAndImtqI2cDev = q7s::I2C_PL_EIVE;
if (core::FW_VERSION_MAJOR >= 4) {
battAndImtqI2cDev = q7s::I2C_PS_EIVE;
}
static_cast<void>(battAndImtqI2cDev);
#if OBSW_ADD_MGT == 1
createImtqComponents(pwrSwitcher, enableHkSets, battAndImtqI2cDev);
#endif
@ -146,10 +151,6 @@ void ObjectFactory::produce(void* args) {
createReactionWheelComponents(gpioComIF, pwrSwitcher);
#endif
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
#endif
#if OBSW_ADD_STAR_TRACKER == 1
createStrComponents(pwrSwitcher);
#endif /* OBSW_ADD_STAR_TRACKER == 1 */

19
bsp_q7s/fmObjectFactory.cpp
View File

@ -83,14 +83,6 @@ void ObjectFactory::produce(void* args) {
createTmpComponents(tmpDevsToAdd);
#endif
createSolarArrayDeploymentComponents(*pwrSwitcher, *gpioComIF);
#if OBSW_ADD_PL_PCDU == 1
createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
#endif
#if OBSW_ADD_SYRLINKS == 1
createSyrlinksComponents(pwrSwitcher);
#endif /* OBSW_ADD_SYRLINKS == 1 */
createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
createPayloadComponents(gpioComIF, *pwrSwitcher);
const char* battAndImtqI2cDev = q7s::I2C_PL_EIVE;
if (core::FW_VERSION_MAJOR >= 4) {
@ -104,6 +96,17 @@ void ObjectFactory::produce(void* args) {
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
#endif
createPowerController(true, enableHkSets);
#if OBSW_ADD_PL_PCDU == 1
createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
#endif
#if OBSW_ADD_SYRLINKS == 1
createSyrlinksComponents(pwrSwitcher);
#endif /* OBSW_ADD_SYRLINKS == 1 */
createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
createPayloadComponents(gpioComIF, *pwrSwitcher);
#if OBSW_ADD_STAR_TRACKER == 1
createStrComponents(pwrSwitcher);

4
bsp_q7s/scheduling.cpp
View File

@ -167,6 +167,10 @@ void scheduling::initTasks() {
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
}
result = genericSysTask->addComponent(objects::EPS_SUBSYSTEM);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("EPS_SUBSYSTEM", objects::EPS_SUBSYSTEM);
}
result = genericSysTask->addComponent(objects::INTERNAL_ERROR_REPORTER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);

3
common/config/eive/definitions.h
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@ -79,6 +79,7 @@ static constexpr uint32_t SCHED_BLOCK_RTD = 150;
static constexpr uint32_t SCHED_BLOCK_7_RW_READ_MS = 300;
static constexpr uint32_t SCHED_BLOCK_8_PLPCDU_MS = 320;
static constexpr uint32_t SCHED_BLOCK_9_RAD_SENS_MS = 340;
static constexpr uint32_t SCHED_BLOCK_10_PWR_CTRL_MS = 350;
// 15 ms for FM
static constexpr float SCHED_BLOCK_1_PERIOD = static_cast<float>(SCHED_BLOCK_1_SUS_READ_MS) / 400.0;
@ -94,6 +95,8 @@ static constexpr float SCHED_BLOCK_RTD_PERIOD = static_cast<float>(SCHED_BLOCK_R
static constexpr float SCHED_BLOCK_7_PERIOD = static_cast<float>(SCHED_BLOCK_7_RW_READ_MS) / 400.0;
static constexpr float SCHED_BLOCK_8_PERIOD = static_cast<float>(SCHED_BLOCK_8_PLPCDU_MS) / 400.0;
static constexpr float SCHED_BLOCK_9_PERIOD = static_cast<float>(SCHED_BLOCK_9_RAD_SENS_MS) / 400.0;
static constexpr float SCHED_BLOCK_10_PERIOD =
static_cast<float>(SCHED_BLOCK_10_PWR_CTRL_MS) / 400.0;
} // namespace spiSched

4
common/config/eive/objects.h
View File

@ -26,8 +26,9 @@ enum commonObjects : uint32_t {
THERMAL_CONTROLLER = 0x43400001,
ACS_CONTROLLER = 0x43000002,
CORE_CONTROLLER = 0x43000003,
XIPHOS_WDT = 0x43000004,
POWER_CONTROLLER = 0x43000004,
GLOBAL_JSON_CFG = 0x43000006,
XIPHOS_WDT = 0x43000007,
/* 0x44 ('D') for device handlers */
MGM_0_LIS3_HANDLER = 0x44120006,
@ -158,6 +159,7 @@ enum commonObjects : uint32_t {
PL_SUBSYSTEM = 0x73010002,
TCS_SUBSYSTEM = 0x73010003,
COM_SUBSYSTEM = 0x73010004,
EPS_SUBSYSTEM = 0x73010005,
TM_FUNNEL = 0x73000100,
PUS_TM_FUNNEL = 0x73000101,

13
dummies/PlPcduDummy.cpp
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@ -43,3 +43,16 @@ ReturnValue_t PlPcduDummy::initializeLocalDataPool(localpool::DataPool &localDat
localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::TEMP, new PoolEntry<float>({0.0}, true));
return returnvalue::OK;
}
ReturnValue_t PlPcduDummy::checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
uint32_t *msToReachTheMode) {
if (commandedMode != MODE_OFF) {
PoolReadGuard pg(&enablePl);
if (pg.getReadResult() == returnvalue::OK) {
if (enablePl.plUseAllowed.isValid() and not enablePl.plUseAllowed.value) {
return NON_OP_STATE_OF_CHARGE;
}
}
}
return DeviceHandlerBase::checkModeCommand(commandedMode, commandedSubmode, msToReachTheMode);
}

6
dummies/PlPcduDummy.h
View File

@ -1,7 +1,9 @@
#ifndef DUMMIES_PLPCDUDUMMY_H_
#define DUMMIES_PLPCDUDUMMY_H_
#include <common/config/eive/objects.h>
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
#include <mission/payload/payloadPcduDefinitions.h>
class PlPcduDummy : public DeviceHandlerBase {
@ -29,6 +31,10 @@ class PlPcduDummy : public DeviceHandlerBase {
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
uint32_t *msToReachTheMode) override;
pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
};
#endif /* DUMMIES_PLPCDUDUMMY_H_ */

13
dummies/PlocMpsocDummy.cpp
View File

@ -23,6 +23,19 @@ ReturnValue_t PlocMpsocDummy::buildCommandFromCommand(DeviceCommandId_t deviceCo
return returnvalue::OK;
}
ReturnValue_t PlocMpsocDummy::checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
uint32_t *msToReachTheMode) {
if (commandedMode != MODE_OFF) {
PoolReadGuard pg(&enablePl);
if (pg.getReadResult() == returnvalue::OK) {
if (enablePl.plUseAllowed.isValid() and not enablePl.plUseAllowed.value) {
return NON_OP_STATE_OF_CHARGE;
}
}
}
return DeviceHandlerBase::checkModeCommand(commandedMode, commandedSubmode, msToReachTheMode);
}
ReturnValue_t PlocMpsocDummy::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
return returnvalue::OK;

5
dummies/PlocMpsocDummy.h
View File

@ -1,6 +1,8 @@
#pragma once
#include <common/config/eive/objects.h>
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
#include "mission/power/defs.h"
@ -24,6 +26,9 @@ class PlocMpsocDummy : public DeviceHandlerBase {
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
uint32_t *msToReachTheMode) override;
pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;

14
dummies/PlocSupervisorDummy.cpp
View File

@ -51,3 +51,17 @@ ReturnValue_t PlocSupervisorDummy::getSwitches(const uint8_t **switches,
*switches = reinterpret_cast<const uint8_t *>(&switchId);
return returnvalue::OK;
}
ReturnValue_t PlocSupervisorDummy::checkModeCommand(Mode_t commandedMode,
Submode_t commandedSubmode,
uint32_t *msToReachTheMode) {
if (commandedMode != MODE_OFF) {
PoolReadGuard pg(&enablePl);
if (pg.getReadResult() == returnvalue::OK) {
if (enablePl.plUseAllowed.isValid() and not enablePl.plUseAllowed.value) {
return NON_OP_STATE_OF_CHARGE;
}
}
}
return DeviceHandlerBase::checkModeCommand(commandedMode, commandedSubmode, msToReachTheMode);
}

5
dummies/PlocSupervisorDummy.h
View File

@ -1,6 +1,8 @@
#pragma once
#include <common/config/eive/objects.h>
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
#include <mission/power/defs.h>
class PlocSupervisorDummy : public DeviceHandlerBase {
@ -32,4 +34,7 @@ class PlocSupervisorDummy : public DeviceHandlerBase {
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
ReturnValue_t getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) override;
ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
uint32_t *msToReachTheMode) override;
pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
};

18
dummies/RwDummy.cpp
View File

@ -93,3 +93,21 @@ ReturnValue_t RwDummy::initializeLocalDataPool(localpool::DataPool &localDataPoo
subdp::RegularHkPeriodicParams(lastResetStatusSet.getSid(), false, 30.0));
return returnvalue::OK;
}
LocalPoolDataSetBase *RwDummy::getDataSetHandle(sid_t sid) {
switch (sid.ownerSetId) {
case (rws::SetIds::STATUS_SET_ID): {
return &statusSet;
}
case (rws::SetIds::LAST_RESET_ID): {
return &lastResetStatusSet;
}
case (rws::SetIds::SPEED_CMD_SET): {
return &rwSpeedActuationSet;
}
case (rws::SetIds::TM_SET_ID): {
return &tmDataset;
}
}
return nullptr;
}

1
dummies/RwDummy.h
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@ -37,6 +37,7 @@ class RwDummy : public DeviceHandlerBase {
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
};
#endif /* DUMMIES_RWDUMMY_H_ */

2
fsfw

@ -1 +1 @@
Subproject commit d246ce34d05ecc5c722fd127e61556374961c899
Subproject commit 0f604b35c6d3a2518e3c3ce3947825102e9fc4f4

5
generators/bsp_hosted_events.csv
View File

@ -99,6 +99,11 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h
11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h
11303;0x2c27;FDIR_REACTION_IGNORED;MEDIUM;No description;mission/power/defs.h
11304;0x2c28;DATASET_READ_FAILED;INFO;The dataset read for the inputs of the Power Controller has failed.;mission/power/defs.h
11305;0x2c29;VOLTAGE_OUT_OF_BOUNDS;HIGH;No description;mission/power/defs.h
11306;0x2c2a;TIMEDELTA_OUT_OF_BOUNDS;LOW;Time difference for Coulomb Counter was too large. P1: time in s * 10;mission/power/defs.h
11307;0x2c2b;POWER_LEVEL_LOW;HIGH;The State of Charge is below the limit for payload use. Setting Payload to faulty.;mission/power/defs.h
11308;0x2c2c;POWER_LEVEL_CRITICAL;HIGH;The State of Charge is below the limit for higher modes. Setting Reaction Wheels to faulty.;mission/power/defs.h
11400;0x2c88;GPIO_PULL_HIGH_FAILED;LOW;No description;mission/tcs/HeaterHandler.h
11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;No description;mission/tcs/HeaterHandler.h
11402;0x2c8a;HEATER_WENT_ON;INFO;No description;mission/tcs/HeaterHandler.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
99 11301 0x2c25 SWITCH_HAS_CHANGED INFO Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index mission/power/defs.h
100 11302 0x2c26 SWITCHING_Q7S_DENIED MEDIUM No description mission/power/defs.h
101 11303 0x2c27 FDIR_REACTION_IGNORED MEDIUM No description mission/power/defs.h
102 11304 0x2c28 DATASET_READ_FAILED INFO The dataset read for the inputs of the Power Controller has failed. mission/power/defs.h
103 11305 0x2c29 VOLTAGE_OUT_OF_BOUNDS HIGH No description mission/power/defs.h
104 11306 0x2c2a TIMEDELTA_OUT_OF_BOUNDS LOW Time difference for Coulomb Counter was too large. P1: time in s * 10 mission/power/defs.h
105 11307 0x2c2b POWER_LEVEL_LOW HIGH The State of Charge is below the limit for payload use. Setting Payload to faulty. mission/power/defs.h
106 11308 0x2c2c POWER_LEVEL_CRITICAL HIGH The State of Charge is below the limit for higher modes. Setting Reaction Wheels to faulty. mission/power/defs.h
107 11304 11400 0x2c28 0x2c88 DATASET_READ_FAILED GPIO_PULL_HIGH_FAILED INFO LOW The dataset read for the inputs of the Power Controller has failed. No description mission/power/defs.h mission/tcs/HeaterHandler.h
108 11305 11401 0x2c29 0x2c89 VOLTAGE_OUT_OF_BOUNDS GPIO_PULL_LOW_FAILED HIGH LOW No description mission/power/defs.h mission/tcs/HeaterHandler.h
109 11306 11402 0x2c2a 0x2c8a TIMEDELTA_OUT_OF_BOUNDS HEATER_WENT_ON LOW INFO Time difference for Coulomb Counter was too large. P1: time in s * 10 No description mission/power/defs.h mission/tcs/HeaterHandler.h

2
generators/bsp_hosted_objects.csv
View File

@ -1,6 +1,7 @@
0x42694269;TEST_TASK
0x43000002;ACS_CONTROLLER
0x43000003;CORE_CONTROLLER
0x43000004;POWER_CONTROLLER
0x43000006;GLOBAL_JSON_CFG
0x43400001;THERMAL_CONTROLLER
0x44000001;DUMMY_HANDLER
@ -156,6 +157,7 @@
0x73010002;PL_SUBSYSTEM
0x73010003;TCS_SUBSYSTEM
0x73010004;COM_SUBSYSTEM
0x73010005;EPS_SUBSYSTEM
0x73020001;MISC_TM_STORE
0x73020002;OK_TM_STORE
0x73020003;NOT_OK_TM_STORE

1 0x42694269 TEST_TASK
2 0x43000002 ACS_CONTROLLER
3 0x43000003 CORE_CONTROLLER
4 0x43000004 POWER_CONTROLLER
5 0x43000004 0x43000006 POWER_CONTROLLER GLOBAL_JSON_CFG
6 0x43000006 0x43400001 GLOBAL_JSON_CFG THERMAL_CONTROLLER
7 0x43400001 0x44000001 THERMAL_CONTROLLER DUMMY_HANDLER
157 0x73010001 0x73010002 ACS_SUBSYSTEM PL_SUBSYSTEM
158 0x73010002 0x73010003 PL_SUBSYSTEM TCS_SUBSYSTEM
159 0x73010003 0x73010004 TCS_SUBSYSTEM COM_SUBSYSTEM
160 0x73010005 EPS_SUBSYSTEM
161 0x73010004 0x73020001 COM_SUBSYSTEM MISC_TM_STORE
162 0x73010005 0x73020002 EPS_SUBSYSTEM OK_TM_STORE
163 0x73020001 0x73020003 MISC_TM_STORE NOT_OK_TM_STORE

1
generators/bsp_hosted_returnvalues.csv
View File

@ -210,6 +210,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x27a8;DHI_NoReplyExpected;No description;168;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
0x27a9;DHI_NonOpTemperature;No description;169;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
0x27aa;DHI_CommandNotImplemented;No description;170;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
0x27ab;DHI_NonOpStateOfCharge;No description;171;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
0x27b0;DHI_ChecksumError;No description;176;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
0x27b1;DHI_LengthMissmatch;No description;177;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
0x27b2;DHI_InvalidData;No description;178;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h

1 Full ID (hex) Name Description Unique ID Subsytem Name File Path
210 0x27a8 DHI_NoReplyExpected No description 168 DEVICE_HANDLER_IF fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
211 0x27a9 DHI_NonOpTemperature No description 169 DEVICE_HANDLER_IF fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
212 0x27aa DHI_CommandNotImplemented No description 170 DEVICE_HANDLER_IF fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
213 0x27ab DHI_NonOpStateOfCharge No description 171 DEVICE_HANDLER_IF fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
214 0x27ab 0x27b0 DHI_NonOpStateOfCharge DHI_ChecksumError No description 171 176 DEVICE_HANDLER_IF fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
215 0x27b0 0x27b1 DHI_ChecksumError DHI_LengthMissmatch No description 176 177 DEVICE_HANDLER_IF fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
216 0x27b1 0x27b2 DHI_LengthMissmatch DHI_InvalidData No description 177 178 DEVICE_HANDLER_IF fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h

5
generators/bsp_q7s_events.csv
View File

@ -99,6 +99,11 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h
11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h
11303;0x2c27;FDIR_REACTION_IGNORED;MEDIUM;No description;mission/power/defs.h
11304;0x2c28;DATASET_READ_FAILED;INFO;The dataset read for the inputs of the Power Controller has failed.;mission/power/defs.h
11305;0x2c29;VOLTAGE_OUT_OF_BOUNDS;HIGH;No description;mission/power/defs.h
11306;0x2c2a;TIMEDELTA_OUT_OF_BOUNDS;LOW;Time difference for Coulomb Counter was too large. P1: time in s * 10;mission/power/defs.h
11307;0x2c2b;POWER_LEVEL_LOW;HIGH;The State of Charge is below the limit for payload use. Setting Payload to faulty.;mission/power/defs.h
11308;0x2c2c;POWER_LEVEL_CRITICAL;HIGH;The State of Charge is below the limit for higher modes. Setting Reaction Wheels to faulty.;mission/power/defs.h
11400;0x2c88;GPIO_PULL_HIGH_FAILED;LOW;No description;mission/tcs/HeaterHandler.h
11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;No description;mission/tcs/HeaterHandler.h
11402;0x2c8a;HEATER_WENT_ON;INFO;No description;mission/tcs/HeaterHandler.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
99 11301 0x2c25 SWITCH_HAS_CHANGED INFO Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index mission/power/defs.h
100 11302 0x2c26 SWITCHING_Q7S_DENIED MEDIUM No description mission/power/defs.h
101 11303 0x2c27 FDIR_REACTION_IGNORED MEDIUM No description mission/power/defs.h
102 11304 0x2c28 DATASET_READ_FAILED INFO The dataset read for the inputs of the Power Controller has failed. mission/power/defs.h
103 11305 0x2c29 VOLTAGE_OUT_OF_BOUNDS HIGH No description mission/power/defs.h
104 11306 0x2c2a TIMEDELTA_OUT_OF_BOUNDS LOW Time difference for Coulomb Counter was too large. P1: time in s * 10 mission/power/defs.h
105 11307 0x2c2b POWER_LEVEL_LOW HIGH The State of Charge is below the limit for payload use. Setting Payload to faulty. mission/power/defs.h
106 11308 0x2c2c POWER_LEVEL_CRITICAL HIGH The State of Charge is below the limit for higher modes. Setting Reaction Wheels to faulty. mission/power/defs.h
107 11304 11400 0x2c28 0x2c88 DATASET_READ_FAILED GPIO_PULL_HIGH_FAILED INFO LOW The dataset read for the inputs of the Power Controller has failed. No description mission/power/defs.h mission/tcs/HeaterHandler.h
108 11305 11401 0x2c29 0x2c89 VOLTAGE_OUT_OF_BOUNDS GPIO_PULL_LOW_FAILED HIGH LOW No description mission/power/defs.h mission/tcs/HeaterHandler.h
109 11306 11402 0x2c2a 0x2c8a TIMEDELTA_OUT_OF_BOUNDS HEATER_WENT_ON LOW INFO Time difference for Coulomb Counter was too large. P1: time in s * 10 No description mission/power/defs.h mission/tcs/HeaterHandler.h

2
generators/bsp_q7s_objects.csv
View File

@ -1,6 +1,7 @@
0x00005060;P60DOCK_TEST_TASK
0x43000002;ACS_CONTROLLER
0x43000003;CORE_CONTROLLER
0x43000004;POWER_CONTROLLER
0x43000006;GLOBAL_JSON_CFG
0x43400001;THERMAL_CONTROLLER
0x44120006;MGM_0_LIS3_HANDLER
@ -161,6 +162,7 @@
0x73010002;PL_SUBSYSTEM
0x73010003;TCS_SUBSYSTEM
0x73010004;COM_SUBSYSTEM
0x73010005;EPS_SUBSYSTEM
0x73020001;MISC_TM_STORE
0x73020002;OK_TM_STORE
0x73020003;NOT_OK_TM_STORE

1 0x00005060 P60DOCK_TEST_TASK
2 0x43000002 ACS_CONTROLLER
3 0x43000003 CORE_CONTROLLER
4 0x43000004 POWER_CONTROLLER
5 0x43000004 0x43000006 POWER_CONTROLLER GLOBAL_JSON_CFG
6 0x43000006 0x43400001 GLOBAL_JSON_CFG THERMAL_CONTROLLER
7 0x43400001 0x44120006 THERMAL_CONTROLLER MGM_0_LIS3_HANDLER
162 0x73010001 0x73010002 ACS_SUBSYSTEM PL_SUBSYSTEM
163 0x73010002 0x73010003 PL_SUBSYSTEM TCS_SUBSYSTEM
164 0x73010003 0x73010004 TCS_SUBSYSTEM COM_SUBSYSTEM
165 0x73010005 EPS_SUBSYSTEM
166 0x73010004 0x73020001 COM_SUBSYSTEM MISC_TM_STORE
167 0x73010005 0x73020002 EPS_SUBSYSTEM OK_TM_STORE
168 0x73020001 0x73020003 MISC_TM_STORE NOT_OK_TM_STORE

1
generators/bsp_q7s_returnvalues.csv
View File

@ -210,6 +210,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x27a8;DHI_NoReplyExpected;No description;168;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
0x27a9;DHI_NonOpTemperature;No description;169;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
0x27aa;DHI_CommandNotImplemented;No description;170;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
0x27ab;DHI_NonOpStateOfCharge;No description;171;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
0x27b0;DHI_ChecksumError;No description;176;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
0x27b1;DHI_LengthMissmatch;No description;177;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
0x27b2;DHI_InvalidData;No description;178;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h

1 Full ID (hex) Name Description Unique ID Subsytem Name File Path
210 0x27a8 DHI_NoReplyExpected No description 168 DEVICE_HANDLER_IF fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
211 0x27a9 DHI_NonOpTemperature No description 169 DEVICE_HANDLER_IF fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
212 0x27aa DHI_CommandNotImplemented No description 170 DEVICE_HANDLER_IF fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
213 0x27ab DHI_NonOpStateOfCharge No description 171 DEVICE_HANDLER_IF fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
214 0x27ab 0x27b0 DHI_NonOpStateOfCharge DHI_ChecksumError No description 171 176 DEVICE_HANDLER_IF fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
215 0x27b0 0x27b1 DHI_ChecksumError DHI_LengthMissmatch No description 176 177 DEVICE_HANDLER_IF fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
216 0x27b1 0x27b2 DHI_LengthMissmatch DHI_InvalidData No description 177 178 DEVICE_HANDLER_IF fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h

19
generators/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 308 translations.
* @brief Auto-generated event translation file. Contains 313 translations.
* @details
* Generated on: 2023-09-25 17:49:54
* Generated on: 2023-10-10 13:50:27
*/
#include "translateEvents.h"
@ -105,6 +105,11 @@ const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
const char *FDIR_REACTION_IGNORED_STRING = "FDIR_REACTION_IGNORED";
const char *DATASET_READ_FAILED_STRING = "DATASET_READ_FAILED";
const char *VOLTAGE_OUT_OF_BOUNDS_STRING = "VOLTAGE_OUT_OF_BOUNDS";
const char *TIMEDELTA_OUT_OF_BOUNDS_STRING = "TIMEDELTA_OUT_OF_BOUNDS";
const char *POWER_LEVEL_LOW_STRING = "POWER_LEVEL_LOW";
const char *POWER_LEVEL_CRITICAL_STRING = "POWER_LEVEL_CRITICAL";
const char *GPIO_PULL_HIGH_FAILED_STRING = "GPIO_PULL_HIGH_FAILED";
const char *GPIO_PULL_LOW_FAILED_STRING = "GPIO_PULL_LOW_FAILED";
const char *HEATER_WENT_ON_STRING = "HEATER_WENT_ON";
@ -516,6 +521,16 @@ const char *translateEvents(Event event) {
return SWITCHING_Q7S_DENIED_STRING;
case (11303):
return FDIR_REACTION_IGNORED_STRING;
case (11304):
return DATASET_READ_FAILED_STRING;
case (11305):
return VOLTAGE_OUT_OF_BOUNDS_STRING;
case (11306):
return TIMEDELTA_OUT_OF_BOUNDS_STRING;
case (11307):
return POWER_LEVEL_LOW_STRING;
case (11308):
return POWER_LEVEL_CRITICAL_STRING;
case (11400):
return GPIO_PULL_HIGH_FAILED_STRING;
case (11401):

10
generators/objects/translateObjects.cpp
View File

@ -1,14 +1,15 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 175 translations.
* Generated on: 2023-09-25 17:49:54
* Contains 177 translations.
* Generated on: 2023-10-10 13:50:27
*/
#include "translateObjects.h"
const char *P60DOCK_TEST_TASK_STRING = "P60DOCK_TEST_TASK";
const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
const char *POWER_CONTROLLER_STRING = "POWER_CONTROLLER";
const char *GLOBAL_JSON_CFG_STRING = "GLOBAL_JSON_CFG";
const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
@ -169,6 +170,7 @@ const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
const char *EPS_SUBSYSTEM_STRING = "EPS_SUBSYSTEM";
const char *MISC_TM_STORE_STRING = "MISC_TM_STORE";
const char *OK_TM_STORE_STRING = "OK_TM_STORE";
const char *NOT_OK_TM_STORE_STRING = "NOT_OK_TM_STORE";
@ -190,6 +192,8 @@ const char *translateObject(object_id_t object) {
return ACS_CONTROLLER_STRING;
case 0x43000003:
return CORE_CONTROLLER_STRING;
case 0x43000004:
return POWER_CONTROLLER_STRING;
case 0x43000006:
return GLOBAL_JSON_CFG_STRING;
case 0x43400001:
@ -510,6 +514,8 @@ const char *translateObject(object_id_t object) {
return TCS_SUBSYSTEM_STRING;
case 0x73010004:
return COM_SUBSYSTEM_STRING;
case 0x73010005:
return EPS_SUBSYSTEM_STRING;
case 0x73020001:
return MISC_TM_STORE_STRING;
case 0x73020002:

10
linux/ObjectFactory.cpp
View File

@ -13,6 +13,7 @@
#include <linux/tcs/Max31865RtdPolling.h>
#include <mission/acs/SusHandler.h>
#include <mission/controller/AcsController.h>
#include <mission/controller/PowerController.h>
#include <mission/genericFactory.h>
#include <mission/payload/ScexDeviceHandler.h>
#include <mission/system/acs/SusAssembly.h>
@ -27,6 +28,7 @@
#include "devices/gpioIds.h"
#include "eive/definitions.h"
#include "mission/system/acs/acsModeTree.h"
#include "mission/system/power/epsModeTree.h"
#include "mission/system/tcs/tcsModeTree.h"
#include "mission/system/tree/payloadModeTree.h"
#include "mission/tcs/defs.h"
@ -337,6 +339,14 @@ AcsController* ObjectFactory::createAcsController(bool connectSubsystem, bool en
return acsCtrl;
}
PowerController* ObjectFactory::createPowerController(bool connectSubsystem, bool enableHkSets) {
auto pwrCtrl = new PowerController(objects::POWER_CONTROLLER, enableHkSets);
if (connectSubsystem) {
pwrCtrl->connectModeTreeParent(satsystem::eps::EPS_SUBSYSTEM);
}
return pwrCtrl;
}
void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) {
if (result != returnvalue::OK) {
sif::error << "ObjectFactory: Adding GPIOs failed for " << output << std::endl;

2
linux/ObjectFactory.h
View File

@ -16,6 +16,7 @@ class GpioIF;
class SpiComIF;
class PowerSwitchIF;
class AcsController;
class PowerController;
namespace ObjectFactory {
@ -31,5 +32,6 @@ void createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher,
void gpioChecker(ReturnValue_t result, std::string output);
AcsController* createAcsController(bool connectSubsystem, bool enableHkSets);
PowerController* createPowerController(bool connectSubsystem, bool enableHkSets);
} // namespace ObjectFactory

19
linux/fsfwconfig/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 308 translations.
* @brief Auto-generated event translation file. Contains 313 translations.
* @details
* Generated on: 2023-09-25 17:49:54
* Generated on: 2023-10-10 13:50:27
*/
#include "translateEvents.h"
@ -105,6 +105,11 @@ const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
const char *FDIR_REACTION_IGNORED_STRING = "FDIR_REACTION_IGNORED";
const char *DATASET_READ_FAILED_STRING = "DATASET_READ_FAILED";
const char *VOLTAGE_OUT_OF_BOUNDS_STRING = "VOLTAGE_OUT_OF_BOUNDS";
const char *TIMEDELTA_OUT_OF_BOUNDS_STRING = "TIMEDELTA_OUT_OF_BOUNDS";
const char *POWER_LEVEL_LOW_STRING = "POWER_LEVEL_LOW";
const char *POWER_LEVEL_CRITICAL_STRING = "POWER_LEVEL_CRITICAL";
const char *GPIO_PULL_HIGH_FAILED_STRING = "GPIO_PULL_HIGH_FAILED";
const char *GPIO_PULL_LOW_FAILED_STRING = "GPIO_PULL_LOW_FAILED";
const char *HEATER_WENT_ON_STRING = "HEATER_WENT_ON";
@ -516,6 +521,16 @@ const char *translateEvents(Event event) {
return SWITCHING_Q7S_DENIED_STRING;
case (11303):
return FDIR_REACTION_IGNORED_STRING;
case (11304):
return DATASET_READ_FAILED_STRING;
case (11305):
return VOLTAGE_OUT_OF_BOUNDS_STRING;
case (11306):
return TIMEDELTA_OUT_OF_BOUNDS_STRING;
case (11307):
return POWER_LEVEL_LOW_STRING;
case (11308):
return POWER_LEVEL_CRITICAL_STRING;
case (11400):
return GPIO_PULL_HIGH_FAILED_STRING;
case (11401):

10
linux/fsfwconfig/objects/translateObjects.cpp
View File

@ -1,14 +1,15 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 175 translations.
* Generated on: 2023-09-25 17:49:54
* Contains 177 translations.
* Generated on: 2023-10-10 13:50:27
*/
#include "translateObjects.h"
const char *P60DOCK_TEST_TASK_STRING = "P60DOCK_TEST_TASK";
const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
const char *POWER_CONTROLLER_STRING = "POWER_CONTROLLER";
const char *GLOBAL_JSON_CFG_STRING = "GLOBAL_JSON_CFG";
const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
@ -169,6 +170,7 @@ const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
const char *EPS_SUBSYSTEM_STRING = "EPS_SUBSYSTEM";
const char *MISC_TM_STORE_STRING = "MISC_TM_STORE";
const char *OK_TM_STORE_STRING = "OK_TM_STORE";
const char *NOT_OK_TM_STORE_STRING = "NOT_OK_TM_STORE";
@ -190,6 +192,8 @@ const char *translateObject(object_id_t object) {
return ACS_CONTROLLER_STRING;
case 0x43000003:
return CORE_CONTROLLER_STRING;
case 0x43000004:
return POWER_CONTROLLER_STRING;
case 0x43000006:
return GLOBAL_JSON_CFG_STRING;
case 0x43400001:
@ -510,6 +514,8 @@ const char *translateObject(object_id_t object) {
return TCS_SUBSYSTEM_STRING;
case 0x73010004:
return COM_SUBSYSTEM_STRING;
case 0x73010005:
return EPS_SUBSYSTEM_STRING;
case 0x73020001:
return MISC_TM_STORE_STRING;
case 0x73020002:

13
linux/payload/PlocMpsocHandler.cpp
View File

@ -1505,3 +1505,16 @@ void PlocMpsocHandler::cmdDoneHandler(bool success, ReturnValue_t result) {
}
disableAllReplies();
}
ReturnValue_t PlocMpsocHandler::checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
uint32_t* msToReachTheMode) {
if (commandedMode != MODE_OFF) {
PoolReadGuard pg(&enablePl);
if (pg.getReadResult() == returnvalue::OK) {
if (enablePl.plUseAllowed.isValid() and not enablePl.plUseAllowed.value) {
return NON_OP_STATE_OF_CHARGE;
}
}
}
return DeviceHandlerBase::checkModeCommand(commandedMode, commandedSubmode, msToReachTheMode);
}

5
linux/payload/PlocMpsocHandler.h
View File

@ -5,6 +5,7 @@
#include <linux/payload/mpsocRetvals.h>
#include <linux/payload/plocMpsocHelpers.h>
#include <linux/payload/plocSupvDefs.h>
#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
#include <string>
@ -309,6 +310,10 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
void stopSpecialComHelper();
void handleActionCommandFailure(ActionId_t actionId);
pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
uint32_t* msToReachTheMode) override;
};
#endif /* BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_ */

14
linux/payload/PlocSupervisorHandler.cpp
View File

@ -1993,6 +1993,20 @@ uint32_t PlocSupervisorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t mod
return 7000;
}
ReturnValue_t PlocSupervisorHandler::checkModeCommand(Mode_t commandedMode,
Submode_t commandedSubmode,
uint32_t* msToReachTheMode) {
if (commandedMode != MODE_OFF) {
PoolReadGuard pg(&enablePl);
if (pg.getReadResult() == returnvalue::OK) {
if (enablePl.plUseAllowed.isValid() and not enablePl.plUseAllowed.value) {
return NON_OP_STATE_OF_CHARGE;
}
}
}
return DeviceHandlerBase::checkModeCommand(commandedMode, commandedSubmode, msToReachTheMode);
}
// ReturnValue_t PlocSupervisorHandler::checkMramPacketApid() {
// uint16_t apid = (spacePacketBuffer[0] << 8 | spacePacketBuffer[1]) & supv::APID_MASK;
// TODO: Fix

5
linux/payload/PlocSupervisorHandler.h
View File

@ -3,6 +3,7 @@
#include <linux/payload/PlocSupvUartMan.h>
#include <linux/payload/plocSupvDefs.h>
#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
#include "OBSWConfig.h"
#include "devices/powerSwitcherList.h"
@ -395,6 +396,10 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
void handleExecutionFailureReport(ExecutionReport& report);
void printAckFailureInfo(uint16_t statusCode, DeviceCommandId_t commandId);
pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
uint32_t* msToReachTheMode) override;
};
#endif /* MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_ */

3
mission/controller/CMakeLists.txt
View File

@ -1,6 +1,7 @@
if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "")
target_sources(${LIB_EIVE_MISSION} PRIVATE ThermalController.cpp
AcsController.cpp)
AcsController.cpp
PowerController.cpp)
endif()
add_subdirectory(acs)

372
mission/controller/PowerController.cpp Normal file
View File

@ -0,0 +1,372 @@
#include <mission/controller/PowerController.h>
PowerController::PowerController(object_id_t objectId, bool enableHkSets)
: ExtendedControllerBase(objectId),
enableHkSets(enableHkSets),
parameterHelper(this),
pwrCtrlCoreHk(this),
enablePl(this) {}
ReturnValue_t PowerController::initialize() {
ReturnValue_t result = parameterHelper.initialize();
if (result != returnvalue::OK) {
return result;
}
return ExtendedControllerBase::initialize();
}
ReturnValue_t PowerController::handleCommandMessage(CommandMessage *message) {
ReturnValue_t result = actionHelper.handleActionMessage(message);
if (result == returnvalue::OK) {
return result;
}
result = parameterHelper.handleParameterMessage(message);
if (result == returnvalue::OK) {
return result;
}
return result;
}
MessageQueueId_t PowerController::getCommandQueue() const { return commandQueue->getId(); }
ReturnValue_t PowerController::getParameter(uint8_t domainId, uint8_t parameterId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues,
uint16_t startAtIndex) {
switch (domainId) {
case 0x0: // direct members
switch (parameterId) {
case 0x0:
parameterWrapper->set(batteryInternalResistance);
break;
case 0x1:
parameterWrapper->set(batteryMaximumCapacity);
break;
case 0x2: {
float oldCoulombCounterVoltageUpperThreshold = coulombCounterVoltageUpperThreshold;
ReturnValue_t result = newValues->getElement(&coulombCounterVoltageUpperThreshold);
if (result != returnvalue::OK) {
coulombCounterVoltageUpperThreshold = oldCoulombCounterVoltageUpperThreshold;
return result;
}
result = calculateCoulombCounterChargeUpperThreshold();
if (result != returnvalue::OK) {
coulombCounterVoltageUpperThreshold = oldCoulombCounterVoltageUpperThreshold;
return result;
}
parameterWrapper->set(coulombCounterVoltageUpperThreshold);
break;
}
case 0x3:
parameterWrapper->set(maxAllowedTimeDiff);
break;
case 0x4:
parameterWrapper->set(payloadOpLimitOn);
break;
case 0x5:
parameterWrapper->set(payloadOpLimitLow);
break;
case 0x6:
parameterWrapper->set(higherModesLimit);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
default:
return INVALID_DOMAIN_ID;
};
return returnvalue::OK;
}
void PowerController::performControlOperation() {
switch (internalState) {
case InternalState::STARTUP: {
initialCountdown.resetTimer();
internalState = InternalState::INITIAL_DELAY;
return;
}
case InternalState::INITIAL_DELAY: {
if (initialCountdown.hasTimedOut()) {
internalState = InternalState::INIT;
}
return;
}
case InternalState::INIT: {
ReturnValue_t result = calculateCoulombCounterChargeUpperThreshold();
if (result == returnvalue::OK) {
internalState = InternalState::READY;
}
return;
}
case InternalState::READY: {
if (mode != MODE_OFF) {
calculateStateOfCharge();
if (mode == MODE_NORMAL) {
watchStateOfCharge();
} else {
PoolReadGuard pg(&enablePl);
if (pg.getReadResult() == returnvalue::OK) {
enablePl.setValidity(false, true);
}
}
}
break;
}
default:
break;
}
}
ReturnValue_t PowerController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(pwrctrl::PoolIds::TOTAL_BATTERY_CURRENT, new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(pwrctrl::PoolIds::OPEN_CIRCUIT_VOLTAGE_CHARGE,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(pwrctrl::PoolIds::COULOMB_COUNTER_CHARGE, new PoolEntry<float>({0.0}));
poolManager.subscribeForRegularPeriodicPacket({pwrCtrlCoreHk.getSid(), enableHkSets, 60.0});
localDataPoolMap.emplace(pwrctrl::PoolIds::PAYLOAD_FLAG, new PoolEntry<uint8_t>({false}));
poolManager.subscribeForRegularPeriodicPacket({enablePl.getSid(), false, 60.0});
return returnvalue::OK;
}
LocalPoolDataSetBase *PowerController::getDataSetHandle(sid_t sid) {
switch (sid.ownerSetId) {
case pwrctrl::CORE_HK:
return &pwrCtrlCoreHk;
case pwrctrl::ENABLE_PL:
return &enablePl;
default:
return nullptr;
}
return nullptr;
}
ReturnValue_t PowerController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
if (mode == MODE_OFF or mode == MODE_ON or mode == MODE_NORMAL) {
if (submode == SUBMODE_NONE) {
return returnvalue::OK;
} else {
return INVALID_SUBMODE;
}
}
return INVALID_MODE;
}
void PowerController::calculateStateOfCharge() {
// get time
Clock::getClock_timeval(&now);
// update EPS HK values
ReturnValue_t result = updateEpsData();
if (result != returnvalue::OK) {
triggerEvent(power::DATASET_READ_FAILED);
sif::error << "Power Controller::Reading of Datasets has failed" << std::endl;
{
PoolReadGuard pg(&pwrCtrlCoreHk);
if (pg.getReadResult() == returnvalue::OK) {
pwrCtrlCoreHk.totalBatteryCurrent.value = INVALID_TOTAL_BATTERY_CURRENT;
pwrCtrlCoreHk.openCircuitVoltageCharge.value = INVALID_SOC;
pwrCtrlCoreHk.coulombCounterCharge.value = INVALID_SOC;
pwrCtrlCoreHk.setValidity(false, true);
}
}
// store time for next run
oldTime = now;
return;
}
// calculate total battery current
iBat = p60CoreHk.batteryCurrent.value + bpxBatteryHk.dischargeCurrent.value;
result = calculateOpenCircuitVoltageCharge();
if (result != returnvalue::OK) {
// notifying events have already been triggered
{
PoolReadGuard pg(&pwrCtrlCoreHk);
if (pg.getReadResult() == returnvalue::OK) {
pwrCtrlCoreHk.totalBatteryCurrent.value = iBat;
pwrCtrlCoreHk.totalBatteryCurrent.setValid(true);
pwrCtrlCoreHk.openCircuitVoltageCharge.value = INVALID_SOC;
pwrCtrlCoreHk.openCircuitVoltageCharge.setValid(false);
pwrCtrlCoreHk.coulombCounterCharge.value = INVALID_SOC;
pwrCtrlCoreHk.coulombCounterCharge.setValid(false);
}
}
// store time for next run
oldTime = now;
return;
}
result = calculateCoulombCounterCharge();
if (result != returnvalue::OK) {
// notifying events have already been triggered
{
PoolReadGuard pg(&pwrCtrlCoreHk);
if (pg.getReadResult() == returnvalue::OK) {
pwrCtrlCoreHk.totalBatteryCurrent.value = iBat;
pwrCtrlCoreHk.totalBatteryCurrent.setValid(true);
pwrCtrlCoreHk.openCircuitVoltageCharge.value =
charge2stateOfCharge(openCircuitVoltageCharge, false);
pwrCtrlCoreHk.openCircuitVoltageCharge.setValid(true);
pwrCtrlCoreHk.coulombCounterCharge.value = INVALID_SOC;
pwrCtrlCoreHk.coulombCounterCharge.setValid(false);
}
}
// store time for next run
oldTime = now;
return;
}
// commit to dataset
{
PoolReadGuard pg(&pwrCtrlCoreHk);
if (pg.getReadResult() == returnvalue::OK) {
pwrCtrlCoreHk.totalBatteryCurrent.value = iBat;
pwrCtrlCoreHk.openCircuitVoltageCharge.value =
charge2stateOfCharge(openCircuitVoltageCharge, false);
pwrCtrlCoreHk.coulombCounterCharge.value = charge2stateOfCharge(coulombCounterCharge, true);
pwrCtrlCoreHk.setValidity(true, true);
}
}
// store time for next run
oldTime = now;
}
void PowerController::watchStateOfCharge() {
if (pwrCtrlCoreHk.coulombCounterCharge.isValid()) {
if (pwrCtrlCoreHk.coulombCounterCharge.value < payloadOpLimitOn) {
PoolReadGuard pg(&enablePl);
if (pg.getReadResult() == returnvalue::OK) {
enablePl.plUseAllowed.value = false;
enablePl.setValidity(true, true);
}
} else {
PoolReadGuard pg(&enablePl);
if (pg.getReadResult() == returnvalue::OK) {
enablePl.plUseAllowed.value = true;
enablePl.setValidity(true, true);
}
}
if (not pwrLvlLowFlag and pwrCtrlCoreHk.coulombCounterCharge.value < payloadOpLimitLow) {
triggerEvent(power::POWER_LEVEL_LOW);
pwrLvlLowFlag = true;
} else if (pwrLvlLowFlag and pwrCtrlCoreHk.coulombCounterCharge.value > payloadOpLimitLow) {
pwrLvlLowFlag = false;
}
if (not pwrLvlCriticalFlag and pwrCtrlCoreHk.coulombCounterCharge.value < higherModesLimit) {
triggerEvent(power::POWER_LEVEL_CRITICAL);
pwrLvlCriticalFlag = true;
} else if (pwrLvlCriticalFlag and pwrCtrlCoreHk.coulombCounterCharge.value > higherModesLimit) {
pwrLvlCriticalFlag = false;
}
} else {
PoolReadGuard pg(&enablePl);
if (pg.getReadResult() == returnvalue::OK) {
enablePl.plUseAllowed.value = false;
enablePl.setValidity(true, true);
}
}
}
ReturnValue_t PowerController::calculateOpenCircuitVoltageCharge() {
float vBatCorrected =
(bpxBatteryHk.battVoltage.value - iBat * batteryInternalResistance) * CONVERT_FROM_MILLI;
uint8_t lookUpTableIdx = LOOK_UP_TABLE_MAX_IDX;
ReturnValue_t result = lookUpTableOcvIdxFinder(vBatCorrected, lookUpTableIdx, false);
if (result != returnvalue::OK) {
return result;
}
openCircuitVoltageCharge = linearInterpolation(
vBatCorrected, lookUpTableOcv[1][lookUpTableIdx], lookUpTableOcv[1][lookUpTableIdx + 1],
lookUpTableOcv[0][lookUpTableIdx], lookUpTableOcv[0][lookUpTableIdx + 1]);
return returnvalue::OK;
}
ReturnValue_t PowerController::calculateCoulombCounterCharge() {
double timeDiff = timevalOperations::toDouble(now - oldTime);
if (timeDiff > maxAllowedTimeDiff) {
// should not be a permanent state so no spam protection required
triggerEvent(power::TIMEDELTA_OUT_OF_BOUNDS, static_cast<uint32_t>(timeDiff * 10));
sif::error << "Power Controller::Time delta too large for Coulomb Counter: " << timeDiff
<< std::endl;
return returnvalue::FAILED;
}
if (not pwrCtrlCoreHk.coulombCounterCharge.isValid()) {
coulombCounterCharge = openCircuitVoltageCharge;
} else {
coulombCounterCharge =
coulombCounterCharge + iBat * CONVERT_FROM_MILLI * timeDiff * SECONDS_TO_HOURS;
if (coulombCounterCharge >= coulombCounterChargeUpperThreshold) {
coulombCounterCharge = coulombCounterChargeUpperThreshold;
}
}
return returnvalue::OK;
}
ReturnValue_t PowerController::updateEpsData() {
std::vector<ReturnValue_t> results;
{
PoolReadGuard pgBat(&bpxBatteryHk);
results.push_back(pgBat.getReadResult());
}
{
PoolReadGuard pgP60(&p60CoreHk);
results.push_back(pgP60.getReadResult());
}
for (const auto &result : results) {
if (result != returnvalue::OK) {
return result;
}
}
return returnvalue::OK;
}
float PowerController::charge2stateOfCharge(float capacity, bool coulombCounter) {
if (coulombCounter) {
return capacity / coulombCounterChargeUpperThreshold;
}
return capacity / batteryMaximumCapacity;
}
float PowerController::linearInterpolation(float x, float x0, float x1, float y0, float y1) {
return y0 + (x - x0) * (y1 - y0) / (x1 - x0);
}
ReturnValue_t PowerController::lookUpTableOcvIdxFinder(float voltage, uint8_t &idx, bool paramCmd) {
if (voltage >= lookUpTableOcv[1][99]) {
if (not voltageOutOfBoundsFlag and not paramCmd) {
triggerEvent(power::VOLTAGE_OUT_OF_BOUNDS, 0, static_cast<uint32_t>(voltage * 10));
voltageOutOfBoundsFlag = true;
}
sif::error << "Power Controller::Voltage is too high: " << voltage << std::endl;
return returnvalue::FAILED;
} else if (voltage <= lookUpTableOcv[1][0]) {
if (not voltageOutOfBoundsFlag and not paramCmd) {
triggerEvent(power::VOLTAGE_OUT_OF_BOUNDS, 1, static_cast<uint32_t>(voltage * 10));
voltageOutOfBoundsFlag = true;
}
sif::error << "Power Controller::Voltage is too low: " << voltage << std::endl;
return returnvalue::FAILED;
}
voltageOutOfBoundsFlag = false;
while (lookUpTableOcv[1][idx] > voltage) {
idx--;
}
return returnvalue::OK;
}
ReturnValue_t PowerController::calculateCoulombCounterChargeUpperThreshold() {
uint8_t lookUpTableIdx = LOOK_UP_TABLE_MAX_IDX;
ReturnValue_t result =
lookUpTableOcvIdxFinder(coulombCounterVoltageUpperThreshold, lookUpTableIdx, true);
if (result != returnvalue::OK) {
return result;
}
coulombCounterChargeUpperThreshold =
linearInterpolation(coulombCounterVoltageUpperThreshold, lookUpTableOcv[1][lookUpTableIdx],
lookUpTableOcv[1][lookUpTableIdx + 1], lookUpTableOcv[0][lookUpTableIdx],
lookUpTableOcv[0][lookUpTableIdx + 1]);
return returnvalue::OK;
}

131
mission/controller/PowerController.h Normal file
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@ -0,0 +1,131 @@
#ifndef MISSION_CONTROLLER_POWERCONTROLLER_H_
#define MISSION_CONTROLLER_POWERCONTROLLER_H_
#include <eive/objects.h>
#include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/parameters/ParameterHelper.h>
#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
#include <mission/power/bpxBattDefs.h>
#include <mission/power/gsDefs.h>
#include <cmath>
class PowerController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
public:
static constexpr dur_millis_t INIT_DELAY = 500;
PowerController(object_id_t objectId, bool enableHkSets);
MessageQueueId_t getCommandQueue() const;
ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) override;
private:
bool enableHkSets = false;
ParameterHelper parameterHelper;
enum class InternalState { STARTUP, INITIAL_DELAY, INIT, READY };
InternalState internalState = InternalState::STARTUP;
// Initial delay to make sure all pool variables have been initialized their owners
Countdown initialCountdown = Countdown(INIT_DELAY);
ReturnValue_t initialize() override;
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
void performControlOperation() override;
void calculateStateOfCharge();
void watchStateOfCharge();
ReturnValue_t calculateOpenCircuitVoltageCharge();
ReturnValue_t calculateCoulombCounterCharge();
ReturnValue_t updateEpsData();
float charge2stateOfCharge(float capacity, bool coulombCounter);
ReturnValue_t lookUpTableOcvIdxFinder(float voltage, uint8_t& idx, bool paramCmd);
float linearInterpolation(float x, float x0, float x1, float y0, float y1);
ReturnValue_t calculateCoulombCounterChargeUpperThreshold();
// Parameters
float batteryInternalResistance = 70.0 / 2.0 / 1000.0; // [Ohm]
float batteryMaximumCapacity = 2.6 * 2; // [Ah]
float coulombCounterVoltageUpperThreshold = 16.2; // [V]
double maxAllowedTimeDiff = 1.5; // [s]
float payloadOpLimitOn = 0.90; // [%]
float payloadOpLimitLow = 0.75; // [%]
float higherModesLimit = 0.6; // [%]
// OCV Look-up-Table {[Ah],[V]}
static constexpr uint8_t LOOK_UP_TABLE_MAX_IDX = 99;
float lookUpTableOcv[2][100] = {
{0.00000000e+00, 3.16227766e-04, 4.52809661e-04, 6.48382625e-04, 9.28425483e-04,
1.32942162e-03, 1.90361194e-03, 2.72580074e-03, 3.90310099e-03, 5.58888885e-03,
8.00278514e-03, 1.14592671e-02, 1.64086377e-02, 2.34956903e-02, 3.36437110e-02,
4.81747620e-02, 6.89819174e-02, 9.87758887e-02, 1.41438170e-01, 2.02526713e-01,
2.90000000e-01, 3.00000000e-01, 3.62820513e-01, 4.25641026e-01, 4.88461538e-01,
5.51282051e-01, 6.14102564e-01, 6.76923077e-01, 7.39743590e-01, 8.02564103e-01,
8.65384615e-01, 9.28205128e-01, 9.91025641e-01, 1.05384615e+00, 1.11666667e+00,
1.17948718e+00, 1.24230769e+00, 1.30512821e+00, 1.36794872e+00, 1.43076923e+00,
1.49358974e+00, 1.55641026e+00, 1.61923077e+00, 1.68205128e+00, 1.74487179e+00,
1.80769231e+00, 1.87051282e+00, 1.93333333e+00, 1.99615385e+00, 2.05897436e+00,
2.12179487e+00, 2.18461538e+00, 2.24743590e+00, 2.31025641e+00, 2.37307692e+00,
2.43589744e+00, 2.49871795e+00, 2.56153846e+00, 2.62435897e+00, 2.68717949e+00,
2.75000000e+00, 2.81282051e+00, 2.87564103e+00, 2.93846154e+00, 3.00128205e+00,
3.06410256e+00, 3.12692308e+00, 3.18974359e+00, 3.25256410e+00, 3.31538462e+00,
3.37820513e+00, 3.44102564e+00, 3.50384615e+00, 3.56666667e+00, 3.62948718e+00,
3.69230769e+00, 3.75512821e+00, 3.81794872e+00, 3.88076923e+00, 3.94358974e+00,
4.00641026e+00, 4.06923077e+00, 4.13205128e+00, 4.19487179e+00, 4.25769231e+00,
4.32051282e+00, 4.38333333e+00, 4.44615385e+00, 4.50897436e+00, 4.57179487e+00,
4.63461538e+00, 4.69743590e+00, 4.76025641e+00, 4.82307692e+00, 4.88589744e+00,
4.94871795e+00, 5.01153846e+00, 5.07435897e+00, 5.13717949e+00, 5.20000000e+00},
{12.52033533, 12.58720948, 12.61609309, 12.65612591, 12.67105282, 12.69242681, 12.72303245,
12.76685696, 12.80313768, 12.83600741, 12.8830739, 12.94720576, 13.00112629, 13.07833563,
13.17486308, 13.27128842, 13.37713879, 13.49275604, 13.60395193, 13.68708863, 13.75196335,
13.7582376, 13.79298643, 13.82885799, 13.87028849, 13.91585718, 13.96701874, 14.02343574,
14.07665641, 14.12626342, 14.1675095, 14.20582917, 14.23342159, 14.25724476, 14.27264301,
14.28922389, 14.30898535, 14.32750837, 14.34358057, 14.35965277, 14.37698366, 14.3943261,
14.41079196, 14.42679817, 14.44261008, 14.45771025, 14.47281042, 14.48751461, 14.50193089,
14.5164887, 14.53193477, 14.54738084, 14.56341235, 14.58054578, 14.59799552, 14.61632769,
14.63716465, 14.66935073, 14.70511347, 14.74315094, 14.77251031, 14.80005585, 14.8315427,
14.86078285, 14.89444687, 14.93495892, 14.97114013, 15.01055751, 15.0538516, 15.09698825,
15.14850029, 15.18947994, 15.24249483, 15.28521713, 15.335695, 15.37950723, 15.43241224,
15.48082213, 15.53314287, 15.58907248, 15.64030253, 15.68385331, 15.74149122, 15.80051882,
15.84959348, 15.90443241, 15.95743724, 16.01283068, 16.07629253, 16.13470801, 16.1890518,
16.24200781, 16.30521118, 16.37368429, 16.43661267, 16.49604875, 16.56223813, 16.62741412,
16.67249918, 16.74926904}};
// Variables
timeval now;
timeval oldTime;
int16_t iBat = 0; // [mA]
float openCircuitVoltageCharge = 0.0; // [Ah]
float coulombCounterCharge = 0.0; // [Ah]
float coulombCounterChargeUpperThreshold = 0.0; // [Ah]
float oldCoulombCounterVoltageUpperThreshold = 0.0; // [V]
static constexpr float CONVERT_FROM_MILLI = 1e-3;
static constexpr float SECONDS_TO_HOURS = 1. / (60. * 60.);
static constexpr int16_t INVALID_TOTAL_BATTERY_CURRENT = 0;
static constexpr float INVALID_SOC = -1;
bool pwrLvlLowFlag = false;
bool pwrLvlCriticalFlag = false;
bool voltageOutOfBoundsFlag = false;
// HK Datasets for Calculation
BpxBatteryHk bpxBatteryHk = BpxBatteryHk(objects::BPX_BATT_HANDLER);
P60Dock::CoreHkSet p60CoreHk = P60Dock::CoreHkSet(objects::P60DOCK_HANDLER);
// Output Dataset
pwrctrl::CoreHk pwrCtrlCoreHk;
// Dataset for PL Flag
pwrctrl::EnablePl enablePl;
};
#endif /* MISSION_CONTROLLER_POWERCONTROLLER_H_ */

51
mission/controller/controllerdefinitions/PowerCtrlDefinitions.h Normal file
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@ -0,0 +1,51 @@
#ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_POWERCTRLDEFINITIONS_H_
#define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_POWERCTRLDEFINITIONS_H_
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/datapoollocal/localPoolDefinitions.h>
#include <mission/power/defs.h>
#include <cstdint>
namespace pwrctrl {
enum SetIds : uint32_t { CORE_HK, ENABLE_PL };
enum PoolIds : lp_id_t {
TOTAL_BATTERY_CURRENT,
OPEN_CIRCUIT_VOLTAGE_CHARGE,
COULOMB_COUNTER_CHARGE,
PAYLOAD_FLAG
};
static constexpr uint8_t CORE_HK_ENTRIES = 3;
static constexpr uint8_t ENABLE_PL_ENTRIES = 1;
class CoreHk : public StaticLocalDataSet<CORE_HK_ENTRIES> {
public:
CoreHk(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, CORE_HK) {}
lp_var_t<int16_t> totalBatteryCurrent =
lp_var_t<int16_t>(sid.objectId, TOTAL_BATTERY_CURRENT, this);
lp_var_t<float> openCircuitVoltageCharge =
lp_var_t<float>(sid.objectId, OPEN_CIRCUIT_VOLTAGE_CHARGE, this);
lp_var_t<float> coulombCounterCharge =
lp_var_t<float>(sid.objectId, COULOMB_COUNTER_CHARGE, this);
private:
};
class EnablePl : public StaticLocalDataSet<ENABLE_PL_ENTRIES> {
public:
EnablePl(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, ENABLE_PL) {}
EnablePl(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, ENABLE_PL)) {}
lp_var_t<uint8_t> plUseAllowed = lp_var_t<uint8_t>(sid.objectId, PAYLOAD_FLAG, this);
private:
};
} // namespace pwrctrl
#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_POWERCTRLDEFINITIONS_H_ */

13
mission/payload/PayloadPcduHandler.cpp
View File

@ -564,6 +564,19 @@ bool PayloadPcduHandler::checkCurrent(float val, float upperBound, Event event)
return true;
}
ReturnValue_t PayloadPcduHandler::checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
uint32_t* msToReachTheMode) {
if (commandedMode != MODE_OFF) {
PoolReadGuard pg(&enablePl);
if (pg.getReadResult() == returnvalue::OK) {
if (enablePl.plUseAllowed.isValid() and not enablePl.plUseAllowed.value) {
return NON_OP_STATE_OF_CHARGE;
}
}
}
return DeviceHandlerBase::checkModeCommand(commandedMode, commandedSubmode, msToReachTheMode);
}
ReturnValue_t PayloadPcduHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
using namespace plpcdu;
if (mode == MODE_NORMAL) {

5
mission/payload/PayloadPcduHandler.h
View File

@ -4,6 +4,7 @@
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include <fsfw/timemanager/Countdown.h>
#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
#include <mission/payload/payloadPcduDefinitions.h>
#include <mission/system/objects/Stack5VHandler.h>
@ -170,6 +171,10 @@ class PayloadPcduHandler : public DeviceHandlerBase {
ReturnValue_t handleDoubleParamUpdate(std::string key, ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues);
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
uint32_t* msToReachTheMode) override;
};
#endif /* LINUX_DEVICES_PLPCDUHANDLER_H_ */

4
mission/pollingSeqTables.cpp
View File

@ -133,6 +133,7 @@ ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::ACU_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() != returnvalue::OK) {
sif::error << "GomSpace PST initialization failed" << std::endl;
return returnvalue::FAILED;
@ -602,5 +603,8 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::POWER_CONTROLLER, length * config::spiSched::SCHED_BLOCK_10_PERIOD,
0);
return returnvalue::OK;
}

17
mission/power/defs.h
View File

@ -47,6 +47,23 @@ static constexpr Event SWITCHING_Q7S_DENIED = event::makeEvent(SUBSYSTEM_ID, 2,
static constexpr Event FDIR_REACTION_IGNORED = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
//! [EXPORT] : [COMMENT] The dataset read for the inputs of the Power Controller has failed.
static constexpr Event DATASET_READ_FAILED = event::makeEvent(SUBSYSTEM_ID, 4, severity::INFO);
//! [EXPORT] : [COMMENT] The battery voltage read is out of the bounds in which it is supposed to
//! be.
//! P1: 1 too high, 0 too low
//! P2: voltage in V * 10
static constexpr Event VOLTAGE_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 5, severity::HIGH);
//! [EXPORT] : [COMMENT] Time difference for Coulomb Counter was too large.
//! P1: time in s * 10
static constexpr Event TIMEDELTA_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 6, severity::LOW);
//! [EXPORT] : [COMMENT] The State of Charge is below the limit for payload use. Setting Payload to
//! faulty.
static constexpr Event POWER_LEVEL_LOW = event::makeEvent(SUBSYSTEM_ID, 7, severity::HIGH);
//! [EXPORT] : [COMMENT] The State of Charge is below the limit for higher modes. Setting Reaction
//! Wheels to faulty.
static constexpr Event POWER_LEVEL_CRITICAL = event::makeEvent(SUBSYSTEM_ID, 8, severity::HIGH);
enum class States { IDLE, SWITCHING_POWER, CHECKING_POWER, MODE_COMMANDING };
enum class OpCodes { NONE, TO_OFF_DONE, TO_NOT_OFF_DONE, TIMEOUT_OCCURED };

101
mission/system/EiveSystem.cpp
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@ -81,6 +81,55 @@ ReturnValue_t EiveSystem::initialize() {
return result;
}
auto* plSs = ObjectManager::instance()->get<HasModesIF>(objects::PL_SUBSYSTEM);
if (plSs == nullptr) {
return ObjectManager::CHILD_INIT_FAILED;
}
plSsQueueId = plSs->getCommandQueue();
auto* plPcdu = ObjectManager::instance()->get<HasHealthIF>(objects::PLPCDU_HANDLER);
if (plPcdu == nullptr) {
return ObjectManager::CHILD_INIT_FAILED;
}
plPcduQueueId = plPcdu->getCommandQueue();
auto* plocMpsoc = ObjectManager::instance()->get<HasHealthIF>(objects::PLOC_MPSOC_HANDLER);
if (plocMpsoc == nullptr) {
return ObjectManager::CHILD_INIT_FAILED;
}
plocMpsocQueueId = plocMpsoc->getCommandQueue();
auto* plocSupervisor =
ObjectManager::instance()->get<HasHealthIF>(objects::PLOC_SUPERVISOR_HANDLER);
if (plocSupervisor == nullptr) {
return ObjectManager::CHILD_INIT_FAILED;
}
plocSupervisorQueueId = plocSupervisor->getCommandQueue();
auto* camera = ObjectManager::instance()->get<HasHealthIF>(objects::CAM_SWITCHER);
if (camera == nullptr) {
return ObjectManager::CHILD_INIT_FAILED;
}
cameraQueueId = camera->getCommandQueue();
auto* scex = ObjectManager::instance()->get<HasHealthIF>(objects::SCEX);
if (scex == nullptr) {
return ObjectManager::CHILD_INIT_FAILED;
}
scexQueueId = scex->getCommandQueue();
auto* radSensor = ObjectManager::instance()->get<HasHealthIF>(objects::RAD_SENSOR);
if (radSensor == nullptr) {
return ObjectManager::CHILD_INIT_FAILED;
}
radSensorQueueId = radSensor->getCommandQueue();
auto* str = ObjectManager::instance()->get<HasHealthIF>(objects::STAR_TRACKER);
if (str == nullptr) {
return ObjectManager::CHILD_INIT_FAILED;
}
strQueueId = str->getCommandQueue();
auto* bpxDest = ObjectManager::instance()->get<HasActionsIF>(objects::BPX_BATT_HANDLER);
if (bpxDest == nullptr) {
return ObjectManager::CHILD_INIT_FAILED;
@ -120,6 +169,8 @@ ReturnValue_t EiveSystem::initialize() {
manager->subscribeToEvent(eventQueue->getId(), event::getEventId(tcsCtrl::OBC_OVERHEATING));
manager->subscribeToEvent(eventQueue->getId(), event::getEventId(tcsCtrl::MGT_OVERHEATING));
manager->subscribeToEvent(eventQueue->getId(), event::getEventId(pdec::INVALID_TC_FRAME));
manager->subscribeToEvent(eventQueue->getId(), event::getEventId(power::POWER_LEVEL_LOW));
manager->subscribeToEvent(eventQueue->getId(), event::getEventId(power::POWER_LEVEL_CRITICAL));
return Subsystem::initialize();
}
@ -151,6 +202,20 @@ void EiveSystem::handleEventMessages() {
commandSelfToSafe();
break;
}
case power::POWER_LEVEL_LOW: {
forceOffPayload();
break;
}
case power::POWER_LEVEL_CRITICAL:
CommandMessage msg;
HealthMessage::setHealthMessage(&msg, HealthMessage::HEALTH_SET, HasHealthIF::FAULTY);
ReturnValue_t result = MessageQueueSenderIF::sendMessage(
strQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
if (result != returnvalue::OK) {
sif::error << "EIVE System: Sending FAULTY command to STR Assembly failed"
<< std::endl;
}
break;
}
break;
default:
@ -336,6 +401,42 @@ void EiveSystem::pdecRecoveryLogic() {
}
}
void EiveSystem::forceOffPayload() {
CommandMessage msg;
// set PL to faulty
HealthMessage::setHealthMessage(&msg, HealthMessage::HEALTH_SET, HasHealthIF::FAULTY);
ReturnValue_t result = commandQueue->sendMessage(plPcduQueueId, &msg);
if (result != returnvalue::OK) {
sif::error << "EIVE System: Sending FAULTY command to PL PCDU failed" << std::endl;
}
result = commandQueue->sendMessage(plocMpsocQueueId, &msg);
if (result != returnvalue::OK) {
sif::error << "EIVE System: Sending FAULTY command to PLOC MPSOC failed" << std::endl;
}
result = commandQueue->sendMessage(plocSupervisorQueueId, &msg);
if (result != returnvalue::OK) {
sif::error << "EIVE System: Sending FAULTY command to PLOC SUPERVISOR failed" << std::endl;
}
result = commandQueue->sendMessage(cameraQueueId, &msg);
if (result != returnvalue::OK) {
sif::error << "EIVE System: Sending FAULTY command to PL CAM failed" << std::endl;
}
result = commandQueue->sendMessage(scexQueueId, &msg);
if (result != returnvalue::OK) {
sif::error << "EIVE System: Sending FAULTY command to SCEX failed" << std::endl;
}
result = commandQueue->sendMessage(radSensorQueueId, &msg);
if (result != returnvalue::OK) {
sif::error << "EIVE System: Sending FAULTY command to RAD SENSOR failed" << std::endl;
}
}
void EiveSystem::commonI2cRecoverySequenceFinish() {
alreadyTriedI2cRecovery = true;
performI2cReboot = false;

11
mission/system/EiveSystem.h
View File

@ -49,6 +49,15 @@ class EiveSystem : public Subsystem, public HasActionsIF {
PowerSwitchIF* powerSwitcher = nullptr;
std::atomic_uint16_t& i2cErrors;
MessageQueueId_t plSsQueueId = MessageQueueIF::NO_QUEUE;
MessageQueueId_t plPcduQueueId = MessageQueueIF::NO_QUEUE;
MessageQueueId_t plocMpsocQueueId = MessageQueueIF::NO_QUEUE;
MessageQueueId_t plocSupervisorQueueId = MessageQueueIF::NO_QUEUE;
MessageQueueId_t cameraQueueId = MessageQueueIF::NO_QUEUE;
MessageQueueId_t scexQueueId = MessageQueueIF::NO_QUEUE;
MessageQueueId_t radSensorQueueId = MessageQueueIF::NO_QUEUE;
MessageQueueId_t strQueueId = MessageQueueIF::NO_QUEUE;
MessageQueueId_t pdecHandlerQueueId = MessageQueueIF::NO_QUEUE;
MessageQueueId_t bpxBattQueueId = MessageQueueIF::NO_QUEUE;
@ -68,6 +77,8 @@ class EiveSystem : public Subsystem, public HasActionsIF {
ReturnValue_t sendFullRebootCommand();
ReturnValue_t sendSelfRebootCommand();
void forceOffPayload();
void pdecRecoveryLogic();
void i2cRecoveryLogic();

14
mission/system/objects/CamSwitcher.cpp
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@ -8,3 +8,17 @@ void CamSwitcher::performFaultyOperation() {
switcher.turnOff();
}
}
ReturnValue_t CamSwitcher::checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
uint32_t* msToReachTheMode) {
if (commandedMode != MODE_OFF) {
PoolReadGuard pg(&enablePl);
if (pg.getReadResult() == returnvalue::OK) {
if (enablePl.plUseAllowed.isValid() and not enablePl.plUseAllowed.value) {
return TRANS_NOT_ALLOWED;
}
}
}
return PowerSwitcherComponent::checkModeCommand(commandedMode, commandedSubmode,
msToReachTheMode);
}

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

@ -1,13 +1,19 @@
#ifndef MISSION_SYSTEM_OBJECTS_CAMSWITCHER_H_
#define MISSION_SYSTEM_OBJECTS_CAMSWITCHER_H_
#include <common/config/eive/objects.h>
#include <fsfw/power/PowerSwitcherComponent.h>
#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
class CamSwitcher : public PowerSwitcherComponent {
public:
CamSwitcher(object_id_t objectId, PowerSwitchIF& pwrSwitcher, power::Switch_t pwrSwitch);
private:
pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
uint32_t* msToReachTheMode) override;
void performFaultyOperation() override;
};

2
mission/system/power/CMakeLists.txt
View File

@ -1 +1 @@
target_sources(${LIB_EIVE_MISSION} PRIVATE GomspacePowerFdir.cpp)
target_sources(${LIB_EIVE_MISSION} PRIVATE epsModeTree.cpp EpsSubsystem.cpp GomspacePowerFdir.cpp)

27
mission/system/power/EpsSubsystem.cpp Normal file
View File

@ -0,0 +1,27 @@
#include <mission/system/power/EpsSubsystem.h>
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
EpsSubsystem::EpsSubsystem(object_id_t objectId, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables)
: Subsystem(objectId, maxNumberOfSequences, maxNumberOfTables) {}
void EpsSubsystem::announceMode(bool recursive) {
const char* modeStr = "UNKNOWN";
switch (mode) {
case (HasModesIF::MODE_OFF): {
modeStr = "OFF";
break;
}
case (HasModesIF::MODE_ON): {
modeStr = "ON";
break;
}
case (DeviceHandlerIF::MODE_NORMAL): {
modeStr = "NORMAL";
break;
}
}
sif::info << "EPS subsystem is now in " << modeStr << " mode" << std::endl;
return Subsystem::announceMode(recursive);
}

13
mission/system/power/EpsSubsystem.h Normal file
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@ -0,0 +1,13 @@
#ifndef MISSION_SYSTEM_OBJECTS_EPSSUBSYSTEM_H_
#define MISSION_SYSTEM_OBJECTS_EPSSUBSYSTEM_H_
#include <fsfw/subsystem/Subsystem.h>
class EpsSubsystem : public Subsystem {
public:
EpsSubsystem(object_id_t objectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
private:
void announceMode(bool recursive) override;
};
#endif /* MISSION_SYSTEM_OBJECTS_EPSSUBSYSTEM_H_ */

104
mission/system/power/epsModeTree.cpp Normal file
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@ -0,0 +1,104 @@
#include <mission/system/power/epsModeTree.h>
#include "eive/objects.h"
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
#include "fsfw/subsystem/Subsystem.h"
#include "mission/system/treeUtil.h"
EpsSubsystem satsystem::eps::EPS_SUBSYSTEM(objects::EPS_SUBSYSTEM, 12, 24);
namespace {
// Alias for checker function
const auto check = subsystem::checkInsert;
void buildOffSequence(Subsystem& ss, ModeListEntry& eh);
void buildNormalSequence(Subsystem& ss, ModeListEntry& eh);
} // namespace
static const auto OFF = HasModesIF::MODE_OFF;
static const auto NML = DeviceHandlerIF::MODE_NORMAL;
auto EPS_SEQUENCE_OFF = std::make_pair(OFF, FixedArrayList<ModeListEntry, 3>());
auto EPS_TABLE_OFF_TGT = std::make_pair((OFF << 24) | 1, FixedArrayList<ModeListEntry, 2>());
auto EPS_TABLE_OFF_TRANS_0 = std::make_pair((OFF << 24) | 2, FixedArrayList<ModeListEntry, 2>());
auto EPS_SEQUENCE_NORMAL = std::make_pair(NML, FixedArrayList<ModeListEntry, 3>());
auto EPS_TABLE_NORMAL_TGT = std::make_pair((NML << 24) | 1, FixedArrayList<ModeListEntry, 2>());
auto EPS_TABLE_NORMAL_TRANS_0 = std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 7>());
Subsystem& satsystem::eps::init() {
ModeListEntry entry;
buildOffSequence(EPS_SUBSYSTEM, entry);
buildNormalSequence(EPS_SUBSYSTEM, entry);
EPS_SUBSYSTEM.setInitialMode(NML);
return EPS_SUBSYSTEM;
}
namespace {
void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::eps::buildOffSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
check(table.insert(eh), ctxc);
};
// Insert Helper Sequence
auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
bool checkSuccess) {
eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess);
check(sequence.insert(eh), ctxc);
};
// OFF target table is empty
check(ss.addTable(TableEntry(EPS_TABLE_OFF_TGT.first, &EPS_TABLE_OFF_TGT.second)), ctxc);
// Transition 0
iht(objects::POWER_CONTROLLER, OFF, 0, EPS_TABLE_OFF_TRANS_0.second);
check(ss.addTable(TableEntry(EPS_TABLE_OFF_TRANS_0.first, &EPS_TABLE_OFF_TRANS_0.second)), ctxc);
ihs(EPS_SEQUENCE_OFF.second, EPS_TABLE_OFF_TGT.first, 0, false);
ihs(EPS_SEQUENCE_OFF.second, EPS_TABLE_OFF_TRANS_0.first, 0, false);
check(ss.addSequence(SequenceEntry(EPS_SEQUENCE_OFF.first, &EPS_SEQUENCE_OFF.second,
EPS_SEQUENCE_OFF.first)),
ctxc);
}
void buildNormalSequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::tcs::buildNormalSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
check(table.insert(eh), ctxc);
};
// Insert Helper Sequence
auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
bool checkSuccess) {
eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess);
check(sequence.insert(eh), ctxc);
};
// Normal table target table is empty
check(ss.addTable(TableEntry(EPS_TABLE_NORMAL_TGT.first, &EPS_TABLE_NORMAL_TGT.second)), ctxc);
// Transition 0
iht(objects::POWER_CONTROLLER, NML, 0, EPS_TABLE_NORMAL_TRANS_0.second);
check(ss.addTable(TableEntry(EPS_TABLE_NORMAL_TRANS_0.first, &EPS_TABLE_NORMAL_TRANS_0.second)),
ctxc);
ihs(EPS_SEQUENCE_NORMAL.second, EPS_TABLE_NORMAL_TGT.first, 0, false);
ihs(EPS_SEQUENCE_NORMAL.second, EPS_TABLE_NORMAL_TRANS_0.first, 0, false);
check(ss.addSequence(SequenceEntry(EPS_SEQUENCE_NORMAL.first, &EPS_SEQUENCE_NORMAL.second,
EPS_SEQUENCE_NORMAL.first)),
ctxc);
}
} // namespace

15
mission/system/power/epsModeTree.h Normal file
View File

@ -0,0 +1,15 @@
#ifndef MISSION_SYSTEM_TREE_EPSMODETREE_H_
#define MISSION_SYSTEM_TREE_EPSMODETREE_H_
#include <mission/system/power/EpsSubsystem.h>
namespace satsystem {
namespace eps {
extern EpsSubsystem EPS_SUBSYSTEM;
Subsystem& init();
} // namespace eps
} // namespace satsystem
#endif /* MISSION_SYSTEM_TREE_EPSMODETREE_H_ */

17
mission/system/systemTree.cpp
View File

@ -11,6 +11,7 @@
#include "eive/objects.h"
#include "mission/com/defs.h"
#include "mission/system/acs/acsModeTree.h"
#include "mission/system/power/epsModeTree.h"
#include "mission/system/tcs/tcsModeTree.h"
#include "mission/system/tree/payloadModeTree.h"
#include "treeUtil.h"
@ -40,6 +41,8 @@ void satsystem::init(bool commandPlPcdu1) {
tcsSubsystem.connectModeTreeParent(EIVE_SYSTEM);
auto& comSubsystem = com::init();
comSubsystem.connectModeTreeParent(EIVE_SYSTEM);
auto& epsSubsystem = eps::init();
epsSubsystem.connectModeTreeParent(EIVE_SYSTEM);
ModeListEntry entry;
buildBootSequence(EIVE_SYSTEM, entry);
buildSafeSequence(EIVE_SYSTEM, entry);
@ -141,9 +144,11 @@ void buildBootSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TGT.second);
iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
iht(objects::EPS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TGT.first, &EIVE_TABLE_BOOT_TGT.second)), ctxc);
// Build SAFE transition 0.
// Build BOOT transition 0.
iht(objects::EPS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TRANS_0.second);
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
@ -151,7 +156,7 @@ void buildBootSequence(Subsystem& ss, ModeListEntry& eh) {
check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TRANS_0.first, &EIVE_TABLE_BOOT_TRANS_0.second)),
ctxc);
// Build Safe sequence
// Build BOOT sequence
ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TGT.first, 0, false);
ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TRANS_0.first, 0, false);
check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_BOOT.first, &EIVE_SEQUENCE_BOOT.second,
@ -187,13 +192,14 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TGT.first, &EIVE_TABLE_SAFE_TGT.second)), ctxc);
// Build SAFE transition 0.
iht(objects::EPS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second);
iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second);
iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_0.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_0.second, true);
check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_0.first, &EIVE_TABLE_SAFE_TRANS_0.second)),
ctxc);
// Build Safe sequence
// Build SAFE sequence
ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TGT.first, 0, false);
ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_0.first, 0, false);
check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_SAFE.first, &EIVE_SEQUENCE_SAFE.second,
@ -224,6 +230,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TGT.first, &EIVE_TABLE_IDLE_TGT.second)), ctxc);
// Build IDLE transition 0
iht(objects::EPS_SUBSYSTEM, NML, 0, EIVE_TABLE_IDLE_TRANS_0.second);
iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_IDLE_TRANS_0.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TRANS_0.second);
check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_0.first, &EIVE_TABLE_IDLE_TRANS_0.second)),
@ -261,6 +268,7 @@ void buildPtgNadirSequence(Subsystem& ss, ModeListEntry& eh) {
ctxc);
// Build PTG_NADIR transition 0
iht(objects::EPS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_NADIR_TRANS_0.second);
iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_NADIR_TRANS_0.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_NADIR, 0, EIVE_TABLE_PTG_NADIR_TRANS_0.second);
check(ss.addTable(
@ -299,6 +307,7 @@ void buildPtgTargetSequence(Subsystem& ss, ModeListEntry& eh) {
ctxc);
// Build PTG_TARGET transition 0
iht(objects::EPS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_TARGET_TRANS_0.second);
iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_TARGET_TRANS_0.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET, 0, EIVE_TABLE_PTG_TARGET_TRANS_0.second);
check(ss.addTable(
@ -338,6 +347,7 @@ void buildPtgTargetGsSequence(Subsystem& ss, ModeListEntry& eh) {
ctxc);
// Build PTG_TARGET_GS transition 0
iht(objects::EPS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second);
iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET_GS, 0,
EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second);
@ -379,6 +389,7 @@ void buildPtgInertialSequence(Subsystem& ss, ModeListEntry& eh) {
ctxc);
// Build PTG_INERTIAL transition 0
iht(objects::EPS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_INERTIAL_TRANS_0.second);
iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_INERTIAL_TRANS_0.second);
iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_INERTIAL, 0,
EIVE_TABLE_PTG_INERTIAL_TRANS_0.second);