Robin Mueller
269de1782a
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130 lines
4.8 KiB
C++
130 lines
4.8 KiB
C++
#ifndef MISSION_SYSTEM_ACSBOARDASSEMBLY_H_
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#define MISSION_SYSTEM_ACSBOARDASSEMBLY_H_
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#include <devices/powerSwitcherList.h>
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#include <fsfw/objectmanager/frameworkObjects.h>
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#include <fsfw_hal/common/gpio/gpioDefinitions.h>
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#include "DualLaneAssemblyBase.h"
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#include "DualLanePowerStateMachine.h"
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#include "eive/eventSubsystemIds.h"
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struct AcsBoardHelper {
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AcsBoardHelper(object_id_t mgm0Id, object_id_t mgm1Id, object_id_t mgm2Id, object_id_t mgm3Id,
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object_id_t gyro0Id, object_id_t gyro1Id, object_id_t gyro2Id, object_id_t gyro3Id,
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object_id_t gpsId)
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: mgm0Lis3IdSideA(mgm0Id),
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mgm1Rm3100IdSideA(mgm1Id),
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mgm2Lis3IdSideB(mgm2Id),
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mgm3Rm3100IdSideB(mgm3Id),
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gyro0AdisIdSideA(gyro0Id),
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gyro1L3gIdSideA(gyro1Id),
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gyro2AdisIdSideB(gyro2Id),
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gyro3L3gIdSideB(gyro3Id),
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gpsId(gpsId) {}
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object_id_t mgm0Lis3IdSideA = objects::NO_OBJECT;
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object_id_t mgm1Rm3100IdSideA = objects::NO_OBJECT;
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object_id_t mgm2Lis3IdSideB = objects::NO_OBJECT;
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object_id_t mgm3Rm3100IdSideB = objects::NO_OBJECT;
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object_id_t gyro0AdisIdSideA = objects::NO_OBJECT;
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object_id_t gyro1L3gIdSideA = objects::NO_OBJECT;
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object_id_t gyro2AdisIdSideB = objects::NO_OBJECT;
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object_id_t gyro3L3gIdSideB = objects::NO_OBJECT;
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object_id_t gpsId = objects::NO_OBJECT;
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Mode_t gyro0SideAMode = HasModesIF::MODE_OFF;
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Mode_t gyro1SideAMode = HasModesIF::MODE_OFF;
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Mode_t gyro2SideBMode = HasModesIF::MODE_OFF;
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Mode_t gyro3SideBMode = HasModesIF::MODE_OFF;
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Mode_t mgm0SideAMode = HasModesIF::MODE_OFF;
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Mode_t mgm1SideAMode = HasModesIF::MODE_OFF;
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Mode_t mgm2SideBMode = HasModesIF::MODE_OFF;
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Mode_t mgm3SideBMode = HasModesIF::MODE_OFF;
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Mode_t gpsMode = HasModesIF::MODE_OFF;
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};
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enum ModeTableIdx : uint8_t {
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MGM_0_A = 0,
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MGM_1_A = 1,
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MGM_2_B = 2,
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MGM_3_B = 3,
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GYRO_0_A = 4,
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GYRO_1_A = 5,
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GYRO_2_B = 6,
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GYRO_3_B = 7,
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GPS = 8
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};
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class PowerSwitchIF;
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class GpioIF;
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/**
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* @brief Assembly class which manages redundant ACS board sides
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* @details
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* This class takes care of ensuring that enough devices on the ACS board are available at all
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* times. It does so by doing autonomous transitions to the redundant side or activating both sides
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* if not enough devices are available.
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*
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* This class also takes care of switching on the A side and/or B side power lanes. Normally,
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* doing this task would be performed by the device handlers, but this is not possible for the
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* ACS board where multiple sensors share the same power supply.
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*/
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class AcsBoardAssembly : public DualLaneAssemblyBase {
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public:
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// Use these variables instead of magic numbers when generator was updated
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// TRANSITION_OTHER_SIDE_FAILED_ID
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// NOT_ENOUGH_DEVICES_DUAL_MODE_ID
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// POWER_STATE_MACHINE_TIMEOUT_ID
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// SIDE_SWITCH_TRANSITION_NOT_ALLOWED_ID
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static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_BOARD_ASS;
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static constexpr Event TRANSITION_OTHER_SIDE_FAILED =
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event::makeEvent(SUBSYSTEM_ID, 0, severity::HIGH);
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static constexpr Event NOT_ENOUGH_DEVICES_DUAL_MODE =
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event::makeEvent(SUBSYSTEM_ID, 1, severity::HIGH);
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static constexpr Event POWER_STATE_MACHINE_TIMEOUT =
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event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
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//! [EXPORT] : [COMMENT] Not implemented, would increase already high complexity. Operator
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//! should instead command the assembly off first and then command the assembly on into the
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//! desired mode/submode combination
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static constexpr Event SIDE_SWITCH_TRANSITION_NOT_ALLOWED =
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event::makeEvent(SUBSYSTEM_ID, 3, severity::LOW);
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static constexpr uint8_t NUMBER_DEVICES_MODE_TABLE = 9;
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AcsBoardAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
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AcsBoardHelper helper, GpioIF* gpioIF);
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/**
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* In dual mode, the A side or the B side GPS device can be used, but not both.
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* This function can be used to switch the used GPS device.
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* @param side
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*/
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void selectGpsInDualMode(duallane::Submodes side);
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private:
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static constexpr pcdu::Switches SWITCH_A = pcdu::Switches::PDU1_CH7_ACS_A_SIDE_3V3;
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static constexpr pcdu::Switches SWITCH_B = pcdu::Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3;
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bool tryingOtherSide = false;
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bool dualModeErrorSwitch = true;
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AcsBoardHelper helper;
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GpioIF* gpioIF = nullptr;
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FixedArrayList<ModeListEntry, NUMBER_DEVICES_MODE_TABLE> modeTable;
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void gpioHandler(gpioId_t gpio, bool high, std::string error);
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ReturnValue_t initialize() override;
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// AssemblyBase overrides
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ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
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ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
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ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
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void refreshHelperModes();
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};
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#endif /* MISSION_SYSTEM_ACSBOARDASSEMBLY_H_ */
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