262 lines
11 KiB
C++
262 lines
11 KiB
C++
#ifndef MISSION_CONTROLLER_THERMALCONTROLLER_H_
|
|
#define MISSION_CONTROLLER_THERMALCONTROLLER_H_
|
|
|
|
#include <bsp_q7s/core/CoreDefinitions.h>
|
|
#include <fsfw/controller/ExtendedControllerBase.h>
|
|
#include <fsfw/devicehandlers/DeviceHandlerThermalSet.h>
|
|
#include <fsfw/timemanager/Countdown.h>
|
|
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
|
|
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
|
|
#include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
|
|
#include <mission/controller/controllerdefinitions/ThermalControllerDefinitions.h>
|
|
#include <mission/devices/devicedefinitions/BpxBatteryDefinitions.h>
|
|
#include <mission/devices/devicedefinitions/Max31865Definitions.h>
|
|
#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
|
|
#include <mission/devices/devicedefinitions/Tmp1075Definitions.h>
|
|
#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
|
|
#include <mission/devices/devicedefinitions/imtqHelpers.h>
|
|
#include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
|
|
#include <mission/devices/devicedefinitions/rwHelpers.h>
|
|
#include <mission/devices/devicedefinitions/susMax1227Helpers.h>
|
|
|
|
#include <list>
|
|
|
|
#include "mission/devices/HeaterHandler.h"
|
|
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
|
|
#include "mission/trace.h"
|
|
|
|
/**
|
|
* NOP Limit: Hard limit for device, usually from datasheet. Device damage is possible lif NOP limit
|
|
* is exceeded.
|
|
* OP Limit: Soft limit. Device should be switched off or TCS controller should take action if the
|
|
* limit is exceeded to avoid reaching NOP limit
|
|
*/
|
|
struct TempLimits {
|
|
TempLimits(float nopLowerLimit, float opLowerLimit, float cutOffLimit, float opUpperLimit,
|
|
float nopUpperLimit)
|
|
: opLowerLimit(opLowerLimit),
|
|
opUpperLimit(opUpperLimit),
|
|
cutOffLimit(cutOffLimit),
|
|
nopLowerLimit(nopLowerLimit),
|
|
nopUpperLimit(nopUpperLimit) {}
|
|
float opLowerLimit;
|
|
float opUpperLimit;
|
|
float cutOffLimit;
|
|
float nopLowerLimit;
|
|
float nopUpperLimit;
|
|
};
|
|
|
|
class ThermalController : public ExtendedControllerBase {
|
|
public:
|
|
static const uint16_t INVALID_TEMPERATURE = 999;
|
|
static const uint8_t NUMBER_OF_SENSORS = 16;
|
|
|
|
ThermalController(object_id_t objectId, HeaterHandler& heater);
|
|
|
|
ReturnValue_t initialize() override;
|
|
|
|
protected:
|
|
void performThermalModuleCtrl();
|
|
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
|
|
void performControlOperation() override;
|
|
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
|
LocalDataPoolManager& poolManager) override;
|
|
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
|
|
|
|
// Mode abstract functions
|
|
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
|
|
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 TEMP_OFFSET = 5;
|
|
|
|
enum class InternalState { STARTUP, INITIAL_DELAY, READY };
|
|
|
|
InternalState internalState = InternalState::STARTUP;
|
|
|
|
HeaterHandler& heaterHandler;
|
|
|
|
tcsCtrl::SensorTemperatures sensorTemperatures;
|
|
tcsCtrl::SusTemperatures susTemperatures;
|
|
tcsCtrl::DeviceTemperatures deviceTemperatures;
|
|
tcsCtrl::HeaterInfo heaterInfo;
|
|
lp_vec_t<int16_t, 9> currentVecPdu2 =
|
|
lp_vec_t<int16_t, 9>(gp_id_t(objects::PDU2_HANDLER, PDU::pool::PDU_CURRENTS));
|
|
|
|
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;
|
|
|
|
TMP1075::Tmp1075Dataset tmp1075SetTcs0;
|
|
TMP1075::Tmp1075Dataset tmp1075SetTcs1;
|
|
TMP1075::Tmp1075Dataset tmp1075SetPlPcdu0;
|
|
// damaged
|
|
// TMP1075::Tmp1075Dataset tmp1075SetPlPcdu1;
|
|
TMP1075::Tmp1075Dataset tmp1075SetIfBoard;
|
|
|
|
// SUS
|
|
susMax1227::SusDataset susSet0;
|
|
susMax1227::SusDataset susSet1;
|
|
susMax1227::SusDataset susSet2;
|
|
susMax1227::SusDataset susSet3;
|
|
susMax1227::SusDataset susSet4;
|
|
susMax1227::SusDataset susSet5;
|
|
susMax1227::SusDataset susSet6;
|
|
susMax1227::SusDataset susSet7;
|
|
susMax1227::SusDataset susSet8;
|
|
susMax1227::SusDataset susSet9;
|
|
susMax1227::SusDataset susSet10;
|
|
susMax1227::SusDataset susSet11;
|
|
|
|
lp_var_t<float> tempQ7s = lp_var_t<float>(objects::CORE_CONTROLLER, core::PoolIds::TEMPERATURE);
|
|
lp_var_t<int16_t> battTemp1 =
|
|
lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_1);
|
|
lp_var_t<int16_t> battTemp2 =
|
|
lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_2);
|
|
lp_var_t<int16_t> battTemp3 =
|
|
lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_3);
|
|
lp_var_t<int16_t> battTemp4 =
|
|
lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_4);
|
|
lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, rws::TEMPERATURE_C);
|
|
lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, rws::TEMPERATURE_C);
|
|
lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, rws::TEMPERATURE_C);
|
|
lp_var_t<int32_t> tempRw4 = lp_var_t<int32_t>(objects::RW4, rws::TEMPERATURE_C);
|
|
lp_var_t<float> tempStartracker =
|
|
lp_var_t<float>(objects::STAR_TRACKER, startracker::MCU_TEMPERATURE);
|
|
lp_var_t<float> tempSyrlinksPowerAmplifier =
|
|
lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER);
|
|
lp_var_t<float> tempSyrlinksBasebandBoard =
|
|
lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
|
|
lp_var_t<int16_t> tempMgt = lp_var_t<int16_t>(objects::IMTQ_HANDLER, imtq::MCU_TEMPERATURE);
|
|
lp_vec_t<float, 3> tempAcu =
|
|
lp_vec_t<float, 3>(objects::ACU_HANDLER, ACU::pool::ACU_TEMPERATURES);
|
|
lp_var_t<float> tempPdu1 = lp_var_t<float>(objects::PDU1_HANDLER, PDU::pool::PDU_TEMPERATURE);
|
|
lp_var_t<float> tempPdu2 = lp_var_t<float>(objects::PDU2_HANDLER, PDU::pool::PDU_TEMPERATURE);
|
|
lp_var_t<float> temp1P60dock =
|
|
lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_1);
|
|
lp_var_t<float> temp2P60dock =
|
|
lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_2);
|
|
lp_var_t<float> tempGyro0 = lp_var_t<float>(objects::GYRO_0_ADIS_HANDLER, adis1650x::TEMPERATURE);
|
|
lp_var_t<float> tempGyro1 = lp_var_t<float>(objects::GYRO_1_L3G_HANDLER, l3gd20h::TEMPERATURE);
|
|
lp_var_t<float> tempGyro2 = lp_var_t<float>(objects::GYRO_2_ADIS_HANDLER, adis1650x::TEMPERATURE);
|
|
lp_var_t<float> tempGyro3 = lp_var_t<float>(objects::GYRO_3_L3G_HANDLER, l3gd20h::TEMPERATURE);
|
|
lp_var_t<float> tempMgm0 =
|
|
lp_var_t<float>(objects::MGM_0_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
|
|
lp_var_t<float> tempMgm2 =
|
|
lp_var_t<float>(objects::MGM_2_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
|
|
lp_var_t<float> tempAdcPayloadPcdu = lp_var_t<float>(objects::PLPCDU_HANDLER, plpcdu::TEMP);
|
|
|
|
// TempLimits
|
|
TempLimits acsBoardLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
|
|
TempLimits mgtLimits = TempLimits(-40.0, -40.0, 65.0, 70.0, 70.0);
|
|
TempLimits rwLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
|
|
TempLimits strLimits = TempLimits(-30.0, -20.0, 65.0, 70.0, 80.0);
|
|
TempLimits ifBoardLimits = TempLimits(-65.0, -40.0, 80.0, 85.0, 150.0);
|
|
TempLimits tcsBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 130.0);
|
|
TempLimits obcLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
|
|
TempLimits obcIfBoardLimits = TempLimits(-65.0, -40.0, 80.0, 85.0, 125.0);
|
|
TempLimits sBandTransceiverLimits = TempLimits(-40.0, -25.0, 35.0, 40.0, 65.0);
|
|
TempLimits pcduP60BoardLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
|
|
TempLimits pcduAcuLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
|
|
TempLimits pcduPduLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
|
|
TempLimits plPcduBoardLimits = TempLimits(-55.0, -40.0, 80.0, 85.0, 125.0);
|
|
TempLimits plocMissionBoardLimits = TempLimits(-30.0, -10.0, 40.0, 45.0, 60);
|
|
TempLimits plocProcessingBoardLimits = TempLimits(-30.0, -10.0, 40.0, 45.0, 60.0);
|
|
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 scexBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 150.0);
|
|
|
|
double sensorTemp = INVALID_TEMPERATURE;
|
|
bool redSwitchNrInUse = false;
|
|
bool componentAboveCutOffLimit = false;
|
|
|
|
// Initial delay to make sure all pool variables have been initialized their owners
|
|
Countdown initialCountdown = Countdown(DELAY);
|
|
|
|
#if OBSW_THREAD_TRACING == 1
|
|
uint32_t opCounter = 0;
|
|
#endif
|
|
|
|
std::array<std::pair<bool, double>, 5> sensors;
|
|
uint8_t numSensors = 0;
|
|
|
|
PoolEntry<float> tmp1075Tcs0 = PoolEntry<float>({10.0});
|
|
PoolEntry<float> tmp1075Tcs1 = PoolEntry<float>({10.0});
|
|
PoolEntry<float> tmp1075PlPcdu0 = PoolEntry<float>({10.0});
|
|
PoolEntry<float> tmp1075PlPcdu1 = PoolEntry<float>({10.0});
|
|
PoolEntry<float> tmp1075IfBrd = PoolEntry<float>({10.0});
|
|
PoolEntry<uint8_t> heaterSwitchStates = PoolEntry<uint8_t>(heater::NUMBER_OF_SWITCHES);
|
|
PoolEntry<int16_t> heaterCurrent = PoolEntry<int16_t>();
|
|
|
|
static constexpr dur_millis_t MUTEX_TIMEOUT = 50;
|
|
|
|
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);
|
|
bool chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr);
|
|
bool selectAndReadSensorTemp();
|
|
|
|
void ctrlAcsBoard();
|
|
void ctrlMgt();
|
|
void ctrlRw();
|
|
void ctrlStr();
|
|
void ctrlIfBoard();
|
|
void ctrlTcsBoard();
|
|
void ctrlObc();
|
|
void ctrlObcIfBoard();
|
|
void ctrlSBandTransceiver();
|
|
void ctrlPcduP60Board();
|
|
void ctrlPcduAcu();
|
|
void ctrlPcduPdu();
|
|
void ctrlPlPcduBoard();
|
|
void ctrlPlocMissionBoard();
|
|
void ctrlPlocProcessingBoard();
|
|
void ctrlDac();
|
|
void ctrlCameraBody();
|
|
void ctrlDro();
|
|
void ctrlX8();
|
|
void ctrlHpa();
|
|
void ctrlTx();
|
|
void ctrlMpa();
|
|
void ctrlScexBoard();
|
|
};
|
|
|
|
#endif /* MISSION_CONTROLLER_THERMALCONTROLLER_H_ */
|