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91 lines
3.1 KiB
C++
91 lines
3.1 KiB
C++
#ifndef MISSION_SYSTEM_EIVESYSTEM_H_
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#define MISSION_SYSTEM_EIVESYSTEM_H_
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#include <fsfw/action/HasActionsIF.h>
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#include <fsfw/power/PowerSwitchIF.h>
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#include <fsfw/subsystem/Subsystem.h>
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#include <atomic>
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class EiveSystem : public Subsystem, public HasActionsIF {
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public:
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static constexpr uint8_t FRAME_DIRTY_COM_REBOOT_LIMIT = 4;
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static constexpr uint32_t PDEC_RESET_MAX_COUNT_BEFORE_REBOOT = 10;
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static constexpr ActionId_t EXECUTE_I2C_REBOOT = 10;
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EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables,
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std::atomic_uint16_t& i2cErrors);
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void setI2cRecoveryParams(PowerSwitchIF* pwrSwitcher);
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[[nodiscard]] MessageQueueId_t getCommandQueue() const override;
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private:
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enum class I2cRebootState {
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NONE,
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SYSTEM_MODE_BOOT,
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SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT,
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WAIT_CYCLE,
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SWITCH_3V3_STACK_ON,
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SYSTEM_MODE_SAFE
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} i2cRebootState = I2cRebootState::NONE;
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MessageQueueIF* eventQueue = nullptr;
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bool performSafeRecovery = false;
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bool performI2cReboot = false;
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bool alreadyTriedI2cRecovery = false;
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uint8_t frameDirtyErrorCounter = 0;
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Countdown frameDirtyCheckCd = Countdown(10000);
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// If the PDEC reset was already attempted in the last 2 minutes, there is a high chance that
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// only a full reboot will fix the issue.
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Countdown pdecResetCounterResetCd = Countdown(120000);
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bool waitingForI2cReboot = false;
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bool waitingForPdecReboot = false;
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uint32_t pdecResetCounter = 0;
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ActionHelper actionHelper;
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PowerSwitchIF* powerSwitcher = nullptr;
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std::atomic_uint16_t& i2cErrors;
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MessageQueueId_t plSsQueueId = MessageQueueIF::NO_QUEUE;
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MessageQueueId_t plPcduQueueId = MessageQueueIF::NO_QUEUE;
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MessageQueueId_t plocMpsocQueueId = MessageQueueIF::NO_QUEUE;
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MessageQueueId_t plocSupervisorQueueId = MessageQueueIF::NO_QUEUE;
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MessageQueueId_t cameraQueueId = MessageQueueIF::NO_QUEUE;
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MessageQueueId_t scexQueueId = MessageQueueIF::NO_QUEUE;
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MessageQueueId_t radSensorQueueId = MessageQueueIF::NO_QUEUE;
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MessageQueueId_t strQueueId = MessageQueueIF::NO_QUEUE;
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MessageQueueId_t pdecHandlerQueueId = MessageQueueIF::NO_QUEUE;
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MessageQueueId_t bpxBattQueueId = MessageQueueIF::NO_QUEUE;
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MessageQueueId_t coreCtrlQueueId = MessageQueueIF::NO_QUEUE;
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MessageQueueId_t actionCommandedBy = MessageQueueIF::NO_QUEUE;
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Countdown i2cRebootHandlingCountdown = Countdown(10000);
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// After 1 minute, clear the flag to avoid full reboots on I2C issues.
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Countdown i2cRecoveryClearCountdown = Countdown(60000);
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ReturnValue_t initialize() override;
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void performChildOperation() override;
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void announceMode(bool recursive) override;
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ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) override;
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ReturnValue_t handleCommandMessage(CommandMessage* message) override;
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ReturnValue_t sendFullRebootCommand();
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ReturnValue_t sendSelfRebootCommand();
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void forceOffPayload();
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void pdecRecoveryLogic();
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void i2cRecoveryLogic();
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void handleEventMessages();
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void commandSelfToSafe();
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void commonI2cRecoverySequenceFinish();
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};
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#endif /* MISSION_SYSTEM_EIVESYSTEM_H_ */
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