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