262 lines
11 KiB
C++
262 lines
11 KiB
C++
#ifndef MISSION_CONTROLLER_THERMALCONTROLLER_H_
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#define MISSION_CONTROLLER_THERMALCONTROLLER_H_
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#include <bsp_q7s/core/CoreDefinitions.h>
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#include <fsfw/controller/ExtendedControllerBase.h>
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#include <fsfw/devicehandlers/DeviceHandlerThermalSet.h>
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#include <fsfw/timemanager/Countdown.h>
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#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
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#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
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#include <mission/acs/gyroAdisHelpers.h>
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#include <mission/acs/imtqHelpers.h>
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#include <mission/acs/rwHelpers.h>
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#include <mission/acs/str/strHelpers.h>
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#include <mission/com/syrlinksDefs.h>
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#include <mission/controller/controllerdefinitions/ThermalControllerDefinitions.h>
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#include <mission/devices/devicedefinitions/Max31865Definitions.h>
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#include <mission/devices/devicedefinitions/Tmp1075Definitions.h>
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#include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
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#include <mission/devices/devicedefinitions/susMax1227Helpers.h>
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#include <mission/power/bpxBattDefs.h>
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#include <mission/power/gsDefs.h>
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#include <list>
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#include "mission/devices/HeaterHandler.h"
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#include "mission/trace.h"
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/**
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* NOP Limit: Hard limit for device, usually from datasheet. Device damage is possible lif NOP limit
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* is exceeded.
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* OP Limit: Soft limit. Device should be switched off or TCS controller should take action if the
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* limit is exceeded to avoid reaching NOP limit
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*/
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struct TempLimits {
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TempLimits(float nopLowerLimit, float opLowerLimit, float cutOffLimit, float opUpperLimit,
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float nopUpperLimit)
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: opLowerLimit(opLowerLimit),
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opUpperLimit(opUpperLimit),
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cutOffLimit(cutOffLimit),
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nopLowerLimit(nopLowerLimit),
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nopUpperLimit(nopUpperLimit) {}
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float opLowerLimit;
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float opUpperLimit;
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float cutOffLimit;
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float nopLowerLimit;
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float nopUpperLimit;
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};
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class ThermalController : public ExtendedControllerBase {
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public:
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static const uint16_t INVALID_TEMPERATURE = 999;
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static const uint8_t NUMBER_OF_SENSORS = 16;
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ThermalController(object_id_t objectId, HeaterHandler& heater);
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ReturnValue_t initialize() override;
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protected:
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void performThermalModuleCtrl();
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ReturnValue_t handleCommandMessage(CommandMessage* message) override;
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void performControlOperation() override;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) override;
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LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
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// Mode abstract functions
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ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t* msToReachTheMode) override;
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private:
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_CONTROLLER;
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static constexpr Event NO_VALID_SENSOR_TEMPERATURE = MAKE_EVENT(0, severity::MEDIUM);
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static constexpr Event NO_HEALTHY_HEATER_AVAILABLE = MAKE_EVENT(1, severity::MEDIUM);
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static constexpr Event SYRLINKS_OVERHEATING = MAKE_EVENT(2, severity::HIGH);
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static constexpr Event PLOC_OVERHEATING = MAKE_EVENT(3, severity::HIGH);
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static constexpr Event OBC_OVERHEATING = MAKE_EVENT(4, severity::HIGH);
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static constexpr Event HPA_OVERHEATING = MAKE_EVENT(5, severity::HIGH);
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static constexpr Event PLPCDU_OVERHEATING = MAKE_EVENT(6, severity::HIGH);
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static const uint32_t DELAY = 500;
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static const uint32_t TEMP_OFFSET = 5;
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enum class InternalState { STARTUP, INITIAL_DELAY, READY };
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InternalState internalState = InternalState::STARTUP;
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HeaterHandler& heaterHandler;
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tcsCtrl::SensorTemperatures sensorTemperatures;
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tcsCtrl::SusTemperatures susTemperatures;
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tcsCtrl::DeviceTemperatures deviceTemperatures;
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tcsCtrl::HeaterInfo heaterInfo;
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lp_vec_t<int16_t, 9> currentVecPdu2 =
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lp_vec_t<int16_t, 9>(gp_id_t(objects::PDU2_HANDLER, PDU::pool::PDU_CURRENTS));
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DeviceHandlerThermalSet imtqThermalSet;
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// Temperature Sensors
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MAX31865::PrimarySet max31865Set0;
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MAX31865::PrimarySet max31865Set1;
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MAX31865::PrimarySet max31865Set2;
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MAX31865::PrimarySet max31865Set3;
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MAX31865::PrimarySet max31865Set4;
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MAX31865::PrimarySet max31865Set5;
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MAX31865::PrimarySet max31865Set6;
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MAX31865::PrimarySet max31865Set7;
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MAX31865::PrimarySet max31865Set8;
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MAX31865::PrimarySet max31865Set9;
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MAX31865::PrimarySet max31865Set10;
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MAX31865::PrimarySet max31865Set11;
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MAX31865::PrimarySet max31865Set12;
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MAX31865::PrimarySet max31865Set13;
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MAX31865::PrimarySet max31865Set14;
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MAX31865::PrimarySet max31865Set15;
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TMP1075::Tmp1075Dataset tmp1075SetTcs0;
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TMP1075::Tmp1075Dataset tmp1075SetTcs1;
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TMP1075::Tmp1075Dataset tmp1075SetPlPcdu0;
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// damaged
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// TMP1075::Tmp1075Dataset tmp1075SetPlPcdu1;
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TMP1075::Tmp1075Dataset tmp1075SetIfBoard;
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// SUS
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susMax1227::SusDataset susSet0;
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susMax1227::SusDataset susSet1;
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susMax1227::SusDataset susSet2;
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susMax1227::SusDataset susSet3;
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susMax1227::SusDataset susSet4;
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susMax1227::SusDataset susSet5;
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susMax1227::SusDataset susSet6;
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susMax1227::SusDataset susSet7;
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susMax1227::SusDataset susSet8;
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susMax1227::SusDataset susSet9;
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susMax1227::SusDataset susSet10;
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susMax1227::SusDataset susSet11;
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lp_var_t<float> tempQ7s = lp_var_t<float>(objects::CORE_CONTROLLER, core::PoolIds::TEMPERATURE);
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lp_var_t<int16_t> battTemp1 =
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lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_1);
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lp_var_t<int16_t> battTemp2 =
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lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_2);
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lp_var_t<int16_t> battTemp3 =
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lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_3);
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lp_var_t<int16_t> battTemp4 =
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lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_4);
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lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, rws::TEMPERATURE_C);
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lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, rws::TEMPERATURE_C);
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lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, rws::TEMPERATURE_C);
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lp_var_t<int32_t> tempRw4 = lp_var_t<int32_t>(objects::RW4, rws::TEMPERATURE_C);
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lp_var_t<float> tempStartracker =
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lp_var_t<float>(objects::STAR_TRACKER, startracker::MCU_TEMPERATURE);
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lp_var_t<float> tempSyrlinksPowerAmplifier =
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lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER);
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lp_var_t<float> tempSyrlinksBasebandBoard =
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lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
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lp_var_t<int16_t> tempMgt = lp_var_t<int16_t>(objects::IMTQ_HANDLER, imtq::MCU_TEMPERATURE);
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lp_vec_t<float, 3> tempAcu =
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lp_vec_t<float, 3>(objects::ACU_HANDLER, ACU::pool::ACU_TEMPERATURES);
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lp_var_t<float> tempPdu1 = lp_var_t<float>(objects::PDU1_HANDLER, PDU::pool::PDU_TEMPERATURE);
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lp_var_t<float> tempPdu2 = lp_var_t<float>(objects::PDU2_HANDLER, PDU::pool::PDU_TEMPERATURE);
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lp_var_t<float> temp1P60dock =
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lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_1);
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lp_var_t<float> temp2P60dock =
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lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_2);
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lp_var_t<float> tempGyro0 = lp_var_t<float>(objects::GYRO_0_ADIS_HANDLER, adis1650x::TEMPERATURE);
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lp_var_t<float> tempGyro1 = lp_var_t<float>(objects::GYRO_1_L3G_HANDLER, l3gd20h::TEMPERATURE);
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lp_var_t<float> tempGyro2 = lp_var_t<float>(objects::GYRO_2_ADIS_HANDLER, adis1650x::TEMPERATURE);
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lp_var_t<float> tempGyro3 = lp_var_t<float>(objects::GYRO_3_L3G_HANDLER, l3gd20h::TEMPERATURE);
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lp_var_t<float> tempMgm0 =
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lp_var_t<float>(objects::MGM_0_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
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lp_var_t<float> tempMgm2 =
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lp_var_t<float>(objects::MGM_2_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
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lp_var_t<float> tempAdcPayloadPcdu = lp_var_t<float>(objects::PLPCDU_HANDLER, plpcdu::TEMP);
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// TempLimits
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TempLimits acsBoardLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
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TempLimits mgtLimits = TempLimits(-40.0, -40.0, 65.0, 70.0, 70.0);
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TempLimits rwLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
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TempLimits strLimits = TempLimits(-30.0, -20.0, 65.0, 70.0, 80.0);
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TempLimits ifBoardLimits = TempLimits(-65.0, -40.0, 80.0, 85.0, 150.0);
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TempLimits tcsBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 130.0);
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TempLimits obcLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
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TempLimits obcIfBoardLimits = TempLimits(-65.0, -40.0, 80.0, 85.0, 125.0);
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TempLimits sBandTransceiverLimits = TempLimits(-40.0, -25.0, 35.0, 40.0, 65.0);
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TempLimits pcduP60BoardLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
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TempLimits pcduAcuLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
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TempLimits pcduPduLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
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TempLimits plPcduBoardLimits = TempLimits(-55.0, -40.0, 80.0, 85.0, 125.0);
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TempLimits plocMissionBoardLimits = TempLimits(-30.0, -10.0, 40.0, 45.0, 60);
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TempLimits plocProcessingBoardLimits = TempLimits(-30.0, -10.0, 40.0, 45.0, 60.0);
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TempLimits dacLimits = TempLimits(-65.0, -40.0, 113.0, 118.0, 150.0);
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TempLimits cameraLimits = TempLimits(-40.0, -30.0, 60.0, 65.0, 85.0);
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TempLimits droLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
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TempLimits x8Limits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
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TempLimits hpaLimits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
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TempLimits txLimits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
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TempLimits mpaLimits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
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TempLimits scexBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 150.0);
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double sensorTemp = INVALID_TEMPERATURE;
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bool redSwitchNrInUse = false;
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bool componentAboveCutOffLimit = false;
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// Initial delay to make sure all pool variables have been initialized their owners
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Countdown initialCountdown = Countdown(DELAY);
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#if OBSW_THREAD_TRACING == 1
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uint32_t opCounter = 0;
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#endif
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std::array<std::pair<bool, double>, 5> sensors;
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uint8_t numSensors = 0;
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PoolEntry<float> tmp1075Tcs0 = PoolEntry<float>({10.0});
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PoolEntry<float> tmp1075Tcs1 = PoolEntry<float>({10.0});
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PoolEntry<float> tmp1075PlPcdu0 = PoolEntry<float>({10.0});
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PoolEntry<float> tmp1075PlPcdu1 = PoolEntry<float>({10.0});
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PoolEntry<float> tmp1075IfBrd = PoolEntry<float>({10.0});
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PoolEntry<uint8_t> heaterSwitchStates = PoolEntry<uint8_t>(heater::NUMBER_OF_SWITCHES);
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PoolEntry<int16_t> heaterCurrent = PoolEntry<int16_t>();
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static constexpr dur_millis_t MUTEX_TIMEOUT = 50;
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void resetSensorsArray();
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void copySensors();
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void copySus();
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void copyDevices();
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void ctrlComponentTemperature(heater::Switchers switchNr, heater::Switchers redSwitchNr,
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TempLimits& tempLimit);
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void ctrlHeater(heater::Switchers switchNr, heater::Switchers redSwitchNr, TempLimits& tempLimit);
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bool chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr);
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bool selectAndReadSensorTemp();
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void ctrlAcsBoard();
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void ctrlMgt();
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void ctrlRw();
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void ctrlStr();
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void ctrlIfBoard();
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void ctrlTcsBoard();
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void ctrlObc();
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void ctrlObcIfBoard();
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void ctrlSBandTransceiver();
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void ctrlPcduP60Board();
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void ctrlPcduAcu();
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void ctrlPcduPdu();
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void ctrlPlPcduBoard();
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void ctrlPlocMissionBoard();
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void ctrlPlocProcessingBoard();
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void ctrlDac();
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void ctrlCameraBody();
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void ctrlDro();
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void ctrlX8();
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void ctrlHpa();
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void ctrlTx();
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void ctrlMpa();
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void ctrlScexBoard();
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};
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#endif /* MISSION_CONTROLLER_THERMALCONTROLLER_H_ */
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