Robin Mueller
7337595d47
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397 lines
16 KiB
C++
397 lines
16 KiB
C++
#ifndef MISSION_CONTROLLER_THERMALCONTROLLER_H_
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#define MISSION_CONTROLLER_THERMALCONTROLLER_H_
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#include <bsp_q7s/core/defs.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/acs/susMax1227Helpers.h>
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#include <mission/com/syrlinksDefs.h>
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#include <mission/controller/tcsDefs.h>
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#include <mission/payload/payloadPcduDefinitions.h>
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#include <mission/power/bpxBattDefs.h>
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#include <mission/power/gsDefs.h>
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#include <mission/tcs/HeaterHandler.h>
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#include <mission/tcs/Max31865Definitions.h>
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#include <mission/tcs/Tmp1075Definitions.h>
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#include <mission/utility/trace.h>
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#include <atomic>
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#include <list>
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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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struct ThermalState {
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uint8_t errorCounter;
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// Which sensor is used for this component?
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uint8_t sensorIndex = 0;
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// Is heating on for that thermal module?
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bool heating = false;
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// Which switch is being used for heating the component
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heater::Switch heaterSwitch = heater::Switch::NUMBER_OF_SWITCHES;
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// Heater start time and end times as UNIX seconds. Please note that these times will be updated
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// when a switch command is sent, with no guarantess that the heater actually went on.
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uint32_t heaterStartTime = 0;
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uint32_t heaterEndTime = 0;
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};
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struct HeaterState {
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bool switchTransition;
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HeaterHandler::SwitchState target;
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uint8_t heaterSwitchControlCycles;
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Countdown heaterOnPeriod;
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};
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using HeaterSwitchStates = std::array<HeaterHandler::SwitchState, heater::NUMBER_OF_SWITCHES>;
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enum ThermalComponents : uint8_t {
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NONE = 0,
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ACS_BOARD = 1,
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MGT = 2,
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RW = 3,
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STR = 4,
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IF_BOARD = 5,
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TCS_BOARD = 6,
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OBC = 7,
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OBCIF_BOARD = 8,
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SBAND_TRANSCEIVER = 9,
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PCDUP60_BOARD = 10,
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PCDUACU = 11,
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PCDUPDU = 12,
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PLPCDU_BOARD = 13,
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PLOCMISSION_BOARD = 14,
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PLOCPROCESSING_BOARD = 15,
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DAC = 16,
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CAMERA = 17,
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DRO = 18,
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X8 = 19,
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HPA = 20,
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TX = 21,
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MPA = 22,
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SCEX_BOARD = 23,
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NUM_ENTRIES
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};
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class ThermalController : public ExtendedControllerBase {
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public:
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static constexpr uint8_t SUBMODE_NO_HEATER_CTRL = 1;
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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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static constexpr int16_t SANITY_LIMIT_LOWER_TEMP = -80;
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static constexpr int16_t SANITY_LIMIT_UPPER_TEMP = 160;
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// 1 hour
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static constexpr uint32_t DEFAULT_MAX_HEATER_ON_DURATION_MS = 60 * 60 * 1000;
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static constexpr uint32_t MAX_HEATER_ON_DURATIONS_MS[8] = {// PLOC PROC board
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DEFAULT_MAX_HEATER_ON_DURATION_MS,
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// PCDU PDU
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DEFAULT_MAX_HEATER_ON_DURATION_MS,
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// ACS Board
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DEFAULT_MAX_HEATER_ON_DURATION_MS,
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// OBC Board
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DEFAULT_MAX_HEATER_ON_DURATION_MS,
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// Camera
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DEFAULT_MAX_HEATER_ON_DURATION_MS,
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// STR
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DEFAULT_MAX_HEATER_ON_DURATION_MS,
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// DRO
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DEFAULT_MAX_HEATER_ON_DURATION_MS,
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// S-Band
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DEFAULT_MAX_HEATER_ON_DURATION_MS};
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ThermalController(object_id_t objectId, HeaterHandler& heater,
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const std::atomic_bool& tcsBoardShortUnavailable, bool pollPcdu1Tmp);
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virtual ~ThermalController();
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ReturnValue_t initialize() override;
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protected:
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struct HeaterContext {
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public:
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HeaterContext(heater::Switch switchNr, heater::Switch redundantSwitchNr,
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const TempLimits& tempLimit)
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: switchNr(switchNr), redSwitchNr(redundantSwitchNr), tempLimit(tempLimit) {}
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bool doHeaterHandling = true;
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heater::Switch switchNr;
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HeaterHandler::SwitchState switchState = HeaterHandler::SwitchState::OFF;
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heater::Switch redSwitchNr;
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const TempLimits& tempLimit;
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};
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void performThermalModuleCtrl(const HeaterSwitchStates& heaterSwitchStates);
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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 uint32_t INIT_DELAY = 1500;
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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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bool pollPcdu1Tmp;
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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 maxSet0PlocHspd;
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MAX31865::PrimarySet maxSet1PlocMissionBrd;
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MAX31865::PrimarySet maxSet2PlCam;
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MAX31865::PrimarySet maxSet3DacHspd;
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MAX31865::PrimarySet maxSet4Str;
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MAX31865::PrimarySet maxSet5Rw1MxMy;
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MAX31865::PrimarySet maxSet6Dro;
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MAX31865::PrimarySet maxSet7Scex;
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MAX31865::PrimarySet maxSet8X8;
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MAX31865::PrimarySet maxSet9Hpa;
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MAX31865::PrimarySet maxSet10EbandTx;
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MAX31865::PrimarySet maxSet11Mpa;
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MAX31865::PrimarySet maxSet31865Set12;
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MAX31865::PrimarySet maxSet13PlPcduHspd;
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MAX31865::PrimarySet maxSet14TcsBrd;
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MAX31865::PrimarySet maxSet15Imtq;
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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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// If the TCS board in unavailable, for example due to a recovery, skip
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// some TCS controller tasks to avoid unnecessary events.
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const std::atomic_bool& tcsBrdShortlyUnavailable = false;
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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 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_1);
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lp_var_t<int16_t> battTemp2 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_2);
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lp_var_t<int16_t> battTemp3 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_3);
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lp_var_t<int16_t> battTemp4 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::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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uint8_t currentSensorIndex = 0;
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ThermalComponents currThermalComponent = NONE;
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bool redSwitchNrInUse = false;
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MessageQueueId_t camId = MessageQueueIF::NO_QUEUE;
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bool componentAboveCutOffLimit = false;
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bool componentAboveUpperLimit = false;
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Event overHeatEventToTrigger;
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bool eBandTooHotFlag = false;
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bool camTooHotOneShotFlag = false;
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bool scexTooHotFlag = false;
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bool plocTooHotFlag = false;
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bool pcduSystemTooHotFlag = false;
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bool syrlinksTooHotFlag = false;
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bool obcTooHotFlag = false;
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bool mgtTooHotFlag = false;
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bool strTooHotFlag = false;
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bool rwTooHotFlag = false;
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bool transitionWhenHeatersOff = false;
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uint32_t transitionWhenHeatersOffCycles = 0;
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Mode_t targetMode = MODE_OFF;
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Submode_t targetSubmode = SUBMODE_NONE;
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uint32_t cycles = 0;
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std::array<ThermalState, ThermalComponents::NUM_ENTRIES> thermalStates{};
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std::array<HeaterState, heater::NUMBER_OF_SWITCHES> heaterStates{};
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// Initial delay to make sure all pool variables have been initialized their owners.
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// Also, wait for system initialization to complete.
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Countdown initialCountdown = Countdown(INIT_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 startTransition(Mode_t mode, Submode_t submode) override;
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bool heaterCtrlAllowed() const;
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void resetThermalStates();
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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(HeaterContext& heaterContext);
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void checkLimitsAndCtrlHeater(HeaterContext& heaterContext);
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bool heaterCtrlCheckUpperLimits(HeaterContext& heaterContext);
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void heaterCtrlTempTooHighHandler(HeaterContext& heaterContext, const char* whatLimit);
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bool chooseHeater(heater::Switch& switchNr, heater::Switch redSwitchNr);
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bool selectAndReadSensorTemp(HeaterContext& htrCtx);
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void heaterSwitchHelperAllOff();
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void heaterSwitchHelper(heater::Switch switchNr, HeaterHandler::SwitchState state,
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unsigned componentIdx);
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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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* The transition of heaters might take some time. As long as a transition is
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* going on, the TCS controller works in a reduced form. This function takes care
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* of tracking transition and capturing their completion.
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* @param currentHeaterStates
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*/
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void heaterTransitionControl(const HeaterSwitchStates& currentHeaterStates);
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/**
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* Control tasks to prevent heaters being on for prolonged periods. Ideally, this
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* should never happen, but this task prevents bugs from causing heaters to stay on
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* for a long time, which draws a lot of power.
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* @param currentHeaterStates
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*/
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void heaterMaxDurationControl(const HeaterSwitchStates& currentHeaterStates);
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void crossCheckHeaterStateOfComponentsWhenHeaterGoesOff(heater::Switch switchIdx);
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void setMode(Mode_t mode, Submode_t submode);
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uint32_t tempFloatToU32() const;
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bool tooHotHandler(object_id_t object, bool& oneShotFlag);
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void tooHotHandlerWhichClearsOneShotFlag(object_id_t object, bool& oneShotFlag);
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};
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#endif /* MISSION_CONTROLLER_THERMALCONTROLLER_H_ */
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