553 lines
20 KiB
Python
553 lines
20 KiB
Python
import struct
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from typing import List, Tuple
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from tmtc.power.acu import acu_config_table_handler
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from tmtc.power.common_power import SetIds, unpack_array_in_data, OBC_ENDIANNESS
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from tmtccmd.util import ObjectIdBase
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from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
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from pus_tm.defs import PrintWrapper
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from gomspace.gomspace_common import GomspaceDeviceActionIds
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from config.object_ids import (
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PDU_1_HANDLER_ID,
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PDU_2_HANDLER_ID,
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P60_DOCK_HANDLER,
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ACU_HANDLER_ID,
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)
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P60_INDEX_LIST = [
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"ACU VCC",
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"PDU1 VCC",
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"X3 IDLE VCC",
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"PDU2 VCC",
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"ACU VBAT",
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"PDU1 VBAT",
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"X3 IDLE VBAT",
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"PDU2 VBAT",
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"STACK VBAT",
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"STACK 3V3",
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"STACK 5V",
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"GS3V3",
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"GS5V",
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]
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WDT_LIST = ["GND", "I2C", "CAN", "CSP0", "CSP1"]
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PDU1_CHANNELS_NAMES = [
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"TCS Board",
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"Syrlinks",
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"Startracker",
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"MGT",
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"SUS Nominal",
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"SCEX",
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"PLOC",
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"ACS A Side",
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"Unused Channel 8",
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]
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PDU2_CHANNELS_NAMES = [
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"Q7S",
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"Payload PCDU CH1",
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"RW",
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"TCS Heater In",
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"SUS Redundant",
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"Deployment Mechanism",
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"Payload PCDU CH6",
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"ACS B Side",
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"Payload Camera",
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]
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PDU_CHANNEL_NAMES = [PDU1_CHANNELS_NAMES, PDU2_CHANNELS_NAMES]
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class WdtInfo:
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def __init__(self, pw: PrintWrapper):
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self.wdt_reboots_list = []
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self.time_pings_left_list = []
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self.pw = pw
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def print(self):
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wdt_info = "WDT Type | Reboots | Time or Pings left (CSP only)"
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self.pw.dlog(wdt_info)
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for idx in range(len(self.wdt_reboots_list)):
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self.pw.dlog(
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f"{WDT_LIST[idx].ljust(5)} | "
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f"{self.wdt_reboots_list[idx]:010} | {self.time_pings_left_list[idx]:010}",
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)
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def parse(self, wdt_data: bytes, current_idx: int) -> int:
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priv_idx = 0
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self.wdt_reboots_list = []
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self.time_pings_left_list = []
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for idx in range(5):
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self.wdt_reboots_list.append(
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struct.unpack("!I", wdt_data[priv_idx : priv_idx + 4])[0]
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)
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priv_idx += 4
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current_idx += 4
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for idx in range(3):
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self.time_pings_left_list.append(
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struct.unpack("!I", wdt_data[priv_idx : priv_idx + 4])[0]
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)
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priv_idx += 4
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current_idx += 4
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for idx in range(2):
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self.time_pings_left_list.append(wdt_data[priv_idx])
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current_idx += 1
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priv_idx += 1
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return current_idx
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class DevicesInfoParser:
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def __init__(self):
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self.dev_types = None
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self.dev_statuses = None
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def parse(self, hk_data: bytes, current_idx: int) -> int:
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self.dev_types = []
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self.dev_statuses = []
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for idx in range(8):
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self.dev_types.append(hk_data[current_idx])
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current_idx += 1
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for idx in range(8):
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self.dev_statuses.append(hk_data[current_idx])
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current_idx += 1
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return current_idx
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def print(self, pw: PrintWrapper):
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pw.dlog(f"Device Type | Device State (0:None | 1:OK | 3:ERROR | 4:NOT FOUND)")
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for i in range(len(self.dev_types)):
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pw.dlog(
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f"{self.map_idx_to_type(self.dev_types[i])} | {self.dev_statuses[i]}"
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)
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@staticmethod
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def map_idx_to_type(devtype: int) -> str:
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if devtype == 0:
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return "Reserved"
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if devtype == 1:
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return "ADC"
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if devtype == 2:
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return "ADC"
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if devtype == 3:
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return "DAC"
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if devtype == 4:
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return "Temperature Sensor"
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if devtype == 5:
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return "Temperature Sensor (Bat Pack)"
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if devtype == 6:
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return "RTC"
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if devtype == 7:
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return "FRAM"
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return "Unknown Type"
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def handle_pdu_data(
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printer: FsfwTmTcPrinter, pdu_idx: int, set_id: int, hk_data: bytes
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):
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pw = PrintWrapper(printer=printer)
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current_idx = 0
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priv_idx = pdu_idx - 1
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if set_id == SetIds.AUX or set_id == SetIds.AUX:
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fmt_str = "!hhBBBIIH"
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inc_len = struct.calcsize(fmt_str)
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(
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vcc,
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vbat,
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conv_enb_0,
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conv_enb_1,
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conv_enb_2,
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boot_cause,
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uptime,
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reset_cause,
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) = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
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pw.dlog(f"VCC {vcc} mV | VBAT {vbat} mV")
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pw.dlog(f"Converter Enables [{conv_enb_0},{conv_enb_1},{conv_enb_2}]")
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pw.dlog(
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f"Boot Cause {boot_cause} | Uptime {uptime} | Reset Cause {reset_cause}",
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)
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current_idx += inc_len
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latchup_list = []
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pw.dlog("Latchups")
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for idx in range(len(PDU1_CHANNELS_NAMES)):
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latchup_list.append(
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struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0]
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)
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content_line = (
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f"{PDU_CHANNEL_NAMES[priv_idx][idx].ljust(24)} | {latchup_list[idx]}"
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)
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pw.dlog(content_line)
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current_idx += 2
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dev_parser = DevicesInfoParser()
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current_idx = dev_parser.parse(hk_data=hk_data, current_idx=current_idx)
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wdt = WdtInfo(pw=pw)
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current_idx = wdt.parse(wdt_data=hk_data[current_idx:], current_idx=current_idx)
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wdt.print()
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pw.dlog(f"PDU Device Types: 0:FRAM|1:ADC|2:ADC|3:TempSens|4,5,6,7:Reserved")
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dev_parser.print(pw=pw)
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if set_id == SetIds.CORE or set_id == SetIds.CORE:
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pw.dlog(f"Received PDU HK from PDU {pdu_idx}")
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current_list = []
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for idx in range(len(PDU1_CHANNELS_NAMES)):
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current_list.append(
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struct.unpack("!h", hk_data[current_idx : current_idx + 2])[0]
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)
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current_idx += 2
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voltage_list = []
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for idx in range(len(PDU1_CHANNELS_NAMES)):
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voltage_list.append(
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struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0]
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)
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current_idx += 2
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output_enb_list = []
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for idx in range(len(PDU1_CHANNELS_NAMES)):
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output_enb_list.append(hk_data[current_idx])
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current_idx += 1
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header_str = f"{'Name'.ljust(24)} | OutEnb | U [mV] | I [mA]"
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pw.dlog(header_str)
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for idx in range(len(PDU1_CHANNELS_NAMES)):
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out_enb = f"{output_enb_list[idx]}".ljust(6)
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content_line = (
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f"{PDU_CHANNEL_NAMES[priv_idx][idx].ljust(24)} | {out_enb} | "
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f"{voltage_list[idx]:05} | {current_list[idx]:04}"
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)
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pw.dlog(content_line)
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fmt_str = "!IBf"
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inc_len = struct.calcsize(fmt_str)
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(boot_count, batt_mode, temperature) = struct.unpack(
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fmt_str, hk_data[current_idx : current_idx + inc_len]
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)
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info = (
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f"Boot Count {boot_count} | Battery Mode {batt_mode} | "
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f"Temperature {temperature}"
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)
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pw.dlog(info)
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def handle_p60_hk_data(printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes):
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pw = PrintWrapper(printer=printer)
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if set_id == SetIds.CORE:
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pw.dlog("Received P60 Core HK. Voltages in mV, currents in mA")
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current_idx = 0
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current_list = []
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for idx in range(13):
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current_list.append(
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struct.unpack("!h", hk_data[current_idx : current_idx + 2])[0]
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)
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current_idx += 2
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voltage_list = []
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for idx in range(13):
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voltage_list.append(
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struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0]
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)
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current_idx += 2
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out_enb_list = []
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for idx in range(13):
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out_enb_list.append(hk_data[current_idx])
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current_idx += 1
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header_str = f"{'Name'.ljust(24)} | OutEnb | U [mV] | I [mA]"
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pw.dlog(header_str)
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for idx in range(13):
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out_enb = f"{out_enb_list[idx]}".ljust(6)
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content_line = (
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f"{P60_INDEX_LIST[idx].ljust(24)} | {out_enb} | "
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f"{voltage_list[idx]:05} | {current_list[idx]:04}"
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)
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pw.dlog(content_line)
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fmt_str = "!IBhHff"
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inc_len = struct.calcsize(fmt_str)
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(
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boot_count,
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batt_mode,
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batt_current,
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batt_voltage,
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temp_0,
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temp_1,
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) = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
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current_idx += inc_len
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batt_info = (
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f"Batt: Mode {batt_mode} | Boot Count {boot_count} | "
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f"Charge current {batt_current} | Voltage {batt_voltage}"
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)
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temps = f"In C: Temp 0 {temp_0} | Temp 1 {temp_1} | "
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pw.dlog(temps)
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pw.dlog(batt_info)
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printer.print_validity_buffer(validity_buffer=hk_data[current_idx:], num_vars=9)
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if set_id == SetIds.AUX:
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pw.dlog("Received P60 AUX HK. Voltages in mV, currents in mA")
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current_idx = 0
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latchup_list = []
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pw.dlog("P60 Dock Latchups")
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for idx in range(0, 13):
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latchup_list.append(
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struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0]
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)
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content_line = f"{P60_INDEX_LIST[idx].ljust(24)} | {latchup_list[idx]}"
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pw.dlog(content_line)
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current_idx += 2
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fmt_str = "!IIHBBHHhhB"
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inc_len = struct.calcsize(fmt_str)
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(
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boot_cause,
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uptime,
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reset_cause,
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heater_on,
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conv_5v_on,
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dock_vbat,
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dock_vcc_c,
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batt_temp_0,
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batt_temp_1,
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dearm_status,
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) = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
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current_idx += inc_len
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wdt = WdtInfo(pw=pw)
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current_idx = wdt.parse(wdt_data=hk_data[current_idx:], current_idx=current_idx)
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fmt_str = "!hhbb"
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inc_len = struct.calcsize(fmt_str)
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(
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batt_charge_current,
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batt_discharge_current,
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ant6_depl,
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ar6_depl,
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) = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
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current_idx += inc_len
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dev_parser = DevicesInfoParser()
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current_idx = dev_parser.parse(hk_data=hk_data, current_idx=current_idx)
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util_info = (
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f"Reset Cause {reset_cause} | Boot Cause {boot_cause} | Uptime {uptime}"
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)
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util_info_2 = (
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f"Conv 5V on {conv_5v_on} | Heater On {heater_on} | "
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f"Dock VBAT {dock_vbat} | DOCK VCC Current {dock_vcc_c}"
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)
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pw.dlog(util_info)
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pw.dlog(util_info_2)
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wdt.print()
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misc_info = (
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f"Dearm {dearm_status} | ANT6 Depl {ant6_depl} | AR6 Deply {ar6_depl}"
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)
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pw.dlog(misc_info)
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batt_info = (
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f"Batt Temp 0 {batt_temp_0 / 10.0} | Batt Temp 1 {batt_temp_1 / 10.0} | "
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f"Charge Current {batt_charge_current} | Discharge Current {batt_discharge_current}"
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)
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pw.dlog(batt_info)
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pw.dlog(
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"P60 Dock Dev Types: 0:FRAM|1:ADC|2:ADC|3:ADC|4:TempSens|5:RTC|"
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"6:TempSens(BatPack)|7:TempSens(BatPack)"
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)
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dev_parser.print(pw=pw)
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printer.print_validity_buffer(
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validity_buffer=hk_data[current_idx:], num_vars=27
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)
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def gen_six_entry_u16_list(hk_data: bytes, current_idx: int) -> Tuple[int, List[int]]:
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u16_list = []
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for idx in range(6):
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u16_list.append(struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0])
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current_idx += 2
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return current_idx, u16_list
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def handle_acu_hk_data(printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes):
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pw = PrintWrapper(printer=printer)
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if set_id == SetIds.CORE:
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mppt_mode = hk_data[0]
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current_idx = 1
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current_idx, currents = gen_six_entry_u16_list(
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hk_data=hk_data, current_idx=current_idx
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)
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current_idx, voltages = gen_six_entry_u16_list(
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hk_data=hk_data, current_idx=current_idx
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)
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vcc = struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0]
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current_idx += 2
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vbat = struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0]
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current_idx += 2
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current_idx, vboosts = gen_six_entry_u16_list(
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hk_data=hk_data, current_idx=current_idx
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)
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current_idx, powers = gen_six_entry_u16_list(
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hk_data=hk_data, current_idx=current_idx
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)
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fmt_str = "!fffIIHH"
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inc_len = struct.calcsize(fmt_str)
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(tmp0, tmp1, tmp2, bootcnt, uptime, mppt_time, mppt_period) = struct.unpack(
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fmt_str, hk_data[current_idx : current_idx + inc_len]
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)
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current_idx += inc_len
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pw.dlog("Received ACU Core HK. Voltages in mV, currents in mA")
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pw.dlog(f"VCC {vcc} mV | VBAT {vbat} mV | MPPT Mode {mppt_mode}")
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header_str = (
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f"Channel | Input U [mV] | Input I [mA] | U Boost [mV] | Power [mW]"
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)
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pw.dlog(header_str)
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for i in range(6):
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pw.dlog(
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f"{i} | {str(voltages[i]).ljust(4)} | {str(currents[i]).ljust(4)} | "
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f"{str(vboosts[i]).ljust(4)} | {str(powers[i]).ljust(2)}"
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)
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pw.dlog(f"Temperatures in C: Ch0 {tmp0} | Ch1 {tmp1} | Ch2 {tmp2}")
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pw.dlog(
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f"Boot Count {bootcnt} | Uptime {uptime} sec | "
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f"MPPT Time {mppt_time} msec | MPPT Period {mppt_period} msec"
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)
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printer.print_validity_buffer(
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validity_buffer=hk_data[current_idx:], num_vars=12
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)
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if set_id == SetIds.AUX:
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current_idx = 0
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fmt_str = "!BBB"
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inc_len = struct.calcsize(fmt_str)
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enb_tuple = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
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(dac_enb0, dac_enb1, dac_enb2) = enb_tuple
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dac_enb_str = ["on" if entry == 1 else "off" for entry in enb_tuple]
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current_idx += inc_len
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current_idx, dac_channels_raw = gen_six_entry_u16_list(
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hk_data=hk_data, current_idx=current_idx
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)
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fmt_str = "!IHII"
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inc_len = struct.calcsize(fmt_str)
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(boot_cause, reset_cause, wdt_cnt_gnd, wdt_gnd_time_left) = struct.unpack(
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fmt_str, hk_data[current_idx : current_idx + inc_len]
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)
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current_idx += inc_len
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dev_parser = DevicesInfoParser()
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current_idx = dev_parser.parse(hk_data=hk_data, current_idx=current_idx)
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pw.dlog("Received ACU Aux HK. Voltages in mV, currents in mA")
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pw.dlog(
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f"DAC Enable States: DAC 0 {dac_enb_str[0]} | DAC 1 {dac_enb_str[1]} | DAC 2 {dac_enb_str[2]}"
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)
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pw.dlog(f"Boot Cause {boot_cause} | Reset Cause {reset_cause}")
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pw.dlog(
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f"Ground WDT: Reboot Count {wdt_cnt_gnd} | Time Left {wdt_gnd_time_left} sec"
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)
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pw.dlog(
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f"ACU Dev Types: 0:FRAM|1:ADC|2:ADC|3:DAC|4:DAC|"
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f"5:DAC|6:TempSens|7:Reserved"
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)
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dev_parser.print(pw=pw)
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printer.print_validity_buffer(validity_buffer=hk_data[current_idx:], num_vars=8)
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def handle_get_param_data_reply(
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obj_id: ObjectIdBase, action_id: int, pw: PrintWrapper, custom_data: bytearray
|
|
):
|
|
if action_id == GomspaceDeviceActionIds.PARAM_GET:
|
|
pw.dlog(f"Parameter Get Request received for object {obj_id}")
|
|
header_list = [
|
|
"Gomspace Request Code",
|
|
"Table ID",
|
|
"Memory Address",
|
|
"Payload length",
|
|
"Payload",
|
|
]
|
|
fmt_str = "!BBHH"
|
|
(gs_request_code, table_id, address, payload_length) = struct.unpack(
|
|
fmt_str, custom_data[:6]
|
|
)
|
|
content_list = [
|
|
hex(gs_request_code),
|
|
table_id,
|
|
hex(address),
|
|
payload_length,
|
|
f"0x[{custom_data[6:].hex(sep=',')}]",
|
|
]
|
|
pw.dlog(f"{header_list}")
|
|
pw.dlog(f"{content_list}")
|
|
elif action_id == GomspaceDeviceActionIds.REQUEST_CONFIG_TABLE:
|
|
print(f"Received config table with size {len(custom_data)} for object {obj_id}")
|
|
if obj_id.as_bytes == PDU_1_HANDLER_ID or obj_id.as_bytes == PDU_2_HANDLER_ID:
|
|
pdu_config_table_handler(pw, custom_data, obj_id)
|
|
elif obj_id.as_bytes == ACU_HANDLER_ID:
|
|
acu_config_table_handler(pw, custom_data)
|
|
elif obj_id.as_bytes == P60_DOCK_HANDLER:
|
|
p60_dock_config_table_handler(pw, custom_data)
|
|
|
|
|
|
def pdu_config_table_handler(
|
|
pw: PrintWrapper, custom_data: bytes, obj_id: ObjectIdBase
|
|
):
|
|
if obj_id.as_bytes == PDU_1_HANDLER_ID:
|
|
pw.dlog("[tcs, syrlinks, str, mgt, sus-n, scex, ploc, acs-a, unused]")
|
|
elif obj_id.as_bytes == PDU_2_HANDLER_ID:
|
|
pw.dlog(
|
|
"[obc, pl-pcdu-bat-nom, rw, heaters, sus-r, sa-depl, pl-pcdu-bat-red, acs-b, pl-cam]"
|
|
)
|
|
out_on_cnt = unpack_array_in_data(custom_data, 0x52, 2, 9, "H")
|
|
out_off_cnt = unpack_array_in_data(custom_data, 0x64, 2, 9, "H")
|
|
init_out_norm = unpack_array_in_data(custom_data, 0x76, 1, 9, "B")
|
|
init_out_safe = unpack_array_in_data(custom_data, 0x80, 1, 9, "B")
|
|
init_on_dly = unpack_array_in_data(custom_data, 0x8A, 2, 9, "H")
|
|
init_off_dly = unpack_array_in_data(custom_data, 0x9C, 2, 9, "H")
|
|
safe_off_dly = unpack_array_in_data(custom_data, 0xAE, 1, 9, "B")
|
|
cur_lu_lim = unpack_array_in_data(custom_data, 0xB8, 2, 9, "H")
|
|
cur_lim = unpack_array_in_data(custom_data, 0xCA, 2, 9, "H")
|
|
cur_ema = unpack_array_in_data(custom_data, 0xDC, 2, 9, "H")
|
|
wdt_can_rst = custom_data[0x127]
|
|
wdt_can = struct.unpack(f"{OBC_ENDIANNESS}I", custom_data[0x12C : 0x12C + 4])[0]
|
|
batt_hwmax = struct.unpack(f"{OBC_ENDIANNESS}H", custom_data[0x11C : 0x11C + 2])[0]
|
|
batt_max = struct.unpack(f"{OBC_ENDIANNESS}H", custom_data[0x11E : 0x11E + 2])[0]
|
|
batt_norm = struct.unpack(f"{OBC_ENDIANNESS}H", custom_data[0x120 : 0x120 + 2])[0]
|
|
batt_safe = struct.unpack(f"{OBC_ENDIANNESS}H", custom_data[0x122 : 0x122 + 2])[0]
|
|
batt_crit = struct.unpack(f"{OBC_ENDIANNESS}H", custom_data[0x124 : 0x124 + 2])[0]
|
|
pw.dlog(f"{'out_on_cnt'.ljust(15)}: {out_on_cnt}")
|
|
pw.dlog(f"{'out_off_cnt'.ljust(15)}: {out_off_cnt}")
|
|
pw.dlog(f"{'init_out_norm'.ljust(15)}: {init_out_norm}")
|
|
pw.dlog(f"{'init_out_safe'.ljust(15)}: {init_out_safe}")
|
|
pw.dlog(f"{'init_on_dly'.ljust(15)}: {init_on_dly}")
|
|
pw.dlog(f"{'init_off_dly'.ljust(15)}: {init_off_dly}")
|
|
pw.dlog(f"{'safe_off_dly'.ljust(15)}: {safe_off_dly}")
|
|
pw.dlog(f"{'cur_lu_lim'.ljust(15)}: {cur_lu_lim}")
|
|
pw.dlog(f"{'cur_lim'.ljust(15)}: {cur_lim}")
|
|
pw.dlog(f"{'cur_ema'.ljust(15)}: {cur_ema}")
|
|
pw.dlog(f"{'batt_hwmax'.ljust(15)}: {batt_hwmax}")
|
|
pw.dlog(f"{'batt_max'.ljust(15)}: {batt_max}")
|
|
pw.dlog(f"{'batt_norm'.ljust(15)}: {batt_norm}")
|
|
pw.dlog(f"{'batt_safe'.ljust(15)}: {batt_safe}")
|
|
pw.dlog(f"{'batt_crit'.ljust(15)}: {batt_crit}")
|
|
pw.dlog(f"{'wdt_can_rst'.ljust(15)}: {wdt_can_rst}")
|
|
pw.dlog(f"{'wdt_can'.ljust(15)}: {wdt_can}")
|
|
|
|
|
|
def p60_dock_config_table_handler(pw: PrintWrapper, custom_data: bytes):
|
|
ch_names = parse_name_list(custom_data[0:0x68], 13)
|
|
out_on_cnt = unpack_array_in_data(custom_data, 0x76, 2, 13, "H")
|
|
out_off_cnt = unpack_array_in_data(custom_data, 0x90, 2, 13, "H")
|
|
init_out_norm = unpack_array_in_data(custom_data, 0xAA, 1, 13, "B")
|
|
init_out_safe = unpack_array_in_data(custom_data, 0xB7, 1, 13, "B")
|
|
init_on_dly = unpack_array_in_data(custom_data, 0xC4, 2, 13, "H")
|
|
init_off_dly = unpack_array_in_data(custom_data, 0xDE, 2, 13, "H")
|
|
acu_channel_addrs = unpack_array_in_data(custom_data, 0x180, 1, 2, "B")
|
|
pdu_channel_addrs = unpack_array_in_data(custom_data, 0x186, 1, 4, "B")
|
|
pw.dlog(f"Ch Names: {ch_names}")
|
|
pw.dlog(f"{'out_on_cnt'.ljust(15)}: {out_on_cnt}")
|
|
pw.dlog(f"{'out_off_cnt'.ljust(15)}: {out_off_cnt}")
|
|
pw.dlog(f"{'init_out_norm'.ljust(15)}: {init_out_norm}")
|
|
pw.dlog(f"{'init_out_safe'.ljust(15)}: {init_out_safe}")
|
|
pw.dlog(f"{'init_on_dly'.ljust(15)}: {init_on_dly}")
|
|
pw.dlog(f"{'init_off_dly'.ljust(15)}: {init_off_dly}")
|
|
pw.dlog(f"{'p60acu_addr'.ljust(15)}: {acu_channel_addrs}")
|
|
pw.dlog(f"{'p60pdu_addr'.ljust(15)}: {pdu_channel_addrs}")
|
|
|
|
|
|
def parse_name_list(data: bytes, name_len: int):
|
|
ch_list = []
|
|
idx = 0
|
|
while len(ch_list) < name_len:
|
|
next_byte = data[idx]
|
|
if next_byte != 0:
|
|
string_end_found = False
|
|
string_end_idx = idx
|
|
while not string_end_found:
|
|
string_end_idx += 1
|
|
if data[string_end_idx] == 0:
|
|
string_end_found = True
|
|
name = data[idx:string_end_idx].decode()
|
|
ch_list.append(name)
|
|
idx += len(name)
|
|
idx += 1
|
|
return ch_list
|