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failnix/targets/wasm-tacle/parallel/DEBIE/code/health.c

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/*------------------------------------------------------------------------------
Copyright (C) 1998 : Space Systems Finland Ltd.
Space Systems Finland Ltd (SSF) allows you to use this version of
the DEBIE-I DPU software for the specific purpose and under the
specific conditions set forth in the Terms Of Use document enclosed
with or attached to this software. In particular, the software
remains the property of SSF and you must not distribute the software
to third parties without written and signed authorization from SSF.
System Name: DEBIE DPU SW
Subsystem : DAS
Module : health.c
Monitoring DEBIE DPU and system health.
Based on the SSF file health.c, rev 1.74, Fri Oct 15 20:18:02 1999.
- * -----------------------------------------------------------------------
*/
#include "ad_conv.h"
#include "dpu_ctrl.h"
#include "taskctrl.h"
#include "health.h"
#include "ttc_ctrl.h"
#include "measure.h"
#include "tc_hand.h"
#include "keyword.h"
#include "kernobj.h"
#include "tm_data.h"
#include "telem.h"
#include "isr_ctrl.h"
#include "version.h"
#include "class.h"
#define BOOT_WAIT_INTERVAL 55
/* Boot wait interval: 55 x 10 ms = 550 ms */
#define SYSTEM_INTERVAL 9198
/* Sets system time interval to 10 ms, assuming a clock */
/* frequency of exactly 11.0592 MHz. */
/* SYSTEM_INTERVAL is in units of the processor cycle, */
/* and is computed as follows, in principle: */
/* 10 ms * 11.0592 MHz / 12 */
/* where 12 is the number of clock cycles per processor */
/* cycle. */
/* The above calculation gives the value 9216 precisely. */
/* In practice this value makes the DPU time (updated by */
/* the Health Monitoring Task) retard by about 0.2%. */
/* This is probably due to imprecise handling of timer */
/* ticks by RTX-51. As a primitive correction, we reduce */
/* the value by 0.2% to 9198. This correction will not */
/* be exact, especially under heavy interrupt load. */
#define HM_INTERVAL 100
/* Health Monitoring interval wait: 100 x 10 ms = 1s */
/* This wait time should be waited 10 times to get */
/* period of 10s. */
/* Alternatively the execution of the Health Monitoring */
/* Task can be divided to ten steps which are executed */
/* 1 second apart from each other and then all actions */
/* of the task would be executed once in 10 seconds */
#define ADC_TEMPERATURE_MAX_TRIES 255
/* When temperatures are measured this macro defines the maximum */
/* amount of tries to be used in reading and handling an AD channel in */
/* 'Read_AD_Channel()'. */
#define CONVERSION_TEMPERATURE_MAX_TRIES 255
/* When temperatures are measured this macro defines the maximum */
/* amount of tries to be used when End Of Conversion indication is */
/* waited in function 'Convert_AD()'. */
#define ADC_VOLTAGE_MAX_TRIES 255
/* When voltages are measured this macro defines the maximum */
/* amount of tries to be used in reading and handling an AD channel in */
/* 'Read_AD_Channel()'. */
#define CONVERSION_VOLTAGE_MAX_TRIES 255
/* When voltages are measured this macro defines the maximum */
/* amount of tries to be used when End Of Conversion indication is */
/* waited in function 'Convert_AD()'. */
#define DPU_5V_SELECTOR 3
#define SU_1_2_P5V_SELECTOR 0
#define SU_1_2_M5V_SELECTOR 4
/* DPU Self Test voltage measurement channel selectors. */
/* See MeasureVoltage function. */
#define SU_P5V_ANA_LOWER_LIMIT 0xBA
#define SU_P5V_ANA_UPPER_LIMIT 0xE4
#define SU_M5V_ANA_LOWER_LIMIT 0x0D
#define SU_M5V_ANA_UPPER_LIMIT 0x22
#define SU_P50V_LOWER_LIMIT 0xA8
#define SU_P50V_UPPER_LIMIT 0xE3
#define SU_M50V_LOWER_LIMIT 0x0E
#define SU_M50V_UPPER_LIMIT 0x2C
#define DPU_P5V_DIG_LOWER_LIMIT 0xBA
#define DPU_P5V_DIG_UPPER_LIMIT 0xE4
/* Upper and lower limits for monitoring */
/* SU and DPU supply voltages. */
#define SELF_TEST_DONE 0
#define SELF_TEST_RUNNING 1
/* Used in SU self test. */
typedef struct {
channel_t ADC_channel;
uint_least8_t ADC_max_tries;
uint_least8_t conversion_max_tries;
unsigned int unsigned_ADC;
signed int signed_ADC;
unsigned char AD_execution_result;
sensor_number_t sensor_unit;
} ADC_parameters_t;
/* This struct is used to hold parameters for Reading AD channels. */
/* */
/* 'ADC_channel' Stores the number the AD channel to be measured. */
/* Includes BP_UP bit to select unipolar/bipolar mode.*/
/* 'ADC_max_tries' Gives the function the maximum amount of tries */
/* used in reading and handling an AD channel. */
/* 'conversion_max_tries' Gives the function the maximum amount of tries */
/* used in reading and handling a single AD */
/* conversion. */
/* 'unsigned_ADC' These variables are used for storing an ADC */
/* 'signed_ADC' result. */
/* 'AD_execution_result' Indicates whether the AD measurent is a success or */
/* indicates what has gone wrong with following */
/* values. */
/* sensor_unit See the function DAC_SelfTest. */
/* CONVERSION_ACTIVE 0 */
/* RESULT_OK 1 */
/* HIT_OCCURRED 2 */
typedef enum {
su1_e, su2_e, su3_e, su4_e
} SU_index_t;
uint_least8_t EXTERNAL temp_meas_count = TEMP_COUNT;
/* This variable is used for counting temperature measurement interval */
/* 1/60 secs. */
uint_least8_t EXTERNAL voltage_meas_count = VOLTAGE_COUNT;
/* This variable is used for counting voltage measurement interval 1/180 */
/* secs. */
uint_least8_t EXTERNAL checksum_count = CHECK_COUNT;
/* This variable is used for counting checksum counter, interval 1/60 */
/* secs. */
unsigned char EXTERNAL code_checksum;
/* This variable is used for calculating checksum from the memory. */
unsigned char EXTERNAL self_test_flag = SELF_TEST_DONE;
/* Used with SU self test initiation. */
/* enumerations */
typedef enum {
channel_0_e, channel_1_e, channel_2_e, channel_3_e, channel_4_e,
channel_5_e, channel_6_e
} AD_channel_t;
unsigned char EXTERNAL ADC_channel_register = 0x80;
/* Holds value of the ADC Channel HW register */
/* Is used by Hit Trigger ISR task and Health */
/* Monitoring task. */
/* Updating must be atomic in the Health Monitoring */
/* task, because Hit Trigger can preempt it. */
dpu_time_t EXTERNAL internal_time;
/* DEBIE internal time counter. */
/* Function prototypes. */
void DelayAwhile ( unsigned short duration );
void Read_AD_Channel ( ADC_parameters_t EXTERNAL *ADC_results );
void DAC_SelfTest( unsigned char DAC_output,
ADC_parameters_t EXTERNAL *ADC_test_parameters ) ;
void Monitor( uint_least8_t health_mon_round );
void UpdateTime( void );
void MeasureTemperature( sensor_index_t SU_index );
void HighVoltageCurrent( sensor_index_t SU_index );
void LowVoltageCurrent( void );
void MeasureVoltage( uint_least8_t channel_selector );
void InitSystem( void );
void CalculateChecksum( uint_least8_t checksum_count );
void UpdatePeriodCounter( uint_least8_t EXTERNAL *counter,
uint_least8_t full_counter_value );
void Convert_AD ( ADC_parameters_t EXTERNAL *ADC_parameters );
void TemperatureFailure( sensor_index_t SU_index );
void VoltageFailure( channel_t ADC_channel );
void SelfTest_SU( sensor_index_t self_test_SU_index );
void Monitor_DPU_Voltage( void );
void Monitor_SU_Voltage( sensor_index_t self_test_SU_index );
unsigned char ExceedsLimit(
unsigned char value,
unsigned char lower_limit,
unsigned char upper_limit );
void RestoreSettings( sensor_index_t self_test_SU_index );
void SelfTestChannel( sensor_index_t self_test_SU_index );
void ExecuteChannelTest(
sensor_index_t self_test_SU_index,
unsigned char test_channel,
unsigned char test_pulse_start_level );
/* Other function prototypes. */
void Set_SU_TriggerLevels (
sensor_number_t sensor_unit,
SU_settings_t EXTERNAL *settings );
/*****************************************************************************/
/* Boot and DPU self test */
/*****************************************************************************/
void Clear_RTX_Errors( void )
/* Purpose : Clears RTX error registers in telemetry */
/* Interface : input - */
/* output - telemetry_data, rtx error registers */
/* Preconditions : none */
/* Postconditions : RTX error registers are cleared. */
/* Algorithm : See below, self explanatory. */
{
telemetry_data.isr_send_message_error = 0xFF;
telemetry_data.os_send_message_error = 0xFF;
telemetry_data.os_create_task_error = 0xFF;
telemetry_data.os_wait_error = 0xFF;
telemetry_data.os_attach_interrupt_error = 0xFF;
telemetry_data.os_enable_isr_error = 0xFF;
telemetry_data.os_disable_isr_error = 0xFF;
}
void SetSoftwareError( unsigned char error ) COMPACT_DATA REENTRANT_FUNC
/* Purpose : This function will be called always when */
/* bit(s) in the software error status */
/* register are set. */
/* Interface : inputs - software error status register */
/* - measurement_error, which specifies what */
/* bits are set in software error status. */
/* Value is as follows, */
/* */
/* MEASUREMENT_ERROR */
/* */
/* outputs - software error status register */
/* subroutines - none */
/* Preconditions : none */
/* Postconditions : none */
/* Algorithm : - Disable interrupts */
/* - Write to software error status register */
/* - Enable interrupts */
{
DISABLE_INTERRUPT_MASTER;
telemetry_data.software_error |= error;
ENABLE_INTERRUPT_MASTER;
}
void ClearSoftwareError()
/* Purpose : This function will be called always when all */
/* bits in the software error status */
/* register are cleared. */
/* Interface : inputs - software error status register */
/* outputs - software error status register */
/* subroutines - none */
/* Preconditions : none */
/* Postconditions : none */
/* Algorithm : */
/* - Write to SoftwareErrorStatuRegister */
{
telemetry_data.software_error = 0;
}
void SetModeStatusError( unsigned char mode_status_error )
COMPACT_DATA REENTRANT_FUNC
/* Purpose : This function will be called always when */
/* error bit(s) in the mode status register are set. */
/* Interface : inputs - mode status register */
/* - mode_status_error, which specifies what */
/* bit(s) are to be set in */
/* mode status register. Value is one of */
/* the following, */
/* */
/* SUPPLY_ERROR */
/* DATA_MEMORY_ERROR */
/* PROGRAM_MEMORY_ERROR */
/* MEMORY_WRITE_ERROR */
/* ADC_ERROR */
/* */
/* outputs - mode status register */
/* subroutines - none */
/* Preconditions : none */
/* Postconditions : none */
/* Algorithm : - Disable interrupts */
/* - Write to Mode Status register */
/* - Enable interrupts */
{
DISABLE_INTERRUPT_MASTER;
telemetry_data.mode_status |= ( mode_status_error & ( ~MODE_BITS_MASK ) );
/* The mode bits are secured against unintended modification by */
/* clearing those bits in 'mode_status_error' before "or":ing */
/* its value to 'telemetry_data.mode_status'. */
ENABLE_INTERRUPT_MASTER;
}
void ClearModeStatusError( void )
/* Purpose : This function will be called always when all */
/* error bits in the mode status register are cleared. */
/* Interface : inputs - mode status register */
/* */
/* outputs - mode status register */
/* subroutines - none */
/* Preconditions : none */
/* Postconditions : none */
/* Algorithm : - Disable interrupts */
/* - Write to Mode Status register */
/* - Enable interrupts */
{
DISABLE_INTERRUPT_MASTER;
telemetry_data.mode_status &= MODE_BITS_MASK;
/* Error bits in the mode status register are cleared. */
ENABLE_INTERRUPT_MASTER;
}
void SetMode( DEBIE_mode_t mode ) COMPACT_DATA REENTRANT_FUNC
/* Purpose : This function will be called always when */
/* mode in the mode status register is set. */
/* Interface : inputs - mode status register */
/* mode_bits, which specify the mode to be */
/* stored in the mode status register. */
/* Value is on one of the following: */
/* DPU self test */
/* stand by */
/* acquisition */
/* */
/* outputs - mode status register */
/* subroutines - none */
/* Preconditions : none */
/* Postconditions : none */
/* Algorithm : - Disable interrupts */
/* - Write to Mode Status register */
/* - Enable interrupts */
{
DISABLE_INTERRUPT_MASTER;
telemetry_data.mode_status = ( telemetry_data.mode_status & ~MODE_BITS_MASK )
| ( mode & MODE_BITS_MASK );
/* First mode status bits are cleared, and then the given mode is set. */
ENABLE_INTERRUPT_MASTER;
}
DEBIE_mode_t GetMode()
/* Purpose : This function will be called always when */
/* mode in the mode status register is checked. */
/* Interface : */
/* inputs - mode status register */
/* */
/* outputs - mode status register */
/* - Mode bits, which specify the mode */
/* stored in the ModeStatus register. */
/* Value is on one of the following: */
/* DPU self test */
/* stand by */
/* acquisition */
/* */
/* subroutines - none */
/* Preconditions : none */
/* Postconditions : none */
/* Algorithm : */
/* - Read Mode Status register */
{
return ( telemetry_data.mode_status & MODE_BITS_MASK );
/* Return the value of the two least significant bits in */
/* mode status register and return this value. */
}
void Clear_SU_Error( void )
/* Purpose : This function will be called always when all */
/* error bits in the SU# status register are cleared. */
/* Interface : inputs - SU# status register */
/* */
/* outputs - SU# status register */
/* subroutines - none */
/* Preconditions : none */
/* Postconditions : none */
/* Algorithm : - Disable interrupts */
/* - Write to Mode Status register */
/* - Enable interrupts */
{
sensor_index_t EXTERNAL i;
DISABLE_INTERRUPT_MASTER;
_Pragma( "loopbound min 4 max 4" )
for ( i = 0; i < NUM_SU; i++ ) {
telemetry_data.SU_status[ i ] &= SUPPLY_VOLTAGE_MASK;
/* Error bits in the SU# status register are cleared. */
}
ENABLE_INTERRUPT_MASTER;
}
void Set_SU_Error( sensor_index_t SU_index, unsigned char SU_error )
/* Purpose : This function will be called always when */
/* error bit(s) in the SU# status register are set. */
/* Interface : inputs - SU# status register */
/* - 'SU_index' (0-3) */
/* - 'SU_error' is one of the following: */
/* */
/* LV_SUPPLY_ERROR */
/* HV_SUPPLY_ERROR */
/* TEMPERATURE_ERROR */
/* SELF_TEST_ERROR */
/* */
/* outputs - SU# status register */
/* subroutines - none */
/* Preconditions : none */
/* Postconditions : none */
/* Algorithm : - Disable interrupts */
/* - Write to SU# status register */
/* - Set corresponding SU# error bit in the */
/* error status register. */
/* - Enable interrupts */
{
DISABLE_INTERRUPT_MASTER;
telemetry_data.SU_status[ SU_index ] |=
( SU_error & ( ~SUPPLY_VOLTAGE_MASK ) );
/* Error bits in the SU# status register are cleared. */
/* The voltage status bits in the SU# status register */
/* are secured against unintended modification by */
/* clearing those bits in 'SU_error' before */
/* "or":ing its value to */
/* 'telemetry_data.SU_status'. */
SetErrorStatus( ERROR_STATUS_OFFSET << SU_index );
/* SU# error is set in the error status register, if */
/* anyone of the error bits in the SU# status register */
/* is set. */
/* Because this subroutine enables itself the interrupts, */
/* the call of it must be the last operation in the */
/* interrupt blocked area ! */
ENABLE_INTERRUPT_MASTER;
}
void Set_SU_TriggerLevels (
sensor_number_t sensor_unit,
SU_settings_t EXTERNAL *settings )
/* Purpose : Set all trigger-levels of one SU. */
/* Interface : inputs - SU number in 'sensor_unit'. */
/* - Triggering levels in 'settings'. */
/* outputs - Hardware trigger levels. */
/* subroutines - SetTriggerLevel */
/* Preconditions : none */
/* Postconditions : none */
/* Algorithm : - set trigger level for Plasma 1+ */
/* - set trigger level for Plasma 1- */
/* - set trigger level for Piezos. */
{
trigger_set_t EXTERNAL trigger;
/* Holds parameters for SetTriggerLevel. */
trigger.sensor_unit = sensor_unit;
trigger.level = settings -> plasma_1_plus_threshold;
trigger.channel = PLASMA_1_PLUS;
SetTriggerLevel ( &trigger );
trigger.level = settings -> plasma_1_minus_threshold;
trigger.channel = PLASMA_1_MINUS;
SetTriggerLevel ( &trigger );
trigger.level = settings -> piezo_threshold;
trigger.channel = PZT_1_2;
SetTriggerLevel ( &trigger );
}
void SetErrorStatus( unsigned char error_source )
/* Purpose : This function will be called always when */
/* error bit(s) in the error status register are set. */
/* Exceptionally TC_ERROR will be set with a separate */
/* function as it is used so often. */
/* Interface : inputs - error status register */
/* - 'error_source' specifies the error bit */
/* to be set. Its value is one of the */
/* following, */
/* */
/* SU4_ERROR */
/* SU3_ERROR */
/* SU2_ERROR */
/* SU1_ERROR */
/* CHECKSUM_ERROR */
/* WATCHDOG_ERROR */
/* PARITY_ERROR */
/* */
/* outputs - error status register */
/* subroutines - none */
/* Preconditions : none */
/* Postconditions : none */
/* Algorithm : - Disable interrupts */
/* - Write to error status register */
/* - Enable interrupts */
{
DISABLE_INTERRUPT_MASTER;
telemetry_data.error_status |= ( error_source & ( ~TC_ERROR ) );
/* Error bits in the error status register are set. */
/* The TC_ERROR bit in the error status register */
/* is secured against unintended modification by */
/* clearing that bit in 'error_source' before */
/* "or":ing its value to */
/* 'telemetry_data.error_status'. */
ENABLE_INTERRUPT_MASTER;
}
void ClearErrorStatus()
/* Purpose : This function will be called always when */
/* error bits in the error status register are cleared. */
/* Interface : inputs - error status register */
/* */
/* outputs - error status register */
/* subroutines - none */
/* Preconditions : none */
/* Postconditions : none */
/* Algorithm : */
/* - Write to error status register */
{
telemetry_data.error_status = 0;
/* Error bits in the error status register are */
/* cleared. */
}
void DPU_SelfTest ( void )
/* Purpose : Executes the DPU voltage self test. */
/* Interface : inputs - none */
/* */
/* outputs - none */
/* subroutines - Monitor_DPU_Voltage */
/* Preconditions : none */
/* Postconditions : - Chosen supply voltages are measured. */
/* Algorithm : - Chosen supply voltages are measured and monitored with */
/* Monitor_DPU_Voltage */
{
Monitor_DPU_Voltage();
}
void Boot( void )
/* Purpose : Executes Boot sequence */
/* Interface : inputs - failed_code_address */
/* - failed_data_address */
/* outputs - intialized state of all variables */
/* subroutines - SetSensorUnitOff */
/* GetResetClass */
/* SignalMemoryErros */
/* ResetDelayCounters */
/* InitClassification */
/* ClearErrorStatus */
/* ClearSoftwareError */
/* Set_SU_TriggerLevels */
/* Preconditions : Init_DPU called earlier, after reset. */
/* Keil C startup code executed; xdata RAM initialised. */
/* Tasks are not yet running. */
/* Postconditions : DAS variables initialised. */
/* All Sensor Units are in off state */
/* If boot was caused by power-up reset, TM data registers */
/* and Science Data File are initialized */
/* If boot was not caused by watchdog-reset, error counters */
/* are cleared */
/* DEBIE mode is DPU_SELF_TEST */
/* Algorithm : see below. */
{
EXTERNAL unsigned char execution_result;
/* Execution result for SetSensorUnitOff function. */
EXTERNAL unsigned char *DIRECT_INTERNAL fill_pointer;
/* Used for data structure initialization */
DIRECT_INTERNAL reset_class_t reset_class;
/* What kind of reset caused this boot ? */
DIRECT_INTERNAL unsigned int i;
/* Loop variable */
SU_ctrl_register |= 0x0F;
SET_DATA_BYTE( SU_CONTROL, SU_ctrl_register );
/* Set all Peak detector reset signals to high */
max_events = MAX_EVENTS;
ResetDelayCounters();
SetSensorUnitOff( su1_e, &execution_result );
/* Set Sensor Unit 1 to Off state */
SetSensorUnitOff( su2_e, &execution_result );
/* Set Sensor Unit 2 to Off state */
SetSensorUnitOff( su3_e, &execution_result );
/* Set Sensor Unit 3 to Off state */
SetSensorUnitOff( su4_e, &execution_result );
/* Set Sensor Unit 4 to Off state */
ADC_channel_register |= 0x80;
UPDATE_ADC_CHANNEL_REG;
/* ADC interleave calibration is not used. */
reset_class = GetResetClass();
/* Find out what caused the reset. */
if ( reset_class != warm_reset_e ) {
/* We are running the PROM code unpatched, either */
/* from PROM or from SRAM. */
reference_checksum = INITIAL_CHECKSUM_VALUE;
/* 'reference_checksum' is used as a reference when */
/* the integrity of the code is checked by */
/* HealthMonitoringTask. It is set to its initial */
/* value here, after program code is copied from */
/* PROM to RAM. */
}
if ( reset_class == power_up_reset_e ) {
/* Data RAM was tested and is therefore garbage. */
/* Init TM data registers and Science Data File. */
internal_time = 0;
fill_pointer = ( EXTERNAL unsigned char *DIRECT_INTERNAL )&telemetry_data;
_Pragma( "loopbound min 124 max 124" )
for ( i = 0; i < sizeof( telemetry_data ); i++ ) {
*fill_pointer = 0;
fill_pointer++;
}
ResetEventQueueLength();
/* Empty event queue. */
ClearEvents();
/* Clears the event counters, quality numbers */
/* and free_slot_index of the event records in */
/* the science data memory. */
InitClassification();
/* Initializes thresholds, classification levels and */
/* min/max times related to classification. */
Clear_RTX_Errors();
/* RTX error indicating registers are initialized. */
}
else
if ( reset_class == watchdog_reset_e ) {
/* Record watchdog failure in telemetry. */
telemetry_data.error_status |= WATCHDOG_ERROR;
if ( telemetry_data.watchdog_failures < 255 )
telemetry_data.watchdog_failures++;
}
else
if ( reset_class == checksum_reset_e ) {
/* Record checksum failure in telemetry. */
telemetry_data.error_status |= CHECKSUM_ERROR;
if ( telemetry_data.checksum_failures < 255 )
telemetry_data.checksum_failures++;
}
else {
/* Soft or Warm reset. */
/* Preserve most of telemetry_data; clear some parts. */
ClearErrorStatus();
Clear_SU_Error();
Clear_RTX_Errors();
ClearSoftwareError();
telemetry_data.mode_status &= MODE_BITS_MASK;
telemetry_data.watchdog_failures = 0;
telemetry_data.checksum_failures = 0;
telemetry_data.TC_word = 0;
/* Clear error status bits, error status counters */
/* and Command Status register. */
ResetEventQueueLength();
/* Empty event queue. */
ClearEvents();
/* Clears the event counters, quality numbers */
/* and free_slot_index of the event records in */
/* the science data memory. */
InitClassification();
/* Initializes thresholds, classification levels and */
/* min/max times related to classification. */
self_test_SU_number = NO_SU;
/* Self test SU number indicating parameter */
/* is set to its default value. */
}
telemetry_data.mode_status =
( telemetry_data.mode_status & ~MODE_BITS_MASK ) | DPU_SELF_TEST;
/* Enter DPU self test mode. */
/* Software version information is stored in the telemetry data. */
telemetry_data.SW_version = SW_VERSION;
SignalMemoryErrors();
/* Copy results of RAM tests to telemetry_data. */
SetTestPulseLevel( DEFAULT_TEST_PULSE_LEVEL );
/* Initializes test pulse level. */
Set_SU_TriggerLevels ( SU_1, &telemetry_data.sensor_unit_1 );
Set_SU_TriggerLevels ( SU_2, &telemetry_data.sensor_unit_2 );
Set_SU_TriggerLevels ( SU_3, &telemetry_data.sensor_unit_3 );
Set_SU_TriggerLevels ( SU_4, &telemetry_data.sensor_unit_4 );
}
/*****************************************************************************/
/* Health Monitoring Task */
/*****************************************************************************/
uint_least8_t EXTERNAL health_mon_round = HEALTH_COUNT;
/* This variable is used for counting the ten health monitoring rounds */
/* which altogether equal 10 secs. */
void _Pragma( "entrypoint" ) InitHealthMonitoring ( void )
/* Purpose : Initialize the health monitoring for DEBIE. */
/* Interface : inputs - none */
/* */
/* outputs - telemetry_data */
/* */
/* subroutines - InitSystem() */
/* DPU_SelfTest() */
/* SetMode() */
/* */
/* Preconditions : Debie is on */
/* Postconditions : See subroutines */
/* Algorithm : */
/* - Executes InitSystem() */
/* - Executes DPU_SelfTest() */
/* - Enter stand_by mode */
{
InitSystem();
/* Initializes the system. */
DPU_SelfTest();
/* Execute the DPU self test. */
SetMode( STAND_BY );
/* Switch to Standby mode */
}
void _Pragma( "entrypoint" ) HandleHealthMonitoring ( void )
/* Purpose : One round of health monitoring for DEBIE. */
/* Interface : inputs - telemetry_data */
/* */
/* outputs - telemetry_data */
/* */
/* subroutines - UpdateTime() */
/* Monitor() */
/* UpdatePeriodCounter() */
/* WaitInterval() */
/* */
/* Preconditions : Debie is on */
/* Postconditions : See subroutines */
/* Algorithm : */
/* - Updates sensor unit states */
/* - Executes UpdateTime() */
/* - Calls Monitor() function */
/* - UpdatePeriodCounter() function advances the */
/* health monitoring counter */
/* - Executes WaitInterval() */
{
Update_SU_State ( 0 );
Update_SU_State ( 1 );
Update_SU_State ( 2 );
Update_SU_State ( 3 );
UpdateTime();
/* Update telemetry registers. */
Monitor( health_mon_round );
/* Execute current Health Monitoring Round. */
UpdatePeriodCounter( &health_mon_round, HEALTH_COUNT );
/* Decrease or reset health monitor loop counter depending on its */
/* current and limiting values. */
WaitInterval( HM_INTERVAL );
/* Wait for next activation */
}
void HealthMonitoringTask( void ) TASK( HEALTH_MONITORING_TASK )
PRIORITY( HEALTH_MONITORING_PR )
/* Purpose : Takes care of health monitoring for DEBIE. */
/* Interface : inputs - telemetry_data */
/* */
/* outputs - telemetry_data */
/* */
/* subroutines - UpdateTime() */
/* Monitor() */
/* UpdatePeriodCounter() */
/* WaitInterval() */
/* */
/* Preconditions : Debie is on */
/* Postconditions : See subroutines */
/* Algorithm : */
/* - InitHealthMonitoring */
/* - loop forever: */
/* - HandleHealthMonitoring */
{
InitHealthMonitoring ();
_Pragma( "loopbound min 0 max 0" )
while ( 1 )
HandleHealthMonitoring ();
}
void Monitor( uint_least8_t health_mon_round )
/* Purpose : Monitors DEBIE's vital signs */
/* Interface : inputs - Health Monitoring Round count */
/* outputs - none */
/* subroutines - MeasureTemperature() */
/* CheckCurrent() */
/* MeasureVoltage() */
/* CalculateChecksum() */
/* Preconditions : Health monitoring is on. */
/* Postconditions : Health monitoring duties are carried out. */
/* Algorithm : */
/* - Executes the given health monitor loop round. */
/* - Starts three loops: */
/* - voltage measurement loop 180 secs */
/* - temperature measurement loop 60 secs */
/* - checksum count loop 60 secs */
/* The values of these counters are decreased after each */
/* loop cycle. */
/* */
/* Health monitoring loop which lasts 10 secs and is */
/* divided into 10 individual rounds. On each round */
/* some specific Health Monitoring duties are carried */
/* out. For example the Watchdog counter is resetted. */
/* */
/* Temperature measurement loop lasts 60 secs and */
/* consists of 6 Health Monitoring loop cycles each */
/* lasting 10 secs. It is executed partly on each 10 sec */
/* Health Monitoring cycle by measuring temperatures of */
/* one SU on each cycle. Measurement starts on the second*/
/* Health Monitoring cycle and is completed after six */
/* cycles. */
/* */
/* Voltage measurement loop lasts 180 secs and consists */
/* of 18 Health Monitoring loop cycles each lasting 10 */
/* secs. On each cycle some of its duties are carried */
/* out. */
/* */
/* Checksum calculation loop lasts 60 secs and consists */
/* of 6 Health Monitoring loop cycles each lasting 10 */
/* secs. It is executed partly on each Health Monitoring*/
/* round. */
/* */
/* Illustration of the process: */
/* */
/* M */
/* _________|_________ */
/* | | */
/* |R-R-R-R-R-R-R-R-R-R> : Health Monitoring loop: M */
/* <---------------------< Round: R = 1 sec */
/* M = 10*R = 10 secs */
/* */
/* T */
/* _____|_____ */
/* | | */
/* |M-M-M-M-M-M> Temperature Measurement loop: T */
/* <-----------< Health Monitoring loop: M = 10 sec */
/* T = 6*M = 60 secs */
/* */
/* C */
/* _____________|____________ Checksum count loop: C */
/* | | */
/* |R-R-R-R-R-R-R-R-R-R> */
/* >R-R-R-R-R-R-R-R-R-R> */
/* >R-R-R-R-R-R-R-R-R-R> */
/* >R-R-R-R-R-R-R-R-R-R> */
/* >R-R-R-R-R-R-R-R-R-R> */
/* >R-R-R-R-R-R-R-R-R-R> */
/* Health Monitoring loop cycle: R = 1 sec */
/* C = 60*R = 60 secs */
/* */
/* V */
/* _________________|__________________ */
/* | | */
/* |M-M-M-M-M-M-M-M-M-M-M-M-M-M-M-M-M-M> Voltage Measurement loop: V */
/* <-----------------------------------< Health Monitoring loop: M */
/* V = 18*M = 180 secs */
{
CalculateChecksum( checksum_count );
/* A 1/60th part of the memory checksum is calculated. */
UpdatePeriodCounter( &checksum_count, CHECK_COUNT );
/* Decrease or reset checksum counter */
/* depending on its current and limiting values. */
switch ( health_mon_round ) {
case round_0_e:
HighVoltageCurrent( ( sensor_index_t )health_mon_round );
/* Overcurrent indicating bits related to sensor unit 1 in HV */
/* status register are checked. */
UpdatePeriodCounter( &temp_meas_count, TEMP_COUNT );
UpdatePeriodCounter( &voltage_meas_count, VOLTAGE_COUNT );
/* Decrease or reset temperature, checksum and voltage counters */
/* depending on their current and limiting values. */
hit_budget_left = hit_budget;
/* Health Monitoring period ends and new hit budget can be started. */
if ( HIT_TRIGGER_FLAG == 0 ) {
/* Hit budget was exceeded during this ending Health Monitoring */
/* period. */
ResetPeakDetector( SU_1 );
ResetPeakDetector( SU_2 );
ResetPeakDetector( SU_3 );
ResetPeakDetector( SU_4 );
/* Reset all Peak detectors */
WaitTimeout( COUNTER_RESET_MIN_DELAY );
ENABLE_HIT_TRIGGER;
/* Allows a later falling edge on T2EX to cause */
/* a Hit Trigger interrupt (i.e. to set EXF2). */
ResetDelayCounters();
/* Resets the SU logic that generates Hit Triggers. */
/* Brings T2EX to a high level, making a new falling */
/* edge possible. */
/* This statement must come after the above "enable", */
/* since T2EX edges are not remembered by the HW from */
/* before the "enable", unlike normal interrupt enable */
/* and disable masking. */
}
break;
case round_1_e:
HighVoltageCurrent( ( sensor_index_t )health_mon_round );
/* Overcurrent indicating bits related to sensor unit 2 in HV */
/* status register are checked. */
break;
case round_2_e:
HighVoltageCurrent( ( sensor_index_t )health_mon_round );
/* Overcurrent indicating bits related to sensor unit 3 in HV */
/* status register are checked. */
break;
case round_3_e:
HighVoltageCurrent( ( sensor_index_t )health_mon_round );
/* Overcurrent indicating bits related to sensor unit 4 in HV */
/* status register are checked. */
break;
case round_4_e:
LowVoltageCurrent();
/* 'V_DOWN' indicator bit is checked. */
break;
case round_5_e:
if ( voltage_meas_count < 7 )
{
/* Seven Secondary voltage channels are measured starting when */
/* 'voltage_meas_count' reaches a value of 6. Last measurement is*/
/* executed on voltage_meas_count value 0. */
MeasureVoltage( voltage_meas_count );
}
break;
case round_6_e:
if ( ( self_test_SU_number != NO_SU ) &&
( SU_state[ self_test_SU_number - SU1 ] == self_test_e ) ) {
/* SU self test sequence continues */
SelfTestChannel( self_test_SU_number - SU1 );
/* SU channels are monitored in this round. */
self_test_SU_number = NO_SU;
/* SU self test sequence ends here */
}
break;
case round_7_e:
if ( self_test_SU_number != NO_SU ) {
/* SU self test sequence has started */
self_test_flag = SELF_TEST_RUNNING;
/* Indication of a started test. */
SelfTest_SU( self_test_SU_number - SU1 );
/* Supply voltages and SU temperatures are monitored in this round. */
if ( self_test_SU_number != NO_SU )
SU_state[ self_test_SU_number - SU1 ] = self_test_e;
}
break;
case round_8_e:
SET_WD_RESET_HIGH;
/* The Watch Dog time out signal state is reset HIGH state, as it is*/
/* falling edge active. */
break;
case round_9_e:
if ( temp_meas_count < NUM_SU )
{
/* Two channels of one sensor unit are measured when */
/* 'temp_meas_count' reaches 3 -> 2 -> 1 -> 0. I.e. measuring */
/* begins after 10 secs and is finished after 50 secs. */
MeasureTemperature( ( sensor_index_t )temp_meas_count );
}
SET_WD_RESET_LOW;
/* The Watch Dog timer is reset by setting WD_RESET bit low at I/O */
/* port 1. This is done here with 10 sec interval. The watch dog */
/* time-out is 12.1 secs. */
break;
}
}
void UpdateTime( void )
/* Purpose : advances time in the telemetry */
/* Interface : inputs - telemetry_data.time */
/* outputs - telemetry_data.time */
/* subroutines - none */
/* Preconditions : none */
/* Postconditions : Time updated in telemetry_data. */
/* Algorithm : */
/* Time in the telemetry_data.time is advanced until */
/* maximum value for the variable is reached, after that it */
/* is implicitely wrapped-around on overflow. */
{
DISABLE_INTERRUPT_MASTER;
/* Disable all interrupts. */
internal_time ++;
/* Increment internal time. */
ENABLE_INTERRUPT_MASTER;
/* Enable all interrupts. */
}
void MeasureTemperature( sensor_index_t SU_index )
/* Purpose : Measures and monitors SU temperatures */
/* Interface : inputs - SU_index, sensor unit index (0 - 3) */
/* telemetry_data */
/* outputs - telemetry_data */
/* subroutines - Read_AD_Channel() */
/* TemperatureFailure() */
/* Preconditions : none */
/* Postconditions : - ADC temperature channels are measured. */
/* - In case of an overheated SU, */
/* 'TemperatureFailure()' function is called.i.e. */
/* all secondary supply voltages to that SU are switched */
/* off, SU related Bit in the Error Status Register is set*/
/* and temperature error indicating bit in the SU_Status */
/* register is set. */
/* - If a measurement has failed, in addition to overheating*/
/* response also measurement error indication bit in mode */
/* status register is set */
/* Algorithm : - Temperatures of a given sensor unit are measured. */
/* - If measured temperature is large enough, it is stored */
/* into telemetry. */
/* */
/* - Else measured temperature value is too small to be */
/* stored. Zero value is stored into telemetry. */
/* */
/* - If temperature of any of the Sensor Units is over */
/* MAX_TEMP, 'TemperatureFailure()' function is */
/* called. */
/* */
/* - If temperature measurement of a Sensor Unit has failed,*/
/* temperature error indicating bit in the SU_Status */
/* register is set and TemperatureFailure()' */
/* function is called. */
{
ADC_parameters_t EXTERNAL AD_temperature_parameters;
/* This struct is used to hold parameters for Reading AD channels. */
unsigned char temp_limit_value;
uint_least8_t EXTERNAL j;
/* This variable is used in for-loop. */
_Pragma( "loopbound min 2 max 2" )
for ( j = 0; j < NUM_TEMP; j++ )
{
AD_temperature_parameters.ADC_channel =
5 + ( SU_index & 1 ) * 8 + ( SU_index & 2 ) * 12 + j;
/* Select the channel to be measured. */
AD_temperature_parameters.ADC_max_tries = ADC_TEMPERATURE_MAX_TRIES;
/* When temperatures are measured this variable defines the maximum */
/* amount of tries to be used in reading and handling an AD channel in */
/* 'Read_AD_Channel()'. */
AD_temperature_parameters.conversion_max_tries =
CONVERSION_TEMPERATURE_MAX_TRIES;
/* When temperatures are measured this variable defines the maximum */
/* amount of tries to be used when End Of Conversion indication is */
/* waited in function 'Convert_AD()'. */
Read_AD_Channel( &AD_temperature_parameters );
/* Get ADC temperature measurement result. */
if ( AD_temperature_parameters.unsigned_ADC & 0x8000 )
{
/* Temperature is stored in the telemetry. */
telemetry_data.SU_temperature[ SU_index ][ j ] =
( unsigned char )( ( AD_temperature_parameters.unsigned_ADC
& 0x7FFF ) >> 7 );
/* Store bits 7 .. 14 */
}
else
{
telemetry_data.SU_temperature[ SU_index ][ j ] = 0;
/* Temperature too small -> store zero */
}
temp_limit_value = ( j == 0 ? MAX_TEMP_1 : MAX_TEMP_2 );
if ( telemetry_data.SU_temperature[ SU_index ][ j ] > temp_limit_value )
{
/* Temperature has exeeded a predefined limit */
TemperatureFailure( SU_index );
/* Given SU is switched off, error and SU status registers are */
/* updated in telemetry. */
}
if ( AD_temperature_parameters.AD_execution_result != RESULT_OK )
{
/* An anomaly has occurred during the measurement. */
SetSoftwareError( MEASUREMENT_ERROR );
/* Set measurement error indication bit in */
/* software error status register. */
TemperatureFailure( SU_index );
/* Given SU is switched off and error and SU status registers are */
/* updated in telemetry. */
}
}
}
void HighVoltageCurrent( sensor_index_t SU_index )
/* Purpose : Monitors overcurrent indicating bits in the HV Status */
/* register for a given sensor unit. */
/* Interface : inputs - SU_index, sensor unit index (0 - 3) */
/* telemetry_data */
/* HV_status register */
/* outputs - telemetry_data */
/* subroutines - SetErrorStatus() */
/* Set_SU_Error() */
/* Preconditions : none */
/* Postconditions : following registers are updated in case of an error, */
/* - Sensor Unit or units are switched off */
/* - Error Status register updated */
/* - SU Status register updated */
/* Algorithm : */
/* - if any of the HV_Status bits indicate a short */
/* circuit or overload, the corresponding Error Status */
/* Bits in the Error Status and SU_Status Registers are */
/* set. */
{
unsigned char EXTERNAL SU_current_mask[ ] = {3, 12, 48, 192};
/* This array holds parameters for checking the HV status register. */
unsigned char EXTERNAL valid_value[ ] = {1, 4, 16, 64};
/* This array holds comparison parameters for checking the HV status */
/* register. */
if ( CHECK_CURRENT( SU_current_mask[ SU_index ] ) !=
valid_value[ SU_index ] )
{
/* Overcurrent is detected. */
SetErrorStatus( ERROR_STATUS_OFFSET << SU_index );
/* Set high corresponding bit for the SU in Error Status Register. */
Set_SU_Error( SU_index, HV_SUPPLY_ERROR );
/* Set high HV supply error indicating bit in the SU_Status register*/
}
}
void LowVoltageCurrent( void )
/* Purpose : Monitors low voltage currents in Sensor Units. */
/* Interface : inputs - telemetry_data */
/* V_DOWN bit */
/* outputs - telemetry_data */
/* subroutines - SetSensorUnitOff() */
/* Preconditions : none */
/* Postconditions : Following actions are taken in case of an error, */
/* - Sensor Unit or units are switched off */
/* - SU Status register updated */
/* - Error Status register updated */
/* Algorithm : */
/* - If V_DOWN bit in I/O port 1 is LOW indicating that */
/* +-5 V DC/DC converter(s) is(are) limiting the output */
/* current, all SU supply voltages are */
/* switched off and corresponding bits in the Error and */
/* mode Status Register are set. */
{
sensor_index_t EXTERNAL i;
/* This variable is used in a for-loop. */
unsigned char EXTERNAL exec_result;
/* This variable is used by SetSensorUnitOff() function. */
if ( V_DOWN == LOW )
{
/* An error is detected, output current is limited. */
_Pragma( "loopbound min 4 max 4" )
for ( i = 0; i < NUM_SU; i++ )
{
/* Switch off all Sensor Units. */
SetSensorUnitOff( i, &exec_result );
/* Switch off given sensor unit. */
Set_SU_Error( i, LV_SUPPLY_ERROR );
/* Set high LV supply error indicating bit in the SU_Status */
/* register. */
}
SetErrorStatus( OVERALL_SU_ERROR );
/* Set all SU error status bits in 'error status register' at telemetry.*/
}
}
void MeasureVoltage( uint_least8_t channel_selector )
/* Purpose : Measure secondary Sensor Unit voltages. */
/* Interface : inputs - Channel selector, values 0 - 6 */
/* outputs - telemetry_data.mode_status */
/* subroutines - Read_AD_Channel() */
/* VoltageFailure() */
/* Preconditions : none */
/* Postconditions : - Measurement results are written to telemetry. */
/* - If a measurement has failed, measurement error */
/* indication bit in mode status register is set and */
/* 'VoltageFailure()' function is called.i.e. */
/* SUs related to failed ADC channel are switched */
/* off, SU related Bit in the Error Status Register is set*/
/* and LV error indicating bit in the SU_Status */
/* register is set. */
/* Algorithm : - Secondary SU supply voltages are measured from */
/* a given channel. */
/* - If measurement has failed, */
/* measurement error indication bit in mode status */
/* register is set and 'VoltageFailure()' */
/* function is called. */
/* - If no errors have occurred, results are stored */
/* in telemetry_data. */
{
ADC_parameters_t EXTERNAL AD_voltage_parameters;
/* This struct is used to hold parameters for Reading AD channels. */
unsigned char EXTERNAL voltage_channel[ ] = {
0x10, 0x11, 0x12, 0x13, 0x54, 0x55, 0x56
};
/* This array holds parameters for setting the ADC channel for the */
/* measurement. */
AD_voltage_parameters.ADC_channel = voltage_channel[ channel_selector ];
/* Select the channel to be measured: */
/* channel_selector -> ADC channel */
/* 0 -> 0x10 */
/* 1 -> 0x11 */
/* 2 -> 0x12 */
/* 3 -> 0x13 */
/* 4 -> 0x54 */
/* 5 -> 0x55 */
/* 6 -> 0x56 */
AD_voltage_parameters.ADC_max_tries = ADC_VOLTAGE_MAX_TRIES;
/* When voltages are measured this variable defines the maximum */
/* amount of tries to be used in reading and handling an AD channel in */
/* 'Read_AD_Channel()'. */
AD_voltage_parameters.conversion_max_tries =
CONVERSION_VOLTAGE_MAX_TRIES;
/* When voltages are measured this variable defines the maximum */
/* amount of tries to be used when End Of Conversion indication is */
/* waited in function 'Convert_AD()'. */
Read_AD_Channel( &AD_voltage_parameters );
/* Voltage channel is read. */
if ( AD_voltage_parameters.AD_execution_result != RESULT_OK ) {
/* An anomaly has occurred during the measurement. */
SetSoftwareError( MEASUREMENT_ERROR );
/* Set measurement error indication bit in */
/* software error status register. */
}
else {
switch ( channel_selector ) {
/* Measurement result bits 8..15 from channels involving positive */
/* voltages are written to telemetry. */
case channel_0_e:
telemetry_data.sensor_unit_1.plus_5_voltage =
AD_voltage_parameters.unsigned_ADC >> 8;
telemetry_data.sensor_unit_2.plus_5_voltage =
AD_voltage_parameters.unsigned_ADC >> 8;
break;
case channel_1_e:
telemetry_data.sensor_unit_3.plus_5_voltage =
AD_voltage_parameters.unsigned_ADC >> 8;
telemetry_data.sensor_unit_4.plus_5_voltage =
AD_voltage_parameters.unsigned_ADC >> 8;
break;
case channel_2_e:
telemetry_data.SU_plus_50 = AD_voltage_parameters.unsigned_ADC >> 8;
break;
case channel_3_e:
telemetry_data.DPU_plus_5_digital =
AD_voltage_parameters.unsigned_ADC >> 8;
break;
/* Measurement result bits 8..15 from channels involving negative */
/* voltages are written to telemetry. */
/* Note that even here, the "unsigned" or "raw" conversion result is */
/* used; this is a requirement. */
case channel_4_e:
telemetry_data.sensor_unit_1.minus_5_voltage =
AD_voltage_parameters.unsigned_ADC >> 8;
telemetry_data.sensor_unit_2.minus_5_voltage =
AD_voltage_parameters.unsigned_ADC >> 8;
break;
case channel_5_e:
telemetry_data.sensor_unit_3.minus_5_voltage =
AD_voltage_parameters.unsigned_ADC >> 8;
telemetry_data.sensor_unit_4.minus_5_voltage =
AD_voltage_parameters.unsigned_ADC >> 8;
break;
case channel_6_e:
telemetry_data.SU_minus_50 =
AD_voltage_parameters.unsigned_ADC >> 8;
break;
}
}
}
void InitSystem( void )
/* Purpose : Initialize system after RTX system is started. */
/* Interface : inputs - none */
/* outputs - none */
/* subroutines - SetTimeSlice() */
/* WaitInterval() */
/* CreateTask() */
/* Preconditions : RTX is on. */
/* Postconditions : System initialization duties are carried out i.e. rtx */
/* tasks are activated, system clock interval is set. */
/* Algorithm : - Set system clock interval */
/* - Wait for automatic A/D converter calibration. */
/* - Activate the Telecommand Execution task. */
/* - Activate the Acquisition task. */
/* - Activate Hit Trigger Interrupt Service task. */
{
task_info_t EXTERNAL new_task;
/* Parameters for creating new task */
SetTimeSlice( SYSTEM_INTERVAL );
/* Set system clock interval */
WaitInterval( BOOT_WAIT_INTERVAL );
/* Wait for automatic A/D converter calibration */
new_task.rtx_task_number = TC_TM_INTERFACE_TASK;
new_task.task_main_function = TC_task;
CreateTask( &new_task );
/* Activate the Telecommand Execution task */
new_task.rtx_task_number = ACQUISITION_TASK;
new_task.task_main_function = acq_task;
CreateTask( &new_task );
/* Activate the Acquisition task */
new_task.rtx_task_number = HIT_TRIGGER_ISR_TASK;
new_task.task_main_function = hit_task;
CreateTask( &new_task );
/* Activate Hit Trigger Interrupt Service task */
}
void CalculateChecksum( uint_least8_t checksum_count )
/* Purpose : Calculates memory checksum. */
/* Interface : inputs - 'checksum_count' gives the current */
/* checksum loop cycle value, */
/* MIN_CHECKSUM_COUNT <= 'checksum_count' */
/* <= MAX_CHECKSUM_COUNT */
/* */
/* - 'reference_checksum' variable to verify */
/* correct codememory. */
/* - global variable 'code_not_patched' */
/* outputs - 'code_checksum' is modified. */
/* - value of global variable */
/* 'code_not_patched' is conditionally set. */
/* subroutines - Reboot() */
/* Preconditions : none */
/* Postconditions : Changes values of variable 'code_checksum' and */
/* on first round variable 'code_not_patched'. */
/* */
/* - In case of a checksum error, */
/* Soft reset is executed, if 'code_not_patched' */
/* indication enables this. */
/* */
/* Algorithm : - Health monitoring calculates checksum with XOR for */
/* CHECK_SIZE amount of codememory bytes at a time. At */
/* the end of the check cycle, i.e. 'checksum_count' = 0, */
/* the variable 'code_checksum' */
/* should be equal with 'reference_checksum', if no */
/* errors have occurred and code has not been patched */
/* during the checksum cycle. */
/* */
/* - If an error is detected in the code memory, Reboot() */
/* function is called. */
/* */
/* - if no anomalies have been encountered there will be no */
/* changes and checksum loop starts from the beginning */
/* i.e. on 'checksum_count' = 59, 'code_not_patched' */
/* is set and 'code_checksum' is initialised. */
{
code_address_t EXTERNAL i;
/* This variable is used in a for-loop. */
code_address_t EXTERNAL check_start;
/* This variable is used for determining the start address of a given */
/* check. */
code_address_t EXTERNAL check_end;
/* This variable is used for determining the end address of a given check.*/
check_start = checksum_count * CHECK_SIZE;
if ( checksum_count == MAX_CHECKSUM_COUNT )
{
/* This piece ends at the top memory address. */
check_end = CODE_MEMORY_END;
}
else
check_end = check_start + ( CHECK_SIZE - 1 );
if ( checksum_count == MAX_CHECKSUM_COUNT ) {
code_checksum = 0;
/* This global variable is used to store the result from each XOR */
/* calculation during a code memory checksum round. It is cleared */
/* here at the beginning of a new cycle and checked at the end of */
/* each cycle against 'reference_checksum'. */
code_not_patched = 1;
/* This global variable shows whether code is patched during a code */
/* memory checksum cycle. It is set here at the beginning of a new */
/* cycle and checked at the end of each cycle whether it has been */
/* cleared as an indication of an executed code patching. */
}
_Pragma( "loopbound min 547 max 547" )
for ( i = check_start; i <= check_end; i++ )
{
/* It is assumed that 'CODE_MEMORY_END' < 2^16 - 1 */
/* Otherwise variable 'i' can never have a value */
/* larger than 'check_end' and this loop will never */
/* stop. */
code_checksum ^= GET_CODE_BYTE( i );
/* XOR is counted for code memory byte under check. */
}
if ( ( checksum_count == MIN_CHECKSUM_COUNT )
&& ( code_checksum != reference_checksum ) ) {
/* Checksum mismatch due to a memory error or */
/* code memory patch. */
if ( code_not_patched ) {
/* An anomaly has been detected in the code memory */
/* area. Code has not been patched during this code */
/* memory checksum cycle. */
Reboot ( checksum_reset_e );
/* Soft reset is executed, as global variable */
/* 'code_not_patched' enables it. Note that */
/* Reboot() does not return here. */
}
}
}
void UpdatePeriodCounter(
uint_least8_t EXTERNAL *counter,
uint_least8_t full_counter_value )
/* Purpose : Advances counters */
/* Interface : inputs - address to counter variable */
/* outputs - none */
/* subroutines - none */
/* Preconditions : none */
/* Postconditions : counter value is adjusted */
/* Algorithm : - If a given counter is not already zero, its value is */
/* decreased. */
/* - Else it set to its initialization value. */
{
if ( *counter )
{
( *counter )--;
/* Decrease temperature measurement counter. */
}
else {
*counter = full_counter_value;
/* Reset temperature measurement counter. */
}
}
void Convert_AD ( ADC_parameters_t EXTERNAL *ADC_parameters )
/* Purpose : Conversion is executed on a selected AD channel */
/* Interface : inputs - Address of a struct for storing the ADC */
/* results. */
/* outputs - ADC results are stored to the given struct */
/* subroutines - none */
/* Preconditions : none */
/* Postconditions : ADC results are written to a struct */
/* Algorithm : - AD Conversion is started on the selected channel. */
/* - End of conversion is polled, EOC bit at I/O port 1, */
/* as long as the preset limit is not exceeded. */
/* - If limit has not been exeeded, resulting MSB and LSB of*/
/* the conversion are read from the HW registers and */
/* combined into one word. */
/* Else end of conversion can no longer be waited. No */
/* results are gained, instead a zero is stored with an */
/* indication of this occurred anomaly. */
{
unsigned char DIRECT_INTERNAL conversion_count;
/* Counts the amount of end of conversion polls. */
unsigned char DIRECT_INTERNAL msb, lsb;
/* MSB and LSB of the conversion result */
unsigned int DIRECT_INTERNAL word;
/*This variable is used to combine MSB and LSB bytes into one word. */
START_CONVERSION;
conversion_count = 0;
_Pragma( "loopbound min 0 max 5" )
while ( conversion_count < ADC_parameters -> conversion_max_tries
&& ( END_OF_ADC != CONVERSION_ACTIVE ) ) {
/* Previous conversion is still active. */
conversion_count++;
}
/* There is a slight chance for the following occurrence: */
/* Conversion has ended after max_tries has been reached but before the */
/* following condition loop is entered. As a result measurement is failed */
/* even if conversion has ended in time. The effect is dimished if the */
/* max_tries is a large value i.e. end of conversion has been waited long */
/* enough. */
if ( conversion_count < ADC_parameters -> conversion_max_tries )
{
/* Conversion has ended. Read AD result. */
msb = GET_RESULT;
lsb = GET_RESULT;
word = ( unsigned int )msb * 256 + lsb;
/* Combine MSB and LSB as type 'unsigned int' in the given struct. */
ADC_parameters -> signed_ADC = ( signed short int )( word ^ 0x8000 );
/* Store result as of type 'signed int'. */
ADC_parameters -> unsigned_ADC = word;
/* Store result as of type 'unsigned int'. */
ADC_parameters -> AD_execution_result = RESULT_OK;
/* Store indication of an succesful measurement. */
}
else
{
/* Conversion has not ended in time. No results gained, store zero. */
ADC_parameters -> unsigned_ADC = 0;
ADC_parameters -> signed_ADC = 0;
/* Store indication of an unsuccesful measurement. */
ADC_parameters -> AD_execution_result = CONVERSION_ACTIVE;
}
}
void VoltageFailure( channel_t ADC_channel )
/* Purpose : Takes care of resulting actions in case of a failed */
/* measurement. */
/* Interface : inputs - 'ADC_channel' related to the failed */
/* measurement. */
/* */
/* outputs - telemetry_data.error_status register */
/* telemetry_data.SU_status register */
/* telemetry_data.mode_status register */
/* subroutines - none */
/* Preconditions : There has been an anomaly */
/* during an ADC channel measurement. */
/* Postconditions : Sensor unit(s) related error indication bit(s) are set */
/* in error_status, SU_status and mode_status registers. */
/* Algorithm : */
/* 'ADC_channel' is the number of the channel which failed */
/* measurement. The following actions are taken. */
/* - Find out which sensor units are related to failed */
/* measurement and store indications of these target */
/* SUs in the 'SU_action[ ]' array. */
/* - If channel number indicates that the DPU voltage */
/* measurement has failed, set high DPU +5V measurement*/
/* error indicating bit in the mode_status register. */
/* - Set Error status bit of the related SU(s) in error */
/* status register. */
/* - If the channel number is for +- 50V, set high the */
/* HV supply error indicating bit in the SU_Status */
/* register for the related SU(s). */
/* - If the channel number if low voltage, set high the */
/* LV supply error indicating bit in the SU_Status */
/* register for the related SU(s). */
{
unsigned char EXTERNAL i;
/* This variable is used in a for-loop. */
unsigned char EXTERNAL SU_action[ NUM_SU ] = {LOW, LOW, LOW, LOW};
/* This array stores actions targeted at a SU judging by the given */
/* ADC information. */
/* Voltage measurement has failed, actions are taken accordingly. */
if ( ADC_channel == 0x10 || ADC_channel == 0x54 )
{
/* Measurement of channels related to sensor units 1 and 2 have */
/* failed. */
SU_action[ su1_e ] = HIGH;
SU_action[ su2_e ] = HIGH;
/* Select sensor units 1 and 2 as targets in the 'SU_action' array. */
SetModeStatusError( SUPPLY_ERROR );
/* Set Supply Error. */
}
else
if ( ADC_channel == 0x11 || ADC_channel == 0x55 )
{
/* Measurement of channels related to sensor units 3 and 4 have */
/* failed. */
SU_action[ su3_e ] = HIGH;
SU_action[ su4_e ] = HIGH;
/* Select sensor units 3 and 4 as targets in the 'SU_action' array. */
}
else
if ( ADC_channel == 0x12 || ADC_channel == 0x56 )
{
/* Measurement of channels related to all sensor units have */
/* failed. */
SU_action[ su1_e ] = HIGH;
SU_action[ su2_e ] = HIGH;
SU_action[ su3_e ] = HIGH;
SU_action[ su4_e ] = HIGH;
/* Select all sensor units as targets in the 'SU_action' array. */
}
else
if ( ADC_channel == 0x13 )
{
/* Measurement of a channel related to DPU voltage has failed. */
SetModeStatusError( SUPPLY_ERROR );
/* Set high DPU +5V supply error indicating bit in the */
/* mode status register. */
}
_Pragma( "loopbound min 4 max 4" )
for ( i = 0; i < NUM_SU; i++ )
{
/* Set error indications related to selected Sensor Units. */
if ( SU_action[ i ] )
{
SetErrorStatus ( ERROR_STATUS_OFFSET << i );
/* Set Error status bit of the related SU in error status */
/* register. */
if ( ADC_channel == 0x12
|| ADC_channel == 0x56 ) {
Set_SU_Error ( i, HV_SUPPLY_ERROR );
/* Set high HV supply error indicating bit in the */
/* SU_Status register. */
}
if ( ADC_channel == 0x10
|| ADC_channel == 0x11
|| ADC_channel == 0x54
|| ADC_channel == 0x55 ) {
Set_SU_Error ( i, LV_SUPPLY_ERROR );
/* Set high LV supply error indicating bit in the */
/* SU_Status register. */
}
}
}
}
void TemperatureFailure( sensor_index_t SU_index )
/* Purpose : Takes care of resulting actions in case of a failed */
/* measurement. */
/* Interface : inputs - 'SU_index' which contains sensor unit */
/* index number related to failed measurement */
/* or overheated SU. */
/* outputs - telemetry_data.error_status register */
/* telemetry_data.SU_status register */
/* subroutines - SetSensorUnitOff() */
/* Preconditions : There has been an anomaly */
/* during an ADC temperature channel measurement or */
/* measurement has revealed that the given SU is */
/* overheated. */
/* Postconditions : Selected Sensor unit is switched off and error indication*/
/* bit is set in error_status register and SU_status */
/* register. */
/* Algorithm : Following actions are taken, */
/* - switch off given sensor unit */
/* - Set Error status bit of the related SU in error */
/* status register. */
/* - Set high temperature error indicating bit in the */
/* SU_Status register. */
{
unsigned char EXTERNAL exec_result;
/* This variable is used by SetSensorUnitOff() function. */
/* Temperature measurement has failed, actions are taken accordingly. */
SetSensorUnitOff( SU_index, &exec_result );
/* Switch off given sensor unit. */
SetErrorStatus( ERROR_STATUS_OFFSET << SU_index );
/* Set Error status bit of the related SU in error status register. */
Set_SU_Error( SU_index, TEMPERATURE_ERROR );
/* Set high temperature error indicating bit in the SU_Status */
/* register. */
}
/*****************************************************************************/
/* AD conversion routines */
/*****************************************************************************/
void DelayAwhile ( unsigned short duration )
/* Purpose : Delay for a (brief) duration. */
/* Interface : inputs - delay duration, in ShortDelay() units. */
/* outputs - none. */
/* subroutines - ShortDelay() */
/* Preconditions : none. */
/* Postconditions : at least "duration" time units have passed. */
/* Algorithm : Call ShortDelay() as many times as necessary to delay */
/* for at least the desired duration. */
{
_Pragma( "loopbound min 1 max 1" )
while ( duration > MAX_SHORT_DELAY ) {
ShortDelay ( MAX_SHORT_DELAY );
duration = duration - MAX_SHORT_DELAY;
/* Since ShortDelay() has a positive constant delay term, the */
/* actual total delay will be a little larger than 'duration'. */
}
if ( duration > 0 ) {
/* Some delay left after the loop above. */
ShortDelay ( ( unsigned char ) duration );
}
}
void Read_AD_Channel ( ADC_parameters_t EXTERNAL *ADC_parameters )
/* Purpose : Reading an ADC channel */
/* Interface : inputs - Address of a struct which contains */
/* parameters for this function. */
/* outputs - Results are stored to the previously */
/* mentioned structure. */
/* subroutines - Convert() */
/* Preconditions : Health monitoring is on. */
/* ADC_parameters.ADC_max_tries > 0. */
/* Postconditions : AD channels are measured and results written to a given */
/* structure. */
/* Algorithm : */
/* while */
/* - Hit trigger interrupt indicating flag is resetted. */
/* - Handling of the given channel is started in a while */
/* loop. */
/* - Channel to be converted is selected by setting bits */
/* 0 - 6 from ADC Channel register to value of channel.*/
/* Channel value includes BP_UP bit to select */
/* unipolar/bipolar mode. */
/* - Convert_AD() function executes the conversion and */
/* stores the results in the given struct mentioned */
/* earlier. */
/* - If Hit trigger interrupt flag indicates that no */
/* hit trigger interrupts have occurred during the */
/* channel reading, exit the while loop. */
/* Else continue loop from beginning, if */
/* predefined limit for executing the loop has not been*/
/* reached. */
/* - If all the conversion tries have been used up and */
/* Hit trigger interrupt has corrupted the results, */
/* only a zero is stored with an indication of this */
/* occurred anomaly. */
/* End of loop */
{
unsigned char EXTERNAL tries_left;
/* Number of attempts remaining to try conversion without */
/* interference from a particle hit. */
unsigned short EXTERNAL delay_limit;
/* Delay between channel selection and start of conversion in */
/* ShortDelay() units. */
delay_limit = DELAY_LIMIT( 2000 );
/* Set delay limit to 2ms. */
tries_left = ADC_parameters -> ADC_max_tries;
/* Limits the number of conversion attempts repeated because */
/* of particle hit interrupts. Assumed to be at least 1. */
_Pragma( "loopbound min 1 max 8" )
while ( tries_left > 0 ) {
confirm_hit_result = 0;
/* Clear interrupt indicating flag. */
ADC_channel_register = ( ADC_channel_register & 0x80 ) |
ADC_parameters -> ADC_channel;
UPDATE_ADC_CHANNEL_REG;
/* AD Channel register is set. */
START_CONVERSION;
/* Initiate dummy cycle to set AD mode to unipolar or bipolar. */
DelayAwhile ( delay_limit );
/* Wait for analog signal and MUX to settle. */
Convert_AD( ADC_parameters );
/* Start conversion and measurement. */
tries_left--;
/* Repeat while-loop until the max number of tries. */
if ( confirm_hit_result == 0 ) {
/* Conversion has NOT been interrupted by a hit trigger interrupt. */
/* Exit from the while-loop. */
tries_left = 0;
}
}
if ( confirm_hit_result != 0 )
{
/* Conversion has been interrupted by a hit trigger interrupt. Discard */
/* corrupted results. */
ADC_parameters -> unsigned_ADC = 0;
ADC_parameters -> signed_ADC = 0;
ADC_parameters -> AD_execution_result = HIT_OCCURRED;
/* Store indication of an unsuccessful measurement. */
}
else
if ( ADC_parameters -> AD_execution_result == CONVERSION_ACTIVE
&& confirm_hit_result == 0 ) {
SetModeStatusError( ADC_ERROR );
/* ADC error indication is set because a time-out has */
/* occurred during AD conversion and no hit trigger interrupt */
/* has occurred. */
}
/* Either RESULT_OK or CONVERSION_ACTIVE indications are already */
/* stored in the 'ADC_parameters -> AD_execution_result' field */
/* as a result from conversion in the Convert() function. */
}
void DAC_SelfTest( unsigned char DAC_output,
ADC_parameters_t EXTERNAL *ADC_test_parameters )
/* Purpose : To test the analog signal chain in the circuitry. */
/* Interface : inputs - Test data 'DAC_Output */
/* - struct 'ADC_test_parameters' */
/* outputs - none */
/* subroutines - Read_AD_Channel() */
/* Preconditions : none */
/* Postconditions : DAC selftest is carried out and results written to a */
/* given struct. */
/* Algorithm : */
/* - Test data is written to HW registers. */
/* - Test channel is AD converted. */
/* - Results are stored in a given structure. */
/* - If the measurement has failed, */
/* */
/* - Set self test error indication bit in mode status */
/* register */
/* - Set measurement error indication bit in mode status */
/* register. */
{
SET_DAC_OUTPUT( DAC_output );
/*test data is written to DAC output */
Read_AD_Channel( ADC_test_parameters );
/* Start reading the channel. */
if ( ADC_test_parameters -> AD_execution_result != RESULT_OK )
{
/* An anomaly has occurred during the measurement. */
Set_SU_Error( ADC_test_parameters -> sensor_unit - SU1,
SELF_TEST_ERROR );
/* Self self test error indication bit in mode status register. */
/* Offset in numbering is taken into account by transforming */
/* 'sensor_unit' (value 1-4) to a sensor unit index (value 0-3) */
SetSoftwareError( MEASUREMENT_ERROR );
/* Set measurement error indication bit in */
/* software error status register. */
}
}
void Monitor_DPU_Voltage( void )
/* Purpose : Monitors DPU voltages */
/* Interface : inputs - telemetry_data, DPU voltages */
/* outputs - telemetry_data.mode_status */
/* telemetry_data, supply voltages */
/* subroutines - SetModeStatusError */
/* ExceedsLimit */
/* MeasureVoltage */
/* Preconditions : none */
/* Postconditions : DPU voltages are measured and monitored. */
/* Algorithm : */
/* - Channels are checked one by one and in case of an error*/
/* corresponding error bit is set. */
{
MeasureVoltage( DPU_5V_SELECTOR );
MeasureVoltage( SU_1_2_P5V_SELECTOR );
MeasureVoltage( SU_1_2_M5V_SELECTOR );
/* Result of voltage measurement from SU_1/2 +5V is compared against */
/* limits. */
if ( ExceedsLimit( telemetry_data.sensor_unit_1.plus_5_voltage,
SU_P5V_ANA_LOWER_LIMIT,
SU_P5V_ANA_UPPER_LIMIT ) )
SetModeStatusError( SUPPLY_ERROR );
/* Result of voltage measurement from SU_1/2 -5V is compared against */
/* limits. */
if ( ExceedsLimit( telemetry_data.sensor_unit_1.minus_5_voltage,
SU_M5V_ANA_LOWER_LIMIT,
SU_M5V_ANA_UPPER_LIMIT ) )
SetModeStatusError( SUPPLY_ERROR );
/* Result of voltage measurement from DIG +5V is compared against */
/* limits. */
if ( ExceedsLimit( telemetry_data.DPU_plus_5_digital,
DPU_P5V_DIG_LOWER_LIMIT,
DPU_P5V_DIG_UPPER_LIMIT ) )
SetModeStatusError( SUPPLY_ERROR );
}
void Monitor_SU_Voltage( sensor_index_t self_test_SU_index )
/* Purpose : Monitors SU voltages */
/* Interface : inputs - self_test_SU_index */
/* telemetry_data, sensor voltages */
/* outputs - telemetry_data.SU_error */
/* subroutines - ExceedsLimit */
/* Set_SU_Error */
/* Preconditions : SU voltages are measured */
/* Postconditions : SU voltages are monitored. */
/* Algorithm : */
/* - Channels are checked one by one and in case of an error*/
/* corresponding error bit is set. */
{
switch ( self_test_SU_index ) {
case su1_e:
case su2_e:
/* Result of voltage measurement from SU_1/2 +5V is compared against */
/* limits. */
if ( ExceedsLimit( telemetry_data.sensor_unit_1.plus_5_voltage,
SU_P5V_ANA_LOWER_LIMIT,
SU_P5V_ANA_UPPER_LIMIT ) )
Set_SU_Error( self_test_SU_index, LV_LIMIT_ERROR );
/* Result of voltage measurement from SU_1/2 -5V is compared against */
/* limits. */
if ( ExceedsLimit( telemetry_data.sensor_unit_1.minus_5_voltage,
SU_M5V_ANA_LOWER_LIMIT,
SU_M5V_ANA_UPPER_LIMIT ) )
Set_SU_Error( self_test_SU_index, LV_LIMIT_ERROR );
break;
case su3_e:
case su4_e:
/* Result of voltage measurement from SU_3/4 +5V is compared against */
/* limits. */
if ( ExceedsLimit( telemetry_data.sensor_unit_3.plus_5_voltage,
SU_P5V_ANA_LOWER_LIMIT,
SU_P5V_ANA_UPPER_LIMIT ) )
Set_SU_Error( self_test_SU_index, LV_LIMIT_ERROR );
/* Result of voltage measurement from SU_3/4 -5V is compared against */
/* limits. */
if ( ExceedsLimit( telemetry_data.sensor_unit_3.minus_5_voltage,
SU_M5V_ANA_LOWER_LIMIT,
SU_M5V_ANA_UPPER_LIMIT ) )
Set_SU_Error( self_test_SU_index, LV_LIMIT_ERROR );
break;
}
/* Result of voltage measurement from SU +50V is compared against */
/* limits. */
if ( ExceedsLimit( telemetry_data.SU_plus_50,
SU_P50V_LOWER_LIMIT,
SU_P50V_UPPER_LIMIT ) )
Set_SU_Error( self_test_SU_index, HV_LIMIT_ERROR );
/* Result of voltage measurement from SU -50V is compared against */
/* limits. */
if ( ExceedsLimit( telemetry_data.SU_minus_50,
SU_M50V_LOWER_LIMIT,
SU_M50V_UPPER_LIMIT ) )
Set_SU_Error( self_test_SU_index, HV_LIMIT_ERROR );
}
void SelfTest_SU( sensor_index_t self_test_SU_index )
/* Purpose : Execute SU self tests */
/* Interface : inputs - self_test_SU_index */
/* outputs - none */
/* subroutines - LowVoltageCurrent() */
/* MeasureVoltage() */
/* MeasureTemperature() */
/* HighVoltageCurrent() */
/* Preconditions : none */
/* Postconditions : Part of the Self Test sequence regarding temperatures, */
/* voltages and overcurrents is completed. */
/* Algorithm : - V_DOWN is checked */
/* - Voltage channels are checked one by one and in case of */
/* an error corresponding error bit is set. */
/* - SU Temperatures and HV Status Register is checked. */
{
uint_least8_t EXTERNAL i;
/* Used in a for loop */
LowVoltageCurrent();
/* V_DOWN is checked. */
HighVoltageCurrent( self_test_SU_index );
/* HV Status register is checked. */
/* SU voltages are measured */
_Pragma( "loopbound min 7 max 7" )
for ( i = channel_0_e; i <= channel_6_e; i++ ) {
MeasureVoltage( i );
/* All voltage channels are measured. */
}
Monitor_SU_Voltage( self_test_SU_index );
/* Voltage measurement results are monitored against limits. */
MeasureTemperature( self_test_SU_index );
/* SU temperatures are measured and monitored. */
}
unsigned char ExceedsLimit(
unsigned char value,
unsigned char lower_limit,
unsigned char upper_limit )
/* Purpose : Tests given value against given limits. */
/* Interface : inputs - value */
/* lower_limit */
/* upper_limit */
/* outputs - boolean value */
/* subroutines - none */
/* Preconditions : none */
/* Postconditions : Given value is tested. */
/* Algorithm : See below, self explanatory. */
{
return ( value < lower_limit || value > upper_limit );
}
void SelfTestChannel( sensor_index_t self_test_SU_index )
/* Purpose : Starts channel tests */
/* Interface : inputs - self_test_SU_index */
/* outputs - none */
/* subroutines - SetTestPulseLevel */
/* SetTriggerLevel */
/* RestoreSettings */
/* ExecuteChannelTest */
/* DisableAnalogSwitch */
/* Preconditions : none */
/* Postconditions : SU channels are self tested. */
/* voltages and overcurrents is completed. */
/* Algorithm : - Threshold level is set high. */
/* - Test pulse level for a given channel is set high. */
/* - Channels are tested. */
/* - Threshold level is set low. */
/* - Test pulse level for a given channel is set low . */
/* - Channels are tested. */
/* - A pseudo trigger is generated in order to reset peak */
/* detector and delay counter in AcquisitionTask. */
/* - Threshold levels are restored to the level prior to */
/* the test. SU state for the SU under test is restored */
/* to ON. */
{
trigger_set_t EXTERNAL test_threshold;
DISABLE_HIT_TRIGGER;
/* Initial parameters for SetTriggerLevel function. */
test_threshold.sensor_unit = self_test_SU_number;
test_threshold.level = MAX_PLASMA_SELF_TEST_THRESHOLD;
test_threshold.channel = PLASMA_1_PLUS;
SetTriggerLevel( &test_threshold );
test_threshold.channel = PLASMA_1_MINUS;
SetTriggerLevel( &test_threshold );
test_threshold.channel = PLASMA_2_PLUS;
SetTriggerLevel( &test_threshold );
test_threshold.level = MAX_PIEZO_SELF_TEST_THRESHOLD;
test_threshold.channel = PZT_1_2;
SetTriggerLevel( &test_threshold );
/* Set initial test pulse value to 0. Test pulse value is also zeroed */
/* before returning from ExecuteChannelTest procedure also. */
SetTestPulseLevel( 0 );
/* Test threshold level is set before each channel test for every channel*/
/* and value is set back to the maximum threshold level before returning */
/* from the following ExecuteChannelTest procedure calls. */
test_threshold.channel = PLASMA_1_PLUS;
test_threshold.level = HIGH_PLASMA_1_PLUS_SELF_TEST_THRESHOLD;
SetTriggerLevel( &test_threshold );
ExecuteChannelTest( self_test_SU_index, PLASMA_1_PLUS, PLASMA_1_PLUS_HIGH );
test_threshold.channel = PLASMA_1_MINUS;
test_threshold.level = HIGH_PLASMA_SELF_TEST_THRESHOLD;
SetTriggerLevel( &test_threshold );
ExecuteChannelTest( self_test_SU_index, PLASMA_1_MINUS, PLASMA_1_MINUS_HIGH );
ExecuteChannelTest( self_test_SU_index, PLASMA_2_PLUS, PLASMA_2_PLUS_HIGH );
test_threshold.channel = PZT_1_2;
test_threshold.level = HIGH_PIEZO_SELF_TEST_THRESHOLD;
SetTriggerLevel( &test_threshold );
ExecuteChannelTest( self_test_SU_index, PZT_1, PZT_1_HIGH );
test_threshold.channel = PZT_1_2;
test_threshold.level = HIGH_PIEZO_SELF_TEST_THRESHOLD;
SetTriggerLevel( &test_threshold );
ExecuteChannelTest( self_test_SU_index, PZT_2, PZT_2_HIGH );
test_threshold.channel = PLASMA_1_PLUS;
test_threshold.level = LOW_PLASMA_SELF_TEST_THRESHOLD;
SetTriggerLevel( &test_threshold );
ExecuteChannelTest( self_test_SU_index, PLASMA_1_PLUS, PLASMA_1_PLUS_LOW );
test_threshold.channel = PLASMA_1_MINUS;
test_threshold.level = LOW_PLASMA_SELF_TEST_THRESHOLD;
SetTriggerLevel( &test_threshold );
ExecuteChannelTest( self_test_SU_index, PLASMA_1_MINUS, PLASMA_1_MINUS_LOW );
ExecuteChannelTest( self_test_SU_index, PLASMA_2_PLUS, PLASMA_2_PLUS_LOW );
test_threshold.channel = PZT_1_2;
test_threshold.level = LOW_PIEZO_SELF_TEST_THRESHOLD;
SetTriggerLevel( &test_threshold );
ExecuteChannelTest( self_test_SU_index, PZT_1, PZT_1_LOW );
test_threshold.channel = PZT_1_2;
test_threshold.level = LOW_PIEZO_SELF_TEST_THRESHOLD;
SetTriggerLevel( &test_threshold );
ExecuteChannelTest( self_test_SU_index, PZT_2, PZT_2_LOW );
ENABLE_HIT_TRIGGER;
SET_HIT_TRIGGER_ISR_FLAG;
/* A pseudo trigger is generated in order to reset peak */
/* detector and delay counter in AcquisitionTask. */
/* No event is recorded i.e. event processing is disabled */
/* because SU state is 'self_test_e'. */
RestoreSettings( self_test_SU_index );
}
void ExecuteChannelTest(
sensor_index_t self_test_SU_index,
unsigned char test_channel,
unsigned char test_pulse_level )
/* Purpose : Execute SU self tests */
/* Interface : inputs - self_test_SU_index, test_channel */
/* outputs - telemetry_data.SU# Status */
/* subroutines - SelectSelfTestChannel */
/* SelectStartSwitchLevel */
/* WaitTimeout */
/* DelayAwhile */
/* SelectTriggerSwitchLevel */
/* Preconditions : none */
/* Postconditions : Self test trigger siggnal is generated. */
/* voltages and overcurrents is completed. */
/* Algorithm : - Self test channel is selected. */
/* - Analog switch starting level is selected depending on */
/* the channel. */
/* - A pseudo trigger is generated in order to reset peak */
/* detector and delay counter in AcquisitionTask. */
/* - Hit trigger processing is waited for 40 ms. */
/* - Hit trigger processing for this self test pulse is */
/* enabled by setting SU state to 'self_test_trigger_e' */
/* - Analog switch triggering level is selected depending */
/* on the channel (rising or falliing edge). */
/* - If self test trigger pulse did not cause an interrupt, */
/* set SELF_TEST_ERROR indication in SU status register */
/* and restore SU state to 'self_test_e'. */
{
unsigned short EXTERNAL delay_limit;
trigger_set_t EXTERNAL test_threshold;
if ( test_channel == PLASMA_1_PLUS ||
test_channel == PLASMA_1_MINUS ||
test_channel == PLASMA_2_PLUS ) {
SelectSelfTestChannel( test_channel );
EnableAnalogSwitch( self_test_SU_index );
WaitTimeout( 1 );
ResetPeakDetector( self_test_SU_index + SU1 );
WaitTimeout( 1 );
ResetPeakDetector( self_test_SU_index + SU1 );
WaitTimeout( 1 );
CLEAR_HIT_TRIGGER_ISR_FLAG;
ResetDelayCounters();
SU_state[ self_test_SU_index ] = self_test_trigger_e;
/* Enable hit trigger processing for this self test pulse. */
ENABLE_HIT_TRIGGER;
SetTestPulseLevel( test_pulse_level );
/* Set at least 1ms test pulse */
delay_limit = DELAY_LIMIT( 1000 );
DelayAwhile( delay_limit );
/* For plasma 1i channel triggering must take place in 1ms after */
/* rising edge. */
if ( test_channel == PLASMA_1_MINUS &&
SU_state[ self_test_SU_index ] == self_test_trigger_e ) {
/* Self test trigger pulse did not cause an interrupt. */
Set_SU_Error( self_test_SU_index, SELF_TEST_ERROR );
SU_state[ self_test_SU_index ] = self_test_e;
/* Triggering of a self test pulse is disabled by restoring */
/* the self_test_e state. */
}
/* Test pulse is always at least 3ms (=1ms+2ms) */
delay_limit = DELAY_LIMIT( 2000 );
DelayAwhile( delay_limit );
SetTestPulseLevel( 0 );
if ( test_channel == PLASMA_2_PLUS )
SET_HIT_TRIGGER_ISR_FLAG;
/* If channel is plasma 1e or 2e then wait at least 1ms after */
/* falling edge. */
if ( test_channel != PLASMA_1_MINUS ) {
delay_limit = DELAY_LIMIT( 1000 );
/* Set at least 1ms test pulse */
DelayAwhile( delay_limit );
}
DISABLE_HIT_TRIGGER;
if ( test_channel != PLASMA_2_PLUS ) {
test_threshold.sensor_unit = self_test_SU_index + SU1;
test_threshold.channel = test_channel;
test_threshold.level = MAX_PLASMA_SELF_TEST_THRESHOLD;
SetTriggerLevel( &test_threshold );
}
DisableAnalogSwitch( self_test_SU_index );
} else {
SelectSelfTestChannel( test_channel );
SetTestPulseLevel( test_pulse_level );
WaitTimeout( 1 );
ResetPeakDetector( self_test_SU_index + SU1 );
WaitTimeout( 1 );
ResetPeakDetector( self_test_SU_index + SU1 );
WaitTimeout( 1 );
CLEAR_HIT_TRIGGER_ISR_FLAG;
ResetDelayCounters();
SU_state[ self_test_SU_index ] = self_test_trigger_e;
/* Enable hit trigger processing for this self test pulse. */
ENABLE_HIT_TRIGGER;
EnableAnalogSwitch( self_test_SU_index );
/* Set at least 1ms test pulse */
delay_limit = DELAY_LIMIT( 1000 );
DelayAwhile( delay_limit );
DISABLE_HIT_TRIGGER;
SetTestPulseLevel( 0 );
DisableAnalogSwitch( self_test_SU_index );
test_threshold.sensor_unit = self_test_SU_index + SU1;
test_threshold.level = MAX_PIEZO_SELF_TEST_THRESHOLD;
test_threshold.channel = PZT_1_2;
SetTriggerLevel( &test_threshold );
}
if ( SU_state[ self_test_SU_index ] == self_test_trigger_e ) {
/* Self test trigger pulse did not cause an interrupt. */
Set_SU_Error( self_test_SU_index, SELF_TEST_ERROR );
SU_state[ self_test_SU_index ] = self_test_e;
/* Triggering of a self test pulse is disabled by restoring */
/* the self_test_e state. */
}
}
void RestoreSettings( sensor_index_t self_test_SU_index )
/* Purpose : Restores settings after SU self tests. */
/* Interface : inputs - self_test_SU_index, */
/* telemetry_data, SU threshold levels */
/* outputs - HW registers, thresholds */
/* SU state */
/* subroutines - SetTriggerLevel */
/* Switch_SU_State */
/* Preconditions : none */
/* Postconditions : - Threshold levels are restored to the level prior to */
/* the test. SU state for the SU under test is restored */
/* to ON. */
/* Algorithm : - Original threshold levels are copied from */
/* telemetry_data and written in to HW registers with */
/* SetTriggerLevel. */
/* - SU state is restored to ON with Switch_SU_State. */
{
SU_settings_t EXTERNAL *const PROGRAM setting_map_c[ ] = {
&telemetry_data.sensor_unit_1,
&telemetry_data.sensor_unit_2,
&telemetry_data.sensor_unit_3,
&telemetry_data.sensor_unit_4
};
/* Pointers to Sensor Unit configuration data in telemetry */
/* data area. */
SU_settings_t EXTERNAL *INDIRECT_INTERNAL SU_setting;
/* Pointer to configuration data of the Sensor Unit being */
/* Self Tested. */
sensor_unit_t EXTERNAL SU_switch;
trigger_set_t EXTERNAL threshold;
/* Parameters for subroutines. */
SU_setting = setting_map_c[ self_test_SU_index ];
threshold.sensor_unit = self_test_SU_number;
threshold.level =
SU_setting -> plasma_1_plus_threshold;
threshold.channel = PLASMA_1_PLUS;
SetTriggerLevel( &threshold );
/* Restore Plasma 1 Plus trigger threshold. */
threshold.level =
SU_setting -> plasma_1_minus_threshold;
threshold.channel = PLASMA_1_MINUS;
SetTriggerLevel( &threshold );
/* Restore Plasma 1 Minus trigger threshold. */
threshold.level =
SU_setting -> piezo_threshold;
threshold.channel = PZT_1_2;
SetTriggerLevel( &threshold );
/* Restore Piezo trigger threshold. */
SU_switch.SU_number = self_test_SU_number;
SU_switch.SU_state = on_e;
SU_switch.expected_source_state = self_test_e;
Switch_SU_State( &SU_switch );
/* Switch SU State back to On. */
}
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