EPS: periodic logging of power usage and disabling channels when issues are discovered.

firmware/Core/Inc/rtos_tasks/rtos_eps_tasks.h

@@ -5,4 +5,5 @@
 
 void TASK_service_eps_watchdog(void *argument);
 void TASK_time_sync(void *argument);
+void TASK_EPS_power_monitoring(void *argument);
 #endif // __INCLUDE_GUARD_RTOS_EPS_TASKS_H__`

firmware/Core/Src/main.c

@@ -121,6 +121,13 @@ const osThreadAttr_t TASK_time_sync_Attributes = {
   .priority = (osPriority_t) osPriorityNormal, //TODO: Figure out which priority makes sense for this task
 };
 
+osThreadId_t TASK_EPS_power_monitoring_Handle;
+const osThreadAttr_t TASK_EPS_power_monitoring_Attributes = {
+  .name = "TASK_EPS_power_monitoring",
+  .stack_size = 512, //in bytes
+  .priority = (osPriority_t) osPriorityNormal, //TODO: Figure out which priority makes sense for this task
+};
+
 osThreadId_t TASK_monitor_freertos_memory_Handle;
 const osThreadAttr_t TASK_monitor_freertos_memory_Attributes = {
   .name = "TASK_monitor_freertos_memory",
@@ -158,6 +165,11 @@ FREERTOS_task_info_struct_t FREERTOS_task_handles_array [] = {
     .task_handle = &TASK_time_sync_Handle,
     .task_attribute = &TASK_time_sync_Attributes,
     .lowest_stack_bytes_remaining = UINT32_MAX
+  },
+    {
+    .task_handle = &TASK_EPS_power_monitoring_Handle,
+    .task_attribute = &TASK_EPS_power_monitoring_Attributes,
+    .lowest_stack_bytes_remaining = UINT32_MAX
   },
   {
     .task_handle = &TASK_monitor_freertos_memory_Handle,
@@ -294,6 +306,8 @@ int main(void)
   TASK_service_eps_watchdog_Handle = osThreadNew(TASK_service_eps_watchdog, NULL, &TASK_service_eps_watchdog_Attributes);
 
   TASK_time_sync_Handle = osThreadNew(TASK_time_sync, NULL, &TASK_time_sync_Attributes);
+
+  TASK_EPS_power_monitoring_Handle = osThreadNew(TASK_EPS_power_monitoring, NULL, &TASK_EPS_power_monitoring_Attributes);
   /* USER CODE END RTOS_THREADS */
 
   /* USER CODE BEGIN RTOS_EVENTS */

firmware/Core/Src/rtos_tasks/rtos_eps_tasks.c

@@ -5,9 +5,11 @@
 #include "rtos_tasks/rtos_task_helpers.h"
 #include "log/log.h"
 #include "timekeeping/timekeeping.h"
+#include "eps_drivers/eps_types_to_json.h"
 
 #include "cmsis_os.h"
 
+#include <string.h>
 #include <inttypes.h>
 #include <stdint.h>
 
@@ -140,3 +142,84 @@ void TASK_time_sync(void *argument) {
         }
     } // End of task while loop
 }
+
+void TASK_EPS_power_monitoring(void *argument) {
+
+    TASK_HELP_start_of_task();
+
+    uint32_t sleep_duration_ms = 30000; // 30s
+
+    osDelay(sleep_duration_ms);
+    sleep_duration_ms = 1000; // 1 second
+
+    EPS_struct_pdu_housekeeping_data_eng_t prev_EPS_pdu_housekeeping_data_eng;
+    EPS_CMD_get_pdu_housekeeping_data_eng(&prev_EPS_pdu_housekeeping_data_eng);
+    EPS_vpid_eng_t prev_vpid_eng[32];
+    memcpy(prev_vpid_eng, prev_EPS_pdu_housekeeping_data_eng.vip_each_channel, sizeof(EPS_vpid_eng_t) * 32);
+
+    while (1) {
+        osDelay(sleep_duration_ms);
+
+        char json_str[1000];
+
+        EPS_struct_pdu_housekeeping_data_eng_t EPS_pdu_housekeeping_data_eng;
+        EPS_CMD_get_pdu_housekeeping_data_eng(&EPS_pdu_housekeeping_data_eng);
+        EPS_vpid_eng_t vpid_eng[32];
+        memcpy(vpid_eng, EPS_pdu_housekeeping_data_eng.vip_each_channel, sizeof(EPS_vpid_eng_t) * 32);
+
+        //Power Logging
+        EPS_struct_pdu_housekeeping_data_eng_TO_json(&EPS_pdu_housekeeping_data_eng, json_str, 1000);
+
+        LOG_message(
+            LOG_SYSTEM_EPS,
+            LOG_SEVERITY_NORMAL,
+            LOG_SINK_ALL,
+            "EPS PDU housekeeping data:\n %s",
+            json_str
+        );
+
+        uint32_t ch_bitfield = (EPS_pdu_housekeeping_data_eng.stat_ch_ext_on_bitfield << 16) & EPS_pdu_housekeeping_data_eng.stat_ch_on_bitfield;
+
+        //Power Monitoring
+        for (int channel = 0; channel < 32; channel++) {
+            if (ch_bitfield & 1) {
+
+                if (vpid_eng[channel].power_cW - prev_vpid_eng[channel].power_cW > 1000             //TODO: Check if the pdu values are correct
+                    || vpid_eng[channel].voltage_mV - prev_vpid_eng[channel].voltage_mV > 1000
+                    || vpid_eng[channel].current_mA - prev_vpid_eng[channel].current_mA > 1000
+                    || vpid_eng[channel].power_cW - prev_vpid_eng[channel].power_cW < -1000
+                    || vpid_eng[channel].voltage_mV - prev_vpid_eng[channel].voltage_mV < -1000
+                    || vpid_eng[channel].current_mA - prev_vpid_eng[channel].current_mA < -1000) {
+
+
+                    uint8_t result = EPS_CMD_output_bus_channel_off(channel);
+
+                    if (result != 0) {
+                        LOG_message(
+                            LOG_SYSTEM_EPS,
+                            LOG_SEVERITY_CRITICAL,
+                            LOG_SINK_ALL,
+                            "EPS_CMD_output_bus_channel_off(%d) -> Error: %d",
+                            channel,
+                            result
+                        );
+                    }
+                    else{
+                        LOG_message(
+                        LOG_SYSTEM_EPS,
+                        LOG_SEVERITY_CRITICAL,
+                        LOG_SINK_ALL,
+                        "Channel %d was turned off. Due to a power issue.",
+                        channel
+                        );
+                    }
+
+                }
+            }
+            ch_bitfield = ch_bitfield >> 1;
+        }
+
+        memcpy(prev_vpid_eng, vpid_eng, sizeof(prev_vpid_eng));
+        prev_EPS_pdu_housekeeping_data_eng = EPS_pdu_housekeeping_data_eng;
+    }
+}