eive-obsw/mission/devices/devicedefinitions/imtqHandlerDefinitions.h

#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_

#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>

class ImtqHandler;

namespace IMTQ {

static const DeviceCommandId_t NONE = 0x0;
static const DeviceCommandId_t GET_ENG_HK_DATA = 0x1;
static const DeviceCommandId_t START_ACTUATION_DIPOLE = 0x2;
static const DeviceCommandId_t GET_COMMANDED_DIPOLE = 0x3;
/** Generates new measurement of the magnetic field */
static const DeviceCommandId_t START_MTM_MEASUREMENT = 0x4;
/** Requests the calibrated magnetometer measurement */
static const DeviceCommandId_t GET_CAL_MTM_MEASUREMENT = 0x5;
/** Requests the raw values measured by the built-in MTM XEN1210 */
static const DeviceCommandId_t GET_RAW_MTM_MEASUREMENT = 0x6;
static const DeviceCommandId_t POS_X_SELF_TEST = 0x7;
static const DeviceCommandId_t NEG_X_SELF_TEST = 0x8;
static const DeviceCommandId_t POS_Y_SELF_TEST = 0x9;
static const DeviceCommandId_t NEG_Y_SELF_TEST = 0xA;
static const DeviceCommandId_t POS_Z_SELF_TEST = 0xB;
static const DeviceCommandId_t NEG_Z_SELF_TEST = 0xC;
static const DeviceCommandId_t GET_SELF_TEST_RESULT = 0xD;

static const uint8_t GET_TEMP_REPLY_SIZE = 2;
static const uint8_t CFGR_CMD_SIZE = 3;
static const uint8_t POINTER_REG_SIZE = 1;

enum SetIds : uint32_t {
  ENG_HK = 1,
  CAL_MGM = 2,
  RAW_MGM = 3,
  POS_X_TEST = 4,
  NEG_X_TEST = 5,
  POS_Y_TEST = 6,
  NEG_Y_TEST = 7,
  POS_Z_TEST = 8,
  NEG_Z_TEST = 9,
  DIPOLES = 10
};

static const uint8_t SIZE_ENG_HK_COMMAND = 1;
static const uint8_t SIZE_STATUS_REPLY = 2;
static const uint8_t SIZE_ENG_HK_DATA_REPLY = 24;
static const uint8_t SIZE_GET_COMMANDED_DIPOLE_REPLY = 8;
static const uint8_t SIZE_GET_CAL_MTM_MEASUREMENT = 15;
static const uint8_t SIZE_GET_RAW_MTM_MEASUREMENT = 15;
static const uint16_t SIZE_SELF_TEST_RESULTS = 120;

static const uint16_t MAX_REPLY_SIZE = SIZE_SELF_TEST_RESULTS;
static const uint8_t MAX_COMMAND_SIZE = 9;

/** Define entries in IMTQ specific dataset */
static const uint8_t ENG_HK_SET_POOL_ENTRIES = 11;
static const uint8_t CAL_MTM_POOL_ENTRIES = 4;
static const uint8_t SELF_TEST_DATASET_ENTRIES = 104;

/** Error codes for interpreting the self test error byte */
static const uint8_t I2C_FAILURE_MASK = 0x1;
static const uint8_t SPI_FAILURE_MASK = 0x2;            // MTM connectivity
static const uint8_t ADC_FAILURE_MASK = 0x4;            // Current/Temp measurement
static const uint8_t PWM_FAILURE_MASK = 0x8;            // Coil actuation
static const uint8_t TC_FAILURE_MASK = 0x10;            // System failure
static const uint8_t MTM_RANGE_FAILURE_MASK = 0x20;     // MTM values outside of expected range
static const uint8_t COIL_CURRENT_FAILURE_MASK = 0x40;  // Coil currents outside of expected range
static const uint8_t INVALID_ERROR_BYTE =
    0x80;  // This is an invalid error byte and should be never replied by the IMTQ

static const uint8_t MAIN_STEP_OFFSET = 43;

/**
 * Command code definitions. Each command or reply of an IMTQ request will begin with one of
 * the following command codes.
 */
namespace CC {
static const uint8_t START_MTM_MEASUREMENT = 0x4;
static const uint8_t START_ACTUATION_DIPOLE = 0x6;
static const uint8_t SELF_TEST_CMD = 0x8;
static const uint8_t SOFTWARE_RESET = 0xAA;
static const uint8_t GET_ENG_HK_DATA = 0x4A;
static const uint8_t GET_COMMANDED_DIPOLE = 0x46;
static const uint8_t GET_RAW_MTM_MEASUREMENT = 0x42;
static const uint8_t GET_CAL_MTM_MEASUREMENT = 0x43;
static const uint8_t GET_SELF_TEST_RESULT = 0x47;
static const uint8_t PAST_AVAILABLE_RESPONSE_BYTES = 0xff;
};  // namespace CC

namespace SELF_TEST_AXIS {
static const uint8_t ALL = 0x0;
static const uint8_t X_POSITIVE = 0x1;
static const uint8_t X_NEGATIVE = 0x2;
static const uint8_t Y_POSITIVE = 0x3;
static const uint8_t Y_NEGATIVE = 0x4;
static const uint8_t Z_POSITIVE = 0x5;
static const uint8_t Z_NEGATIVE = 0x6;
}  // namespace SELF_TEST_AXIS

namespace SELF_TEST_STEPS {
static const uint8_t INIT = 0x0;
static const uint8_t X_POSITIVE = 0x1;
static const uint8_t X_NEGATIVE = 0x2;
static const uint8_t Y_POSITIVE = 0x3;
static const uint8_t Y_NEGATIVE = 0x4;
static const uint8_t Z_POSITIVE = 0x5;
static const uint8_t Z_NEGATIVE = 0x6;
static const uint8_t FINA = 0x7;
}  // namespace SELF_TEST_STEPS

enum PoolIds : lp_id_t {
  DIGITAL_VOLTAGE_MV,
  ANALOG_VOLTAGE_MV,
  DIGITAL_CURRENT,
  ANALOG_CURRENT,
  COIL_X_CURRENT,
  COIL_Y_CURRENT,
  COIL_Z_CURRENT,
  COIL_X_TEMPERATURE,
  COIL_Y_TEMPERATURE,
  COIL_Z_TEMPERATURE,
  MCU_TEMPERATURE,
  MGM_CAL_NT,
  ACTUATION_CAL_STATUS,
  MTM_RAW,
  ACTUATION_RAW_STATUS,
  DIPOLES_X,
  DIPOLES_Y,
  DIPOLES_Z,
  CURRENT_TORQUE_DURATION,

  INIT_POS_X_ERR,
  INIT_POS_X_RAW_MAG_X,
  INIT_POS_X_RAW_MAG_Y,
  INIT_POS_X_RAW_MAG_Z,
  INIT_POS_X_CAL_MAG_X,
  INIT_POS_X_CAL_MAG_Y,
  INIT_POS_X_CAL_MAG_Z,
  INIT_POS_X_COIL_X_CURRENT,
  INIT_POS_X_COIL_Y_CURRENT,
  INIT_POS_X_COIL_Z_CURRENT,
  INIT_POS_X_COIL_X_TEMPERATURE,
  INIT_POS_X_COIL_Y_TEMPERATURE,
  INIT_POS_X_COIL_Z_TEMPERATURE,

  INIT_NEG_X_ERR,
  INIT_NEG_X_RAW_MAG_X,
  INIT_NEG_X_RAW_MAG_Y,
  INIT_NEG_X_RAW_MAG_Z,
  INIT_NEG_X_CAL_MAG_X,
  INIT_NEG_X_CAL_MAG_Y,
  INIT_NEG_X_CAL_MAG_Z,
  INIT_NEG_X_COIL_X_CURRENT,
  INIT_NEG_X_COIL_Y_CURRENT,
  INIT_NEG_X_COIL_Z_CURRENT,
  INIT_NEG_X_COIL_X_TEMPERATURE,
  INIT_NEG_X_COIL_Y_TEMPERATURE,
  INIT_NEG_X_COIL_Z_TEMPERATURE,

  INIT_POS_Y_ERR,
  INIT_POS_Y_RAW_MAG_X,
  INIT_POS_Y_RAW_MAG_Y,
  INIT_POS_Y_RAW_MAG_Z,
  INIT_POS_Y_CAL_MAG_X,
  INIT_POS_Y_CAL_MAG_Y,
  INIT_POS_Y_CAL_MAG_Z,
  INIT_POS_Y_COIL_X_CURRENT,
  INIT_POS_Y_COIL_Y_CURRENT,
  INIT_POS_Y_COIL_Z_CURRENT,
  INIT_POS_Y_COIL_X_TEMPERATURE,
  INIT_POS_Y_COIL_Y_TEMPERATURE,
  INIT_POS_Y_COIL_Z_TEMPERATURE,

  INIT_NEG_Y_ERR,
  INIT_NEG_Y_RAW_MAG_X,
  INIT_NEG_Y_RAW_MAG_Y,
  INIT_NEG_Y_RAW_MAG_Z,
  INIT_NEG_Y_CAL_MAG_X,
  INIT_NEG_Y_CAL_MAG_Y,
  INIT_NEG_Y_CAL_MAG_Z,
  INIT_NEG_Y_COIL_X_CURRENT,
  INIT_NEG_Y_COIL_Y_CURRENT,
  INIT_NEG_Y_COIL_Z_CURRENT,
  INIT_NEG_Y_COIL_X_TEMPERATURE,
  INIT_NEG_Y_COIL_Y_TEMPERATURE,
  INIT_NEG_Y_COIL_Z_TEMPERATURE,

  INIT_POS_Z_ERR,
  INIT_POS_Z_RAW_MAG_X,
  INIT_POS_Z_RAW_MAG_Y,
  INIT_POS_Z_RAW_MAG_Z,
  INIT_POS_Z_CAL_MAG_X,
  INIT_POS_Z_CAL_MAG_Y,
  INIT_POS_Z_CAL_MAG_Z,
  INIT_POS_Z_COIL_X_CURRENT,
  INIT_POS_Z_COIL_Y_CURRENT,
  INIT_POS_Z_COIL_Z_CURRENT,
  INIT_POS_Z_COIL_X_TEMPERATURE,
  INIT_POS_Z_COIL_Y_TEMPERATURE,
  INIT_POS_Z_COIL_Z_TEMPERATURE,

  INIT_NEG_Z_ERR,
  INIT_NEG_Z_RAW_MAG_X,
  INIT_NEG_Z_RAW_MAG_Y,
  INIT_NEG_Z_RAW_MAG_Z,
  INIT_NEG_Z_CAL_MAG_X,
  INIT_NEG_Z_CAL_MAG_Y,
  INIT_NEG_Z_CAL_MAG_Z,
  INIT_NEG_Z_COIL_X_CURRENT,
  INIT_NEG_Z_COIL_Y_CURRENT,
  INIT_NEG_Z_COIL_Z_CURRENT,
  INIT_NEG_Z_COIL_X_TEMPERATURE,
  INIT_NEG_Z_COIL_Y_TEMPERATURE,
  INIT_NEG_Z_COIL_Z_TEMPERATURE,

  POS_X_ERR,
  POS_X_RAW_MAG_X,
  POS_X_RAW_MAG_Y,
  POS_X_RAW_MAG_Z,
  POS_X_CAL_MAG_X,
  POS_X_CAL_MAG_Y,
  POS_X_CAL_MAG_Z,
  POS_X_COIL_X_CURRENT,
  POS_X_COIL_Y_CURRENT,
  POS_X_COIL_Z_CURRENT,
  POS_X_COIL_X_TEMPERATURE,
  POS_X_COIL_Y_TEMPERATURE,
  POS_X_COIL_Z_TEMPERATURE,

  NEG_X_ERR,
  NEG_X_RAW_MAG_X,
  NEG_X_RAW_MAG_Y,
  NEG_X_RAW_MAG_Z,
  NEG_X_CAL_MAG_X,
  NEG_X_CAL_MAG_Y,
  NEG_X_CAL_MAG_Z,
  NEG_X_COIL_X_CURRENT,
  NEG_X_COIL_Y_CURRENT,
  NEG_X_COIL_Z_CURRENT,
  NEG_X_COIL_X_TEMPERATURE,
  NEG_X_COIL_Y_TEMPERATURE,
  NEG_X_COIL_Z_TEMPERATURE,

  POS_Y_ERR,
  POS_Y_RAW_MAG_X,
  POS_Y_RAW_MAG_Y,
  POS_Y_RAW_MAG_Z,
  POS_Y_CAL_MAG_X,
  POS_Y_CAL_MAG_Y,
  POS_Y_CAL_MAG_Z,
  POS_Y_COIL_X_CURRENT,
  POS_Y_COIL_Y_CURRENT,
  POS_Y_COIL_Z_CURRENT,
  POS_Y_COIL_X_TEMPERATURE,
  POS_Y_COIL_Y_TEMPERATURE,
  POS_Y_COIL_Z_TEMPERATURE,

  NEG_Y_ERR,
  NEG_Y_RAW_MAG_X,
  NEG_Y_RAW_MAG_Y,
  NEG_Y_RAW_MAG_Z,
  NEG_Y_CAL_MAG_X,
  NEG_Y_CAL_MAG_Y,
  NEG_Y_CAL_MAG_Z,
  NEG_Y_COIL_X_CURRENT,
  NEG_Y_COIL_Y_CURRENT,
  NEG_Y_COIL_Z_CURRENT,
  NEG_Y_COIL_X_TEMPERATURE,
  NEG_Y_COIL_Y_TEMPERATURE,
  NEG_Y_COIL_Z_TEMPERATURE,

  POS_Z_ERR,
  POS_Z_RAW_MAG_X,
  POS_Z_RAW_MAG_Y,
  POS_Z_RAW_MAG_Z,
  POS_Z_CAL_MAG_X,
  POS_Z_CAL_MAG_Y,
  POS_Z_CAL_MAG_Z,
  POS_Z_COIL_X_CURRENT,
  POS_Z_COIL_Y_CURRENT,
  POS_Z_COIL_Z_CURRENT,
  POS_Z_COIL_X_TEMPERATURE,
  POS_Z_COIL_Y_TEMPERATURE,
  POS_Z_COIL_Z_TEMPERATURE,

  NEG_Z_ERR,
  NEG_Z_RAW_MAG_X,
  NEG_Z_RAW_MAG_Y,
  NEG_Z_RAW_MAG_Z,
  NEG_Z_CAL_MAG_X,
  NEG_Z_CAL_MAG_Y,
  NEG_Z_CAL_MAG_Z,
  NEG_Z_COIL_X_CURRENT,
  NEG_Z_COIL_Y_CURRENT,
  NEG_Z_COIL_Z_CURRENT,
  NEG_Z_COIL_X_TEMPERATURE,
  NEG_Z_COIL_Y_TEMPERATURE,
  NEG_Z_COIL_Z_TEMPERATURE,

  FINA_POS_X_ERR,
  FINA_POS_X_RAW_MAG_X,
  FINA_POS_X_RAW_MAG_Y,
  FINA_POS_X_RAW_MAG_Z,
  FINA_POS_X_CAL_MAG_X,
  FINA_POS_X_CAL_MAG_Y,
  FINA_POS_X_CAL_MAG_Z,
  FINA_POS_X_COIL_X_CURRENT,
  FINA_POS_X_COIL_Y_CURRENT,
  FINA_POS_X_COIL_Z_CURRENT,
  FINA_POS_X_COIL_X_TEMPERATURE,
  FINA_POS_X_COIL_Y_TEMPERATURE,
  FINA_POS_X_COIL_Z_TEMPERATURE,

  FINA_NEG_X_ERR,
  FINA_NEG_X_RAW_MAG_X,
  FINA_NEG_X_RAW_MAG_Y,
  FINA_NEG_X_RAW_MAG_Z,
  FINA_NEG_X_CAL_MAG_X,
  FINA_NEG_X_CAL_MAG_Y,
  FINA_NEG_X_CAL_MAG_Z,
  FINA_NEG_X_COIL_X_CURRENT,
  FINA_NEG_X_COIL_Y_CURRENT,
  FINA_NEG_X_COIL_Z_CURRENT,
  FINA_NEG_X_COIL_X_TEMPERATURE,
  FINA_NEG_X_COIL_Y_TEMPERATURE,
  FINA_NEG_X_COIL_Z_TEMPERATURE,

  FINA_POS_Y_ERR,
  FINA_POS_Y_RAW_MAG_X,
  FINA_POS_Y_RAW_MAG_Y,
  FINA_POS_Y_RAW_MAG_Z,
  FINA_POS_Y_CAL_MAG_X,
  FINA_POS_Y_CAL_MAG_Y,
  FINA_POS_Y_CAL_MAG_Z,
  FINA_POS_Y_COIL_X_CURRENT,
  FINA_POS_Y_COIL_Y_CURRENT,
  FINA_POS_Y_COIL_Z_CURRENT,
  FINA_POS_Y_COIL_X_TEMPERATURE,
  FINA_POS_Y_COIL_Y_TEMPERATURE,
  FINA_POS_Y_COIL_Z_TEMPERATURE,

  FINA_NEG_Y_ERR,
  FINA_NEG_Y_RAW_MAG_X,
  FINA_NEG_Y_RAW_MAG_Y,
  FINA_NEG_Y_RAW_MAG_Z,
  FINA_NEG_Y_CAL_MAG_X,
  FINA_NEG_Y_CAL_MAG_Y,
  FINA_NEG_Y_CAL_MAG_Z,
  FINA_NEG_Y_COIL_X_CURRENT,
  FINA_NEG_Y_COIL_Y_CURRENT,
  FINA_NEG_Y_COIL_Z_CURRENT,
  FINA_NEG_Y_COIL_X_TEMPERATURE,
  FINA_NEG_Y_COIL_Y_TEMPERATURE,
  FINA_NEG_Y_COIL_Z_TEMPERATURE,

  FINA_POS_Z_ERR,
  FINA_POS_Z_RAW_MAG_X,
  FINA_POS_Z_RAW_MAG_Y,
  FINA_POS_Z_RAW_MAG_Z,
  FINA_POS_Z_CAL_MAG_X,
  FINA_POS_Z_CAL_MAG_Y,
  FINA_POS_Z_CAL_MAG_Z,
  FINA_POS_Z_COIL_X_CURRENT,
  FINA_POS_Z_COIL_Y_CURRENT,
  FINA_POS_Z_COIL_Z_CURRENT,
  FINA_POS_Z_COIL_X_TEMPERATURE,
  FINA_POS_Z_COIL_Y_TEMPERATURE,
  FINA_POS_Z_COIL_Z_TEMPERATURE,

  FINA_NEG_Z_ERR,
  FINA_NEG_Z_RAW_MAG_X,
  FINA_NEG_Z_RAW_MAG_Y,
  FINA_NEG_Z_RAW_MAG_Z,
  FINA_NEG_Z_CAL_MAG_X,
  FINA_NEG_Z_CAL_MAG_Y,
  FINA_NEG_Z_CAL_MAG_Z,
  FINA_NEG_Z_COIL_X_CURRENT,
  FINA_NEG_Z_COIL_Y_CURRENT,
  FINA_NEG_Z_COIL_Z_CURRENT,
  FINA_NEG_Z_COIL_X_TEMPERATURE,
  FINA_NEG_Z_COIL_Y_TEMPERATURE,
  FINA_NEG_Z_COIL_Z_TEMPERATURE,
};

class EngHkDataset : public StaticLocalDataSet<ENG_HK_SET_POOL_ENTRIES> {
 public:
  EngHkDataset(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, IMTQ::SetIds::ENG_HK) {}

  EngHkDataset(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::ENG_HK)) {}

  lp_var_t<uint16_t> digitalVoltageMv = lp_var_t<uint16_t>(sid.objectId, DIGITAL_VOLTAGE_MV, this);
  lp_var_t<uint16_t> analogVoltageMv = lp_var_t<uint16_t>(sid.objectId, ANALOG_VOLTAGE_MV, this);
  lp_var_t<float> digitalCurrentmA = lp_var_t<float>(sid.objectId, DIGITAL_CURRENT, this);
  lp_var_t<float> analogCurrentmA = lp_var_t<float>(sid.objectId, ANALOG_CURRENT, this);
  lp_var_t<float> coilXCurrentmA = lp_var_t<float>(sid.objectId, COIL_X_CURRENT, this);
  lp_var_t<float> coilYCurrentmA = lp_var_t<float>(sid.objectId, COIL_Y_CURRENT, this);
  lp_var_t<float> coilZCurrentmA = lp_var_t<float>(sid.objectId, COIL_Z_CURRENT, this);
  /** All temperatures in [<5B>C] */
  lp_var_t<int16_t> coilXTemperature = lp_var_t<int16_t>(sid.objectId, COIL_X_TEMPERATURE, this);
  lp_var_t<int16_t> coilYTemperature = lp_var_t<int16_t>(sid.objectId, COIL_Y_TEMPERATURE, this);
  lp_var_t<int16_t> coilZTemperature = lp_var_t<int16_t>(sid.objectId, COIL_Z_TEMPERATURE, this);
  lp_var_t<int16_t> mcuTemperature = lp_var_t<int16_t>(sid.objectId, MCU_TEMPERATURE, this);
};

/**
 * @brief   This dataset holds the last calibrated MTM measurement.
 */
class CalibratedMtmMeasurementSet : public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
 public:
  CalibratedMtmMeasurementSet(HasLocalDataPoolIF* owner)
      : StaticLocalDataSet(owner, IMTQ::SetIds::CAL_MGM) {}

  CalibratedMtmMeasurementSet(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::CAL_MGM)) {}

  /** The unit of all measurements is nT */
  lp_vec_t<int32_t, 3> mgmXyz = lp_vec_t<int32_t, 3>(sid.objectId, MGM_CAL_NT, this);
  /** 1 if coils were actuating during measurement otherwise 0 */
  lp_var_t<uint8_t> coilActuationStatus =
      lp_var_t<uint8_t>(sid.objectId, ACTUATION_CAL_STATUS, this);
};

/**
 * @brief   This dataset holds the raw MTM measurements.
 */
class RawMtmMeasurementSet : public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
 public:
  RawMtmMeasurementSet(HasLocalDataPoolIF* owner)
      : StaticLocalDataSet(owner, IMTQ::SetIds::RAW_MGM) {}

  RawMtmMeasurementSet(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::RAW_MGM)) {}

  /** The unit of all measurements is nT */
  lp_vec_t<float, 3> mtmRawNt = lp_vec_t<float, 3>(sid.objectId, MTM_RAW, this);
  /** 1 if coils were actuating during measurement otherwise 0 */
  lp_var_t<uint8_t> coilActuationStatus =
      lp_var_t<uint8_t>(sid.objectId, ACTUATION_RAW_STATUS, this);
};

/**
 * @brief   This class can be used to ease the generation of an action message commanding the
 *          IMTQHandler to configure the magnettorquer with the desired dipoles.
 *
 * @details Deserialize the packet, write the deserialized data to the ipc store and store the
 *          the ipc store address in the action message.
 */
class CommandDipolePacket : public SerialLinkedListAdapter<SerializeIF> {
 public:
  CommandDipolePacket() { setLinks(); }

  SerializeElement<uint16_t> xDipole;
  SerializeElement<uint16_t> yDipole;
  SerializeElement<uint16_t> zDipole;
  SerializeElement<uint16_t> duration;

 private:
  /**
   * @brief   Constructor
   *
   * @param xDipole   The dipole of the x coil in 10 ^ -4 * Am^2
   * @param yDipole   The dipole of the y coil in 10 ^ -4 * Am^2
   * @param zDipole   The dipole of the z coil in 10 ^ -4 * Am^2
   * @param duration  The duration in milliseconds the dipole will be generated by the coils.
   *                  When set to 0, the dipole will be generated until a new dipole actuation
   *                  command is sent.
   */
  CommandDipolePacket(uint16_t xDipole, uint16_t yDipole, uint16_t zDipole, uint16_t duration)
      : xDipole(xDipole), yDipole(yDipole), zDipole(zDipole), duration(duration) {}
  void setLinks() {
    setStart(&xDipole);
    xDipole.setNext(&yDipole);
    yDipole.setNext(&zDipole);
    zDipole.setNext(&duration);
  }
};

class DipoleActuationSet : public StaticLocalDataSet<4> {
  friend class ::ImtqHandler;

 public:
  DipoleActuationSet(HasLocalDataPoolIF& owner)
      : StaticLocalDataSet(&owner, IMTQ::SetIds::DIPOLES) {}
  DipoleActuationSet(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::DIPOLES)) {}

  // Refresh torque command without changing any of the set dipoles.
  void refreshTorqueing(uint16_t durationMs_) { currentTorqueDurationMs = durationMs_; }

  void setDipoles(int16_t xDipole_, int16_t yDipole_, int16_t zDipole_,
                  uint16_t currentTorqueDurationMs_) {
    if (xDipole.value != xDipole_) {
      xDipole = xDipole_;
    }
    if (yDipole.value != yDipole_) {
      yDipole = yDipole_;
    }
    if (zDipole.value != zDipole_) {
      zDipole = zDipole_;
    }
    currentTorqueDurationMs = currentTorqueDurationMs_;
  }

  void getDipoles(int16_t& xDipole_, int16_t& yDipole_, int16_t& zDipole_) {
    xDipole_ = xDipole.value;
    yDipole_ = yDipole.value;
    zDipole_ = zDipole.value;
  }

 private:
  lp_var_t<int16_t> xDipole = lp_var_t<int16_t>(sid.objectId, DIPOLES_X, this);
  lp_var_t<int16_t> yDipole = lp_var_t<int16_t>(sid.objectId, DIPOLES_Y, this);
  lp_var_t<int16_t> zDipole = lp_var_t<int16_t>(sid.objectId, DIPOLES_Z, this);
  lp_var_t<uint16_t> currentTorqueDurationMs =
      lp_var_t<uint16_t>(sid.objectId, CURRENT_TORQUE_DURATION, this);
};

/**
 * @brief   This dataset can be used to store the self test results of the +X self test.
 *
 * @details Units of measurements:
 *          Raw magnetic field: [nT]
 *          Calibrated magnetic field: [nT]
 *          Coil currents: [mA]
 *          Temperature: [C]
 *          The +X self test generates a positive dipole in X direction and measures the magnetic
 *          field with the built-in MTM. The procedure of the test is as follows:
 *          1. All coils off (INIT step)
 *          2. +X actuation
 *          3. All coils off (FINA step)
 */
class PosXSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
 public:
  PosXSelfTestSet(HasLocalDataPoolIF* owner)
      : StaticLocalDataSet(owner, IMTQ::SetIds::POS_X_TEST) {}

  PosXSelfTestSet(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::POS_X_TEST)) {}

  /** INIT block */
  lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_POS_X_ERR, this);
  lp_var_t<float> initRawMagX = lp_var_t<float>(sid.objectId, INIT_POS_X_RAW_MAG_X, this);
  lp_var_t<float> initRawMagY = lp_var_t<float>(sid.objectId, INIT_POS_X_RAW_MAG_Y, this);
  lp_var_t<float> initRawMagZ = lp_var_t<float>(sid.objectId, INIT_POS_X_RAW_MAG_Z, this);
  lp_var_t<float> initCalMagX = lp_var_t<float>(sid.objectId, INIT_POS_X_CAL_MAG_X, this);
  lp_var_t<float> initCalMagY = lp_var_t<float>(sid.objectId, INIT_POS_X_CAL_MAG_Y, this);
  lp_var_t<float> initCalMagZ = lp_var_t<float>(sid.objectId, INIT_POS_X_CAL_MAG_Z, this);
  lp_var_t<float> initCoilXCurrent = lp_var_t<float>(sid.objectId, INIT_POS_X_COIL_X_CURRENT, this);
  lp_var_t<float> initCoilYCurrent = lp_var_t<float>(sid.objectId, INIT_POS_X_COIL_Y_CURRENT, this);
  lp_var_t<float> initCoilZCurrent = lp_var_t<float>(sid.objectId, INIT_POS_X_COIL_Z_CURRENT, this);
  lp_var_t<uint16_t> initCoilXTemperature =
      lp_var_t<uint16_t>(sid.objectId, INIT_POS_X_COIL_X_TEMPERATURE, this);
  lp_var_t<uint16_t> initCoilYTemperature =
      lp_var_t<uint16_t>(sid.objectId, INIT_POS_X_COIL_Y_TEMPERATURE, this);
  lp_var_t<uint16_t> initCoilZTemperature =
      lp_var_t<uint16_t>(sid.objectId, INIT_POS_X_COIL_Z_TEMPERATURE, this);

  /** +X block */
  lp_var_t<uint8_t> err = lp_var_t<uint8_t>(sid.objectId, POS_X_ERR, this);
  lp_var_t<float> rawMagX = lp_var_t<float>(sid.objectId, POS_X_RAW_MAG_X, this);
  lp_var_t<float> rawMagY = lp_var_t<float>(sid.objectId, POS_X_RAW_MAG_Y, this);
  lp_var_t<float> rawMagZ = lp_var_t<float>(sid.objectId, POS_X_RAW_MAG_Z, this);
  lp_var_t<float> calMagX = lp_var_t<float>(sid.objectId, POS_X_CAL_MAG_X, this);
  lp_var_t<float> calMagY = lp_var_t<float>(sid.objectId, POS_X_CAL_MAG_Y, this);
  lp_var_t<float> calMagZ = lp_var_t<float>(sid.objectId, POS_X_CAL_MAG_Z, this);
  lp_var_t<float> coilXCurrent = lp_var_t<float>(sid.objectId, POS_X_COIL_X_CURRENT, this);
  lp_var_t<float> coilYCurrent = lp_var_t<float>(sid.objectId, POS_X_COIL_Y_CURRENT, this);
  lp_var_t<float> coilZCurrent = lp_var_t<float>(sid.objectId, POS_X_COIL_Z_CURRENT, this);
  lp_var_t<int16_t> coilXTemperature =
      lp_var_t<int16_t>(sid.objectId, POS_X_COIL_X_TEMPERATURE, this);
  lp_var_t<int16_t> coilYTemperature =
      lp_var_t<int16_t>(sid.objectId, POS_X_COIL_Y_TEMPERATURE, this);
  lp_var_t<int16_t> coilZTemperature =
      lp_var_t<int16_t>(sid.objectId, POS_X_COIL_Z_TEMPERATURE, this);

  /** FINA block */
  lp_var_t<uint8_t> finaErr = lp_var_t<uint8_t>(sid.objectId, FINA_POS_X_ERR, this);
  lp_var_t<float> finaRawMagX = lp_var_t<float>(sid.objectId, FINA_POS_X_RAW_MAG_X, this);
  lp_var_t<float> finaRawMagY = lp_var_t<float>(sid.objectId, FINA_POS_X_RAW_MAG_Y, this);
  lp_var_t<float> finaRawMagZ = lp_var_t<float>(sid.objectId, FINA_POS_X_RAW_MAG_Z, this);
  lp_var_t<float> finaCalMagX = lp_var_t<float>(sid.objectId, FINA_POS_X_CAL_MAG_X, this);
  lp_var_t<float> finaCalMagY = lp_var_t<float>(sid.objectId, FINA_POS_X_CAL_MAG_Y, this);
  lp_var_t<float> finaCalMagZ = lp_var_t<float>(sid.objectId, FINA_POS_X_CAL_MAG_Z, this);
  lp_var_t<float> finaCoilXCurrent = lp_var_t<float>(sid.objectId, FINA_POS_X_COIL_X_CURRENT, this);
  lp_var_t<float> finaCoilYCurrent = lp_var_t<float>(sid.objectId, FINA_POS_X_COIL_Y_CURRENT, this);
  lp_var_t<float> finaCoilZCurrent = lp_var_t<float>(sid.objectId, FINA_POS_X_COIL_Z_CURRENT, this);
  lp_var_t<int16_t> finaCoilXTemperature =
      lp_var_t<int16_t>(sid.objectId, FINA_POS_X_COIL_X_TEMPERATURE, this);
  lp_var_t<int16_t> finaCoilYTemperature =
      lp_var_t<int16_t>(sid.objectId, FINA_POS_X_COIL_Y_TEMPERATURE, this);
  lp_var_t<int16_t> finaCoilZTemperature =
      lp_var_t<int16_t>(sid.objectId, FINA_POS_X_COIL_Z_TEMPERATURE, this);
};

/**
 * @brief   This dataset can be used to store the self test results of the -X self test.
 *
 * @details Units of measurements:
 *          Raw magnetic field: [nT]
 *          Calibrated magnetic field: [nT]
 *          Coil currents: [mA]
 *          Temperature: [C]
 *          The -X self test generates a negative dipole in X direction and measures the magnetic
 *          field with the built-in MTM. The procedure of the test is as follows:
 *          1. All coils off (INIT step)
 *          2. -X actuation
 *          3. All coils off (FINA step)
 */
class NegXSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
 public:
  NegXSelfTestSet(HasLocalDataPoolIF* owner)
      : StaticLocalDataSet(owner, IMTQ::SetIds::NEG_X_TEST) {}

  NegXSelfTestSet(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::NEG_X_TEST)) {}

  /** INIT block */
  lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_NEG_X_ERR, this);
  lp_var_t<float> initRawMagX = lp_var_t<float>(sid.objectId, INIT_NEG_X_RAW_MAG_X, this);
  lp_var_t<float> initRawMagY = lp_var_t<float>(sid.objectId, INIT_NEG_X_RAW_MAG_Y, this);
  lp_var_t<float> initRawMagZ = lp_var_t<float>(sid.objectId, INIT_NEG_X_RAW_MAG_Z, this);
  lp_var_t<float> initCalMagX = lp_var_t<float>(sid.objectId, INIT_NEG_X_CAL_MAG_X, this);
  lp_var_t<float> initCalMagY = lp_var_t<float>(sid.objectId, INIT_NEG_X_CAL_MAG_Y, this);
  lp_var_t<float> initCalMagZ = lp_var_t<float>(sid.objectId, INIT_NEG_X_CAL_MAG_Z, this);
  lp_var_t<float> initCoilXCurrent = lp_var_t<float>(sid.objectId, INIT_NEG_X_COIL_X_CURRENT, this);
  lp_var_t<float> initCoilYCurrent = lp_var_t<float>(sid.objectId, INIT_NEG_X_COIL_Y_CURRENT, this);
  lp_var_t<float> initCoilZCurrent = lp_var_t<float>(sid.objectId, INIT_NEG_X_COIL_Z_CURRENT, this);
  lp_var_t<int16_t> initCoilXTemperature =
      lp_var_t<int16_t>(sid.objectId, INIT_NEG_X_COIL_X_TEMPERATURE, this);
  lp_var_t<int16_t> initCoilYTemperature =
      lp_var_t<int16_t>(sid.objectId, INIT_NEG_X_COIL_Y_TEMPERATURE, this);
  lp_var_t<int16_t> initCoilZTemperature =
      lp_var_t<int16_t>(sid.objectId, INIT_NEG_X_COIL_Z_TEMPERATURE, this);

  /** -X block */
  lp_var_t<uint8_t> err = lp_var_t<uint8_t>(sid.objectId, NEG_X_ERR, this);
  lp_var_t<float> rawMagX = lp_var_t<float>(sid.objectId, NEG_X_RAW_MAG_X, this);
  lp_var_t<float> rawMagY = lp_var_t<float>(sid.objectId, NEG_X_RAW_MAG_Y, this);
  lp_var_t<float> rawMagZ = lp_var_t<float>(sid.objectId, NEG_X_RAW_MAG_Z, this);
  lp_var_t<float> calMagX = lp_var_t<float>(sid.objectId, NEG_X_CAL_MAG_X, this);
  lp_var_t<float> calMagY = lp_var_t<float>(sid.objectId, NEG_X_CAL_MAG_Y, this);
  lp_var_t<float> calMagZ = lp_var_t<float>(sid.objectId, NEG_X_CAL_MAG_Z, this);
  lp_var_t<float> coilXCurrent = lp_var_t<float>(sid.objectId, NEG_X_COIL_X_CURRENT, this);
  lp_var_t<float> coilYCurrent = lp_var_t<float>(sid.objectId, NEG_X_COIL_Y_CURRENT, this);
  lp_var_t<float> coilZCurrent = lp_var_t<float>(sid.objectId, NEG_X_COIL_Z_CURRENT, this);
  lp_var_t<int16_t> coilXTemperature =
      lp_var_t<int16_t>(sid.objectId, NEG_X_COIL_X_TEMPERATURE, this);
  lp_var_t<int16_t> coilYTemperature =
      lp_var_t<int16_t>(sid.objectId, NEG_X_COIL_Y_TEMPERATURE, this);
  lp_var_t<int16_t> coilZTemperature =
      lp_var_t<int16_t>(sid.objectId, NEG_X_COIL_Z_TEMPERATURE, this);

  /** FINA block */
  lp_var_t<uint8_t> finaErr = lp_var_t<uint8_t>(sid.objectId, FINA_NEG_X_ERR, this);
  lp_var_t<float> finaRawMagX = lp_var_t<float>(sid.objectId, FINA_NEG_X_RAW_MAG_X, this);
  lp_var_t<float> finaRawMagY = lp_var_t<float>(sid.objectId, FINA_NEG_X_RAW_MAG_Y, this);
  lp_var_t<float> finaRawMagZ = lp_var_t<float>(sid.objectId, FINA_NEG_X_RAW_MAG_Z, this);
  lp_var_t<float> finaCalMagX = lp_var_t<float>(sid.objectId, FINA_NEG_X_CAL_MAG_X, this);
  lp_var_t<float> finaCalMagY = lp_var_t<float>(sid.objectId, FINA_NEG_X_CAL_MAG_Y, this);
  lp_var_t<float> finaCalMagZ = lp_var_t<float>(sid.objectId, FINA_NEG_X_CAL_MAG_Z, this);
  lp_var_t<float> finaCoilXCurrent = lp_var_t<float>(sid.objectId, FINA_NEG_X_COIL_X_CURRENT, this);
  lp_var_t<float> finaCoilYCurrent = lp_var_t<float>(sid.objectId, FINA_NEG_X_COIL_Y_CURRENT, this);
  lp_var_t<float> finaCoilZCurrent = lp_var_t<float>(sid.objectId, FINA_NEG_X_COIL_Z_CURRENT, this);
  lp_var_t<int16_t> finaCoilXTemperature =
      lp_var_t<int16_t>(sid.objectId, FINA_NEG_X_COIL_X_TEMPERATURE, this);
  lp_var_t<int16_t> finaCoilYTemperature =
      lp_var_t<int16_t>(sid.objectId, FINA_NEG_X_COIL_Y_TEMPERATURE, this);
  lp_var_t<int16_t> finaCoilZTemperature =
      lp_var_t<int16_t>(sid.objectId, FINA_NEG_X_COIL_Z_TEMPERATURE, this);
};

/**
 * @brief   This dataset can be used to store the self test results of the +Y self test.
 *
 * @details Units of measurements:
 *          Raw magnetic field: [nT]
 *          Calibrated magnetic field: [nT]
 *          Coil currents: [mA]
 *          Temperature: [C]
 *          The +Y self test generates a positive dipole in y direction and measures the magnetic
 *          field with the built-in MTM. The procedure of the test is as follows:
 *          1. All coils off (INIT step)
 *          2. +Y actuation
 *          3. All coils off (FINA step)
 */
class PosYSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
 public:
  PosYSelfTestSet(HasLocalDataPoolIF* owner)
      : StaticLocalDataSet(owner, IMTQ::SetIds::POS_Y_TEST) {}

  PosYSelfTestSet(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::POS_Y_TEST)) {}

  /** INIT block */
  lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_POS_Y_ERR, this);
  lp_var_t<float> initRawMagX = lp_var_t<float>(sid.objectId, INIT_POS_Y_RAW_MAG_X, this);
  lp_var_t<float> initRawMagY = lp_var_t<float>(sid.objectId, INIT_POS_Y_RAW_MAG_Y, this);
  lp_var_t<float> initRawMagZ = lp_var_t<float>(sid.objectId, INIT_POS_Y_RAW_MAG_Z, this);
  lp_var_t<float> initCalMagX = lp_var_t<float>(sid.objectId, INIT_POS_Y_CAL_MAG_X, this);
  lp_var_t<float> initCalMagY = lp_var_t<float>(sid.objectId, INIT_POS_Y_CAL_MAG_Y, this);
  lp_var_t<float> initCalMagZ = lp_var_t<float>(sid.objectId, INIT_POS_Y_CAL_MAG_Z, this);
  lp_var_t<float> initCoilXCurrent = lp_var_t<float>(sid.objectId, INIT_POS_Y_COIL_X_CURRENT, this);
  lp_var_t<float> initCoilYCurrent = lp_var_t<float>(sid.objectId, INIT_POS_Y_COIL_Y_CURRENT, this);
  lp_var_t<float> initCoilZCurrent = lp_var_t<float>(sid.objectId, INIT_POS_Y_COIL_Z_CURRENT, this);
  lp_var_t<int16_t> initCoilXTemperature =
      lp_var_t<int16_t>(sid.objectId, INIT_POS_Y_COIL_X_TEMPERATURE, this);
  lp_var_t<int16_t> initCoilYTemperature =
      lp_var_t<int16_t>(sid.objectId, INIT_POS_Y_COIL_Y_TEMPERATURE, this);
  lp_var_t<int16_t> initCoilZTemperature =
      lp_var_t<int16_t>(sid.objectId, INIT_POS_Y_COIL_Z_TEMPERATURE, this);

  /** +Y block */
  lp_var_t<uint8_t> err = lp_var_t<uint8_t>(sid.objectId, POS_Y_ERR, this);
  lp_var_t<float> rawMagX = lp_var_t<float>(sid.objectId, POS_Y_RAW_MAG_X, this);
  lp_var_t<float> rawMagY = lp_var_t<float>(sid.objectId, POS_Y_RAW_MAG_Y, this);
  lp_var_t<float> rawMagZ = lp_var_t<float>(sid.objectId, POS_Y_RAW_MAG_Z, this);
  lp_var_t<float> calMagX = lp_var_t<float>(sid.objectId, POS_Y_CAL_MAG_X, this);
  lp_var_t<float> calMagY = lp_var_t<float>(sid.objectId, POS_Y_CAL_MAG_Y, this);
  lp_var_t<float> calMagZ = lp_var_t<float>(sid.objectId, POS_Y_CAL_MAG_Z, this);
  lp_var_t<float> coilXCurrent = lp_var_t<float>(sid.objectId, POS_Y_COIL_X_CURRENT, this);
  lp_var_t<float> coilYCurrent = lp_var_t<float>(sid.objectId, POS_Y_COIL_Y_CURRENT, this);
  lp_var_t<float> coilZCurrent = lp_var_t<float>(sid.objectId, POS_Y_COIL_Z_CURRENT, this);
  lp_var_t<int16_t> coilXTemperature =
      lp_var_t<int16_t>(sid.objectId, POS_Y_COIL_X_TEMPERATURE, this);
  lp_var_t<int16_t> coilYTemperature =
      lp_var_t<int16_t>(sid.objectId, POS_Y_COIL_Y_TEMPERATURE, this);
  lp_var_t<int16_t> coilZTemperature =
      lp_var_t<int16_t>(sid.objectId, POS_Y_COIL_Z_TEMPERATURE, this);

  /** FINA block */
  lp_var_t<uint8_t> finaErr = lp_var_t<uint8_t>(sid.objectId, FINA_POS_Y_ERR, this);
  lp_var_t<float> finaRawMagX = lp_var_t<float>(sid.objectId, FINA_POS_Y_RAW_MAG_X, this);
  lp_var_t<float> finaRawMagY = lp_var_t<float>(sid.objectId, FINA_POS_Y_RAW_MAG_Y, this);
  lp_var_t<float> finaRawMagZ = lp_var_t<float>(sid.objectId, FINA_POS_Y_RAW_MAG_Z, this);
  lp_var_t<float> finaCalMagX = lp_var_t<float>(sid.objectId, FINA_POS_Y_CAL_MAG_X, this);
  lp_var_t<float> finaCalMagY = lp_var_t<float>(sid.objectId, FINA_POS_Y_CAL_MAG_Y, this);
  lp_var_t<float> finaCalMagZ = lp_var_t<float>(sid.objectId, FINA_POS_Y_CAL_MAG_Z, this);
  lp_var_t<float> finaCoilXCurrent = lp_var_t<float>(sid.objectId, FINA_POS_Y_COIL_X_CURRENT, this);
  lp_var_t<float> finaCoilYCurrent = lp_var_t<float>(sid.objectId, FINA_POS_Y_COIL_Y_CURRENT, this);
  lp_var_t<float> finaCoilZCurrent = lp_var_t<float>(sid.objectId, FINA_POS_Y_COIL_Z_CURRENT, this);
  lp_var_t<int16_t> finaCoilXTemperature =
      lp_var_t<int16_t>(sid.objectId, FINA_POS_Y_COIL_X_TEMPERATURE, this);
  lp_var_t<int16_t> finaCoilYTemperature =
      lp_var_t<int16_t>(sid.objectId, FINA_POS_Y_COIL_Y_TEMPERATURE, this);
  lp_var_t<int16_t> finaCoilZTemperature =
      lp_var_t<int16_t>(sid.objectId, FINA_POS_Y_COIL_Z_TEMPERATURE, this);
};

/**
 * @brief   This dataset can be used to store the self test results of the -Y self test.
 *
 * @details Units of measurements:
 *          Raw magnetic field: [nT]
 *          Calibrated magnetic field: [nT]
 *          Coil currents: [mA]
 *          Temperature: [C]
 *          The -Y self test generates a negative dipole in y direction and measures the magnetic
 *          field with the built-in MTM. The procedure of the test is as follows:
 *          1. All coils off (INIT step)
 *          2. -Y actuation
 *          3. All coils off (FINA step)
 */
class NegYSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
 public:
  NegYSelfTestSet(HasLocalDataPoolIF* owner)
      : StaticLocalDataSet(owner, IMTQ::SetIds::NEG_Y_TEST) {}

  NegYSelfTestSet(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::NEG_Y_TEST)) {}

  /** INIT block */
  lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_NEG_Y_ERR, this);
  lp_var_t<float> initRawMagX = lp_var_t<float>(sid.objectId, INIT_NEG_Y_RAW_MAG_X, this);
  lp_var_t<float> initRawMagY = lp_var_t<float>(sid.objectId, INIT_NEG_Y_RAW_MAG_Y, this);
  lp_var_t<float> initRawMagZ = lp_var_t<float>(sid.objectId, INIT_NEG_Y_RAW_MAG_Z, this);
  lp_var_t<float> initCalMagX = lp_var_t<float>(sid.objectId, INIT_NEG_Y_CAL_MAG_X, this);
  lp_var_t<float> initCalMagY = lp_var_t<float>(sid.objectId, INIT_NEG_Y_CAL_MAG_Y, this);
  lp_var_t<float> initCalMagZ = lp_var_t<float>(sid.objectId, INIT_NEG_Y_CAL_MAG_Z, this);
  lp_var_t<float> initCoilXCurrent = lp_var_t<float>(sid.objectId, INIT_NEG_Y_COIL_X_CURRENT, this);
  lp_var_t<float> initCoilYCurrent = lp_var_t<float>(sid.objectId, INIT_NEG_Y_COIL_Y_CURRENT, this);
  lp_var_t<float> initCoilZCurrent = lp_var_t<float>(sid.objectId, INIT_NEG_Y_COIL_Z_CURRENT, this);
  lp_var_t<int16_t> initCoilXTemperature =
      lp_var_t<int16_t>(sid.objectId, INIT_NEG_Y_COIL_X_TEMPERATURE, this);
  lp_var_t<int16_t> initCoilYTemperature =
      lp_var_t<int16_t>(sid.objectId, INIT_NEG_Y_COIL_Y_TEMPERATURE, this);
  lp_var_t<int16_t> initCoilZTemperature =
      lp_var_t<int16_t>(sid.objectId, INIT_NEG_Y_COIL_Z_TEMPERATURE, this);

  /** -Y block */
  lp_var_t<uint8_t> err = lp_var_t<uint8_t>(sid.objectId, NEG_Y_ERR, this);
  lp_var_t<float> rawMagX = lp_var_t<float>(sid.objectId, NEG_Y_RAW_MAG_X, this);
  lp_var_t<float> rawMagY = lp_var_t<float>(sid.objectId, NEG_Y_RAW_MAG_Y, this);
  lp_var_t<float> rawMagZ = lp_var_t<float>(sid.objectId, NEG_Y_RAW_MAG_Z, this);
  lp_var_t<float> calMagX = lp_var_t<float>(sid.objectId, NEG_Y_CAL_MAG_X, this);
  lp_var_t<float> calMagY = lp_var_t<float>(sid.objectId, NEG_Y_CAL_MAG_Y, this);
  lp_var_t<float> calMagZ = lp_var_t<float>(sid.objectId, NEG_Y_CAL_MAG_Z, this);
  lp_var_t<float> coilXCurrent = lp_var_t<float>(sid.objectId, NEG_Y_COIL_X_CURRENT, this);
  lp_var_t<float> coilYCurrent = lp_var_t<float>(sid.objectId, NEG_Y_COIL_Y_CURRENT, this);
  lp_var_t<float> coilZCurrent = lp_var_t<float>(sid.objectId, NEG_Y_COIL_Z_CURRENT, this);
  lp_var_t<int16_t> coilXTemperature =
      lp_var_t<int16_t>(sid.objectId, NEG_Y_COIL_X_TEMPERATURE, this);
  lp_var_t<int16_t> coilYTemperature =
      lp_var_t<int16_t>(sid.objectId, NEG_Y_COIL_Y_TEMPERATURE, this);
  lp_var_t<int16_t> coilZTemperature =
      lp_var_t<int16_t>(sid.objectId, NEG_Y_COIL_Z_TEMPERATURE, this);

  /** FINA block */
  lp_var_t<uint8_t> finaErr = lp_var_t<uint8_t>(sid.objectId, FINA_NEG_Y_ERR, this);
  lp_var_t<float> finaRawMagX = lp_var_t<float>(sid.objectId, FINA_NEG_Y_RAW_MAG_X, this);
  lp_var_t<float> finaRawMagY = lp_var_t<float>(sid.objectId, FINA_NEG_Y_RAW_MAG_Y, this);
  lp_var_t<float> finaRawMagZ = lp_var_t<float>(sid.objectId, FINA_NEG_Y_RAW_MAG_Z, this);
  lp_var_t<float> finaCalMagX = lp_var_t<float>(sid.objectId, FINA_NEG_Y_CAL_MAG_X, this);
  lp_var_t<float> finaCalMagY = lp_var_t<float>(sid.objectId, FINA_NEG_Y_CAL_MAG_Y, this);
  lp_var_t<float> finaCalMagZ = lp_var_t<float>(sid.objectId, FINA_NEG_Y_CAL_MAG_Z, this);
  lp_var_t<float> finaCoilXCurrent = lp_var_t<float>(sid.objectId, FINA_NEG_Y_COIL_X_CURRENT, this);
  lp_var_t<float> finaCoilYCurrent = lp_var_t<float>(sid.objectId, FINA_NEG_Y_COIL_Y_CURRENT, this);
  lp_var_t<float> finaCoilZCurrent = lp_var_t<float>(sid.objectId, FINA_NEG_Y_COIL_Z_CURRENT, this);
  lp_var_t<int16_t> finaCoilXTemperature =
      lp_var_t<int16_t>(sid.objectId, FINA_NEG_Y_COIL_X_TEMPERATURE, this);
  lp_var_t<int16_t> finaCoilYTemperature =
      lp_var_t<int16_t>(sid.objectId, FINA_NEG_Y_COIL_Y_TEMPERATURE, this);
  lp_var_t<int16_t> finaCoilZTemperature =
      lp_var_t<int16_t>(sid.objectId, FINA_NEG_Y_COIL_Z_TEMPERATURE, this);
};

/**
 * @brief   This dataset can be used to store the self test results of the +Z self test.
 *
 * @details Units of measurements:
 *          Raw magnetic field: [nT]
 *          Calibrated magnetic field: [nT]
 *          Coil currents: [mA]
 *          Temperature: [C]
 *          The +Z self test generates a positive dipole in z direction and measures the magnetic
 *          field with the built-in MTM. The procedure of the test is as follows:
 *          1. All coils off (INIT step)
 *          2. +Z actuation
 *          3. All coils off (FINA step)
 */
class PosZSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
 public:
  PosZSelfTestSet(HasLocalDataPoolIF* owner)
      : StaticLocalDataSet(owner, IMTQ::SetIds::POS_Z_TEST) {}

  PosZSelfTestSet(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::POS_Z_TEST)) {}

  /** INIT block */
  lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_POS_Z_ERR, this);
  lp_var_t<float> initRawMagX = lp_var_t<float>(sid.objectId, INIT_POS_Z_RAW_MAG_X, this);
  lp_var_t<float> initRawMagY = lp_var_t<float>(sid.objectId, INIT_POS_Z_RAW_MAG_Y, this);
  lp_var_t<float> initRawMagZ = lp_var_t<float>(sid.objectId, INIT_POS_Z_RAW_MAG_Z, this);
  lp_var_t<float> initCalMagX = lp_var_t<float>(sid.objectId, INIT_POS_Z_CAL_MAG_X, this);
  lp_var_t<float> initCalMagY = lp_var_t<float>(sid.objectId, INIT_POS_Z_CAL_MAG_Y, this);
  lp_var_t<float> initCalMagZ = lp_var_t<float>(sid.objectId, INIT_POS_Z_CAL_MAG_Z, this);
  lp_var_t<float> initCoilXCurrent = lp_var_t<float>(sid.objectId, INIT_POS_Z_COIL_X_CURRENT, this);
  lp_var_t<float> initCoilYCurrent = lp_var_t<float>(sid.objectId, INIT_POS_Z_COIL_Y_CURRENT, this);
  lp_var_t<float> initCoilZCurrent = lp_var_t<float>(sid.objectId, INIT_POS_Z_COIL_Z_CURRENT, this);
  lp_var_t<uint16_t> initCoilXTemperature =
      lp_var_t<uint16_t>(sid.objectId, INIT_POS_Z_COIL_X_TEMPERATURE, this);
  lp_var_t<uint16_t> initCoilYTemperature =
      lp_var_t<uint16_t>(sid.objectId, INIT_POS_Z_COIL_Y_TEMPERATURE, this);
  lp_var_t<uint16_t> initCoilZTemperature =
      lp_var_t<uint16_t>(sid.objectId, INIT_POS_Z_COIL_Z_TEMPERATURE, this);

  /** +Z block */
  lp_var_t<uint8_t> err = lp_var_t<uint8_t>(sid.objectId, POS_Z_ERR, this);
  lp_var_t<float> rawMagX = lp_var_t<float>(sid.objectId, POS_Z_RAW_MAG_X, this);
  lp_var_t<float> rawMagY = lp_var_t<float>(sid.objectId, POS_Z_RAW_MAG_Y, this);
  lp_var_t<float> rawMagZ = lp_var_t<float>(sid.objectId, POS_Z_RAW_MAG_Z, this);
  lp_var_t<float> calMagX = lp_var_t<float>(sid.objectId, POS_Z_CAL_MAG_X, this);
  lp_var_t<float> calMagY = lp_var_t<float>(sid.objectId, POS_Z_CAL_MAG_Y, this);
  lp_var_t<float> calMagZ = lp_var_t<float>(sid.objectId, POS_Z_CAL_MAG_Z, this);
  lp_var_t<float> coilXCurrent = lp_var_t<float>(sid.objectId, POS_Z_COIL_X_CURRENT, this);
  lp_var_t<float> coilYCurrent = lp_var_t<float>(sid.objectId, POS_Z_COIL_Y_CURRENT, this);
  lp_var_t<float> coilZCurrent = lp_var_t<float>(sid.objectId, POS_Z_COIL_Z_CURRENT, this);
  lp_var_t<int16_t> coilXTemperature =
      lp_var_t<int16_t>(sid.objectId, POS_Z_COIL_X_TEMPERATURE, this);
  lp_var_t<int16_t> coilYTemperature =
      lp_var_t<int16_t>(sid.objectId, POS_Z_COIL_Y_TEMPERATURE, this);
  lp_var_t<int16_t> coilZTemperature =
      lp_var_t<int16_t>(sid.objectId, POS_Z_COIL_Z_TEMPERATURE, this);

  /** FINA block */
  lp_var_t<uint8_t> finaErr = lp_var_t<uint8_t>(sid.objectId, FINA_POS_Z_ERR, this);
  lp_var_t<float> finaRawMagX = lp_var_t<float>(sid.objectId, FINA_POS_Z_RAW_MAG_X, this);
  lp_var_t<float> finaRawMagY = lp_var_t<float>(sid.objectId, FINA_POS_Z_RAW_MAG_Y, this);
  lp_var_t<float> finaRawMagZ = lp_var_t<float>(sid.objectId, FINA_POS_Z_RAW_MAG_Z, this);
  lp_var_t<float> finaCalMagX = lp_var_t<float>(sid.objectId, FINA_POS_Z_CAL_MAG_X, this);
  lp_var_t<float> finaCalMagY = lp_var_t<float>(sid.objectId, FINA_POS_Z_CAL_MAG_Y, this);
  lp_var_t<float> finaCalMagZ = lp_var_t<float>(sid.objectId, FINA_POS_Z_CAL_MAG_Z, this);
  lp_var_t<float> finaCoilXCurrent = lp_var_t<float>(sid.objectId, FINA_POS_Z_COIL_X_CURRENT, this);
  lp_var_t<float> finaCoilYCurrent = lp_var_t<float>(sid.objectId, FINA_POS_Z_COIL_Y_CURRENT, this);
  lp_var_t<float> finaCoilZCurrent = lp_var_t<float>(sid.objectId, FINA_POS_Z_COIL_Z_CURRENT, this);
  lp_var_t<int16_t> finaCoilXTemperature =
      lp_var_t<int16_t>(sid.objectId, FINA_POS_Z_COIL_X_TEMPERATURE, this);
  lp_var_t<int16_t> finaCoilYTemperature =
      lp_var_t<int16_t>(sid.objectId, FINA_POS_Z_COIL_Y_TEMPERATURE, this);
  lp_var_t<int16_t> finaCoilZTemperature =
      lp_var_t<int16_t>(sid.objectId, FINA_POS_Z_COIL_Z_TEMPERATURE, this);
};

/**
 * @brief   This dataset can be used to store the self test results of the -Z self test.
 *
 * @details Units of measurements:
 *          Raw magnetic field: [nT]
 *          Calibrated magnetic field: [nT]
 *          Coil currents: [mA]
 *          Temperature: [C]
 *          The -Z self test generates a negative dipole in z direction and measures the magnetic
 *          field with the built-in MTM. The procedure of the test is as follows:
 *          1. All coils off (INIT step)
 *          2. -Z actuation
 *          3. All coils off (FINA step)
 */
class NegZSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
 public:
  NegZSelfTestSet(HasLocalDataPoolIF* owner)
      : StaticLocalDataSet(owner, IMTQ::SetIds::NEG_Z_TEST) {}

  NegZSelfTestSet(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::NEG_Z_TEST)) {}

  /** INIT block */
  lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_NEG_Z_ERR, this);
  lp_var_t<float> initRawMagX = lp_var_t<float>(sid.objectId, INIT_NEG_Z_RAW_MAG_X, this);
  lp_var_t<float> initRawMagY = lp_var_t<float>(sid.objectId, INIT_NEG_Z_RAW_MAG_Y, this);
  lp_var_t<float> initRawMagZ = lp_var_t<float>(sid.objectId, INIT_NEG_Z_RAW_MAG_Z, this);
  lp_var_t<float> initCalMagX = lp_var_t<float>(sid.objectId, INIT_NEG_Z_CAL_MAG_X, this);
  lp_var_t<float> initCalMagY = lp_var_t<float>(sid.objectId, INIT_NEG_Z_CAL_MAG_Y, this);
  lp_var_t<float> initCalMagZ = lp_var_t<float>(sid.objectId, INIT_NEG_Z_CAL_MAG_Z, this);
  lp_var_t<float> initCoilXCurrent = lp_var_t<float>(sid.objectId, INIT_NEG_Z_COIL_X_CURRENT, this);
  lp_var_t<float> initCoilYCurrent = lp_var_t<float>(sid.objectId, INIT_NEG_Z_COIL_Y_CURRENT, this);
  lp_var_t<float> initCoilZCurrent = lp_var_t<float>(sid.objectId, INIT_NEG_Z_COIL_Z_CURRENT, this);
  lp_var_t<int16_t> initCoilXTemperature =
      lp_var_t<int16_t>(sid.objectId, INIT_NEG_Z_COIL_X_TEMPERATURE, this);
  lp_var_t<int16_t> initCoilYTemperature =
      lp_var_t<int16_t>(sid.objectId, INIT_NEG_Z_COIL_Y_TEMPERATURE, this);
  lp_var_t<int16_t> initCoilZTemperature =
      lp_var_t<int16_t>(sid.objectId, INIT_NEG_Z_COIL_Z_TEMPERATURE, this);

  /** +Z block */
  lp_var_t<uint8_t> err = lp_var_t<uint8_t>(sid.objectId, NEG_Z_ERR, this);
  lp_var_t<float> rawMagX = lp_var_t<float>(sid.objectId, NEG_Z_RAW_MAG_X, this);
  lp_var_t<float> rawMagY = lp_var_t<float>(sid.objectId, NEG_Z_RAW_MAG_Y, this);
  lp_var_t<float> rawMagZ = lp_var_t<float>(sid.objectId, NEG_Z_RAW_MAG_Z, this);
  lp_var_t<float> calMagX = lp_var_t<float>(sid.objectId, NEG_Z_CAL_MAG_X, this);
  lp_var_t<float> calMagY = lp_var_t<float>(sid.objectId, NEG_Z_CAL_MAG_Y, this);
  lp_var_t<float> calMagZ = lp_var_t<float>(sid.objectId, NEG_Z_CAL_MAG_Z, this);
  lp_var_t<float> coilXCurrent = lp_var_t<float>(sid.objectId, NEG_Z_COIL_X_CURRENT, this);
  lp_var_t<float> coilYCurrent = lp_var_t<float>(sid.objectId, NEG_Z_COIL_Y_CURRENT, this);
  lp_var_t<float> coilZCurrent = lp_var_t<float>(sid.objectId, NEG_Z_COIL_Z_CURRENT, this);
  lp_var_t<int16_t> coilXTemperature =
      lp_var_t<int16_t>(sid.objectId, NEG_Z_COIL_X_TEMPERATURE, this);
  lp_var_t<int16_t> coilYTemperature =
      lp_var_t<int16_t>(sid.objectId, NEG_Z_COIL_Y_TEMPERATURE, this);
  lp_var_t<int16_t> coilZTemperature =
      lp_var_t<int16_t>(sid.objectId, NEG_Z_COIL_Z_TEMPERATURE, this);

  /** FINA block */
  lp_var_t<uint8_t> finaErr = lp_var_t<uint8_t>(sid.objectId, FINA_NEG_Z_ERR, this);
  lp_var_t<float> finaRawMagX = lp_var_t<float>(sid.objectId, FINA_NEG_Z_RAW_MAG_X, this);
  lp_var_t<float> finaRawMagY = lp_var_t<float>(sid.objectId, FINA_NEG_Z_RAW_MAG_Y, this);
  lp_var_t<float> finaRawMagZ = lp_var_t<float>(sid.objectId, FINA_NEG_Z_RAW_MAG_Z, this);
  lp_var_t<float> finaCalMagX = lp_var_t<float>(sid.objectId, FINA_NEG_Z_CAL_MAG_X, this);
  lp_var_t<float> finaCalMagY = lp_var_t<float>(sid.objectId, FINA_NEG_Z_CAL_MAG_Y, this);
  lp_var_t<float> finaCalMagZ = lp_var_t<float>(sid.objectId, FINA_NEG_Z_CAL_MAG_Z, this);
  lp_var_t<float> finaCoilXCurrent = lp_var_t<float>(sid.objectId, FINA_NEG_Z_COIL_X_CURRENT, this);
  lp_var_t<float> finaCoilYCurrent = lp_var_t<float>(sid.objectId, FINA_NEG_Z_COIL_Y_CURRENT, this);
  lp_var_t<float> finaCoilZCurrent = lp_var_t<float>(sid.objectId, FINA_NEG_Z_COIL_Z_CURRENT, this);
  lp_var_t<int16_t> finaCoilXTemperature =
      lp_var_t<int16_t>(sid.objectId, FINA_NEG_Z_COIL_X_TEMPERATURE, this);
  lp_var_t<int16_t> finaCoilYTemperature =
      lp_var_t<int16_t>(sid.objectId, FINA_NEG_Z_COIL_Y_TEMPERATURE, this);
  lp_var_t<int16_t> finaCoilZTemperature =
      lp_var_t<int16_t>(sid.objectId, FINA_NEG_Z_COIL_Z_TEMPERATURE, this);
};

}  // namespace IMTQ

#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_ */