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

#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_

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 SELF_TEST = 0x7;

	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;

	static const uint32_t ENG_HK_DATA_SET_ID = GET_ENG_HK_DATA;
	static const uint32_t CAL_MTM_SET = GET_CAL_MTM_MEASUREMENT;

	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 uint8_t MAX_REPLY_SIZE = SIZE_ENG_HK_DATA_REPLY;
	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;

	/**
	 * 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 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;
	};

	enum IMTQPoolIds: 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,
		MTM_CAL_X,
		MTM_CAL_Y,
		MTM_CAL_Z,
		ACTUATION_CAL_STATUS,
		MTM_RAW_X,
		MTM_RAW_Y,
		MTM_RAW_Z,
		ACTUATION_RAW_STATUS
	};

class EngHkDataset:
		public StaticLocalDataSet<ENG_HK_SET_POOL_ENTRIES> {
public:

    EngHkDataset(HasLocalDataPoolIF* owner):
		StaticLocalDataSet(owner, ENG_HK_DATA_SET_ID) {
	}

    EngHkDataset(object_id_t objectId):
		StaticLocalDataSet(sid_t(objectId, ENG_HK_DATA_SET_ID)) {
	}

	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<uint16_t> coilXTemperature = lp_var_t<uint16_t>(sid.objectId,
			COIL_X_TEMPERATURE, this);
	lp_var_t<uint16_t> coilYTemperature = lp_var_t<uint16_t>(sid.objectId,
			COIL_Y_TEMPERATURE, this);
	lp_var_t<uint16_t> coilZTemperature = lp_var_t<uint16_t>(sid.objectId,
			COIL_Z_TEMPERATURE, this);
	lp_var_t<uint16_t> mcuTemperature = lp_var_t<uint16_t>(sid.objectId,
			MCU_TEMPERATURE, this);
};

/**
 * @brief   This dataset holds the raw MTM measurements.
 */
class CalibratedMtmMeasurementSet:
        public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
public:

    CalibratedMtmMeasurementSet(HasLocalDataPoolIF* owner):
        StaticLocalDataSet(owner, CAL_MTM_SET) {
    }

    CalibratedMtmMeasurementSet(object_id_t objectId):
        StaticLocalDataSet(sid_t(objectId, CAL_MTM_SET)) {
    }

    /** The unit of all measurements is nT */
    lp_var_t<int32_t> mtmXnT = lp_var_t<int32_t>(sid.objectId,
            MTM_CAL_X, this);
    lp_var_t<int32_t> mtmYnT = lp_var_t<int32_t>(sid.objectId,
            MTM_CAL_Y, this);
    lp_var_t<int32_t> mtmZnT = lp_var_t<int32_t>(sid.objectId,
            MTM_CAL_Z, 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 last calibrated MTM measurement.
 */
class RawMtmMeasurementSet:
        public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
public:

    RawMtmMeasurementSet(HasLocalDataPoolIF* owner):
        StaticLocalDataSet(owner, CAL_MTM_SET) {
    }

    RawMtmMeasurementSet(object_id_t objectId):
        StaticLocalDataSet(sid_t(objectId, CAL_MTM_SET)) {
    }

    /** The unit of all measurements is nT */
    lp_var_t<float> mtmXnT = lp_var_t<float>(sid.objectId,
            MTM_RAW_X, this);
    lp_var_t<float> mtmYnT = lp_var_t<float>(sid.objectId,
            MTM_RAW_Y, this);
    lp_var_t<float> mtmZnT = lp_var_t<float>(sid.objectId,
            MTM_RAW_Z, 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();
    }

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


#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_ */