eive-obsw/mission/acs/rwHelpers.h

#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_H_

#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>

#include "eive/resultClassIds.h"
#include "events/subsystemIdRanges.h"
#include "objects/systemObjectList.h"

namespace rws {

void encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, uint8_t* encodedBuffer,
                size_t& encodedLen);
size_t idToPacketLen(DeviceCommandId_t id);

static const size_t SIZE_GET_RESET_STATUS = 5;
static const size_t SIZE_CLEAR_RESET_STATUS = 4;
static const size_t SIZE_INIT_RW = 4;
static const size_t SIZE_GET_RW_STATUS = 14;
static const size_t SIZE_SET_SPEED_REPLY = 4;
static const size_t SIZE_GET_TEMPERATURE_REPLY = 8;
/** Max size when requesting telemetry */
static const size_t SIZE_GET_TELEMETRY_REPLY = 91;

//! This is the end and start marker of the frame datalinklayer. Also called frame delimiter
//! in the NanoAvionics datasheet.
static constexpr uint8_t FRAME_DELIMITER = 0x7E;

enum class SpecialRwRequest : uint8_t {
  REQUEST_NONE = 0,
  RESET_MCU = 1,
  INIT_RW_CONTROLLER = 2,
  GET_TM = 3,
  NUM_REQUESTS
};

static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;

static const ReturnValue_t SPI_WRITE_FAILURE = MAKE_RETURN_CODE(0xB0);
//! [EXPORT] : [COMMENT] Used by the spi send function to tell a failing read call
static const ReturnValue_t SPI_READ_FAILURE = MAKE_RETURN_CODE(0xB1);
//! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about a missing
//! start sign 0x7E
static const ReturnValue_t MISSING_START_SIGN = MAKE_RETURN_CODE(0xB2);
//! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about an invalid
//! substitution combination
static const ReturnValue_t INVALID_SUBSTITUTE = MAKE_RETURN_CODE(0xB3);
//! [EXPORT] : [COMMENT] HDLC decoding mechanism never receives the end sign 0x7E
static const ReturnValue_t MISSING_END_SIGN = MAKE_RETURN_CODE(0xB4);
//! [EXPORT] : [COMMENT] Reaction wheel only responds with empty frames.
static const ReturnValue_t NO_REPLY = MAKE_RETURN_CODE(0xB5);
//! [EXPORT] : [COMMENT] Expected a start marker as first byte
static const ReturnValue_t NO_START_MARKER = MAKE_RETURN_CODE(0xB6);
//! [EXPORT] : [COMMENT] Timeout when reading reply
static const ReturnValue_t SPI_READ_TIMEOUT = MAKE_RETURN_CODE(0xB7);

static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::RW_HANDLER;

//! [EXPORT] : [COMMENT] Reaction wheel signals an error state
static constexpr Event ERROR_STATE = MAKE_EVENT(1, severity::HIGH);

static constexpr Event RESET_OCCURED = event::makeEvent(SUBSYSTEM_ID, 2, severity::LOW);

//! Minimal delay as specified by the datasheet.
static const uint32_t SPI_REPLY_DELAY = 20000;  // us

enum PoolIds : lp_id_t {
  TEMPERATURE_C,
  CURR_SPEED,
  REFERENCE_SPEED,
  STATE,
  CLC_MODE,
  LAST_RESET_STATUS,
  CURRRENT_RESET_STATUS,
  TM_LAST_RESET_STATUS,
  TM_MCU_TEMPERATURE,
  PRESSURE_SENSOR_TEMPERATURE,
  PRESSURE,
  TM_RW_STATE,
  TM_CLC_MODE,
  TM_RW_CURR_SPEED,
  TM_RW_REF_SPEED,
  INVALID_CRC_PACKETS,
  INVALID_LEN_PACKETS,
  INVALID_CMD_PACKETS,
  EXECUTED_REPLIES,
  COMMAND_REPLIES,
  UART_BYTES_WRITTEN,
  UART_BYTES_READ,
  UART_PARITY_ERRORS,
  UART_NOISE_ERRORS,
  UART_FRAME_ERRORS,
  UART_REG_OVERRUN_ERRORS,
  UART_TOTAL_ERRORS,
  TOTAL_ERRORS,
  SPI_BYTES_WRITTEN,
  SPI_BYTES_READ,
  SPI_REG_OVERRUN_ERRORS,
  SPI_TOTAL_ERRORS,

  RW_SPEED,
  RAMP_TIME,
};

enum States : uint8_t { STATE_ERROR, IDLE, COASTING, RUNNING_SPEED_STABLE, RUNNING_SPEED_CHANGING };

enum LastResetStatusBitPos : uint8_t {
  PIN_RESET = 0,
  POR_PDR_BOR_RESET = 1,
  SOFTWARE_RESET = 2,
  INDEPENDENT_WATCHDOG_RESET = 3,
  WINDOW_WATCHDOG_RESET = 4,
  LOW_POWER_RESET = 5
};

enum DeviceCommandId : DeviceCommandId_t {
  RESET_MCU = 1,

  GET_LAST_RESET_STATUS = 2,
  CLEAR_LAST_RESET_STATUS = 3,
  GET_RW_STATUS = 4,
  INIT_RW_CONTROLLER = 5,
  SET_SPEED = 6,
  GET_TEMPERATURE = 8,
  GET_TM = 9
};

static constexpr DeviceCommandId_t REQUEST_ID = 0x77;
static constexpr DeviceCommandId_t REPLY_ID = 0x78;

enum SetIds : uint32_t {
  TEMPERATURE_SET_ID = DeviceCommandId::GET_TEMPERATURE,
  STATUS_SET_ID = DeviceCommandId::GET_RW_STATUS,
  LAST_RESET_ID = DeviceCommandId::GET_LAST_RESET_STATUS,
  TM_SET_ID = DeviceCommandId::GET_TM,
  SPEED_CMD_SET = 10,
};

/** Set speed command has maximum size */
static const size_t MAX_CMD_SIZE = 9;
/**
 * Max reply is reached when each byte is replaced by its substitude which should normally never
 * happen.
 */
static const size_t MAX_REPLY_SIZE = 2 * SIZE_GET_TELEMETRY_REPLY;

static const uint8_t LAST_RESET_ENTRIES = 2;
static const uint8_t STATUS_SET_ENTRIES = 5;
static const uint8_t TM_SET_ENTRIES = 24;

/**
 * @brief   This dataset can be used to store the data periodically polled from the RW
 */
class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {
 public:
  StatusSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, rws::SetIds::STATUS_SET_ID) {}

  StatusSet(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, rws::SetIds::STATUS_SET_ID)) {}

  lp_var_t<int32_t> temperatureCelcius =
      lp_var_t<int32_t>(sid.objectId, PoolIds::TEMPERATURE_C, this);
  lp_var_t<int32_t> currSpeed = lp_var_t<int32_t>(sid.objectId, PoolIds::CURR_SPEED, this);
  lp_var_t<int32_t> referenceSpeed =
      lp_var_t<int32_t>(sid.objectId, PoolIds::REFERENCE_SPEED, this);
  lp_var_t<uint8_t> state = lp_var_t<uint8_t>(sid.objectId, PoolIds::STATE, this);
  lp_var_t<uint8_t> clcMode = lp_var_t<uint8_t>(sid.objectId, PoolIds::CLC_MODE, this);
};

/**
 * @brief   This dataset stores the last reset status.
 */
class LastResetSatus : public StaticLocalDataSet<LAST_RESET_ENTRIES> {
 public:
  LastResetSatus(HasLocalDataPoolIF* owner)
      : StaticLocalDataSet(owner, rws::SetIds::LAST_RESET_ID) {}

  LastResetSatus(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, rws::SetIds::LAST_RESET_ID)) {}

  // If a reset occurs, the status code will be cached into this variable
  lp_var_t<uint8_t> lastNonClearedResetStatus =
      lp_var_t<uint8_t>(sid.objectId, PoolIds::LAST_RESET_STATUS, this);
  // This will always contain the last polled reset status
  lp_var_t<uint8_t> currentResetStatus =
      lp_var_t<uint8_t>(sid.objectId, PoolIds::CURRRENT_RESET_STATUS, this);
};

/**
 * @brief   This dataset stores telemetry data as specified in the datasheet of the nano avionics
 *          reaction wheels. https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/
 *          EIVE_IRS/Arbeitsdaten/08_Used%20Components/Nanoavionics_Reactionwheels&fileid=181622
 */
class TmDataset : public StaticLocalDataSet<TM_SET_ENTRIES> {
 public:
  TmDataset(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, rws::SetIds::TM_SET_ID) {}

  TmDataset(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, rws::SetIds::TM_SET_ID)) {}

  lp_var_t<uint8_t> lastResetStatus =
      lp_var_t<uint8_t>(sid.objectId, PoolIds::TM_LAST_RESET_STATUS, this);
  lp_var_t<int32_t> mcuTemperature =
      lp_var_t<int32_t>(sid.objectId, PoolIds::TM_MCU_TEMPERATURE, this);
  lp_var_t<float> pressureSensorTemperature =
      lp_var_t<float>(sid.objectId, PoolIds::PRESSURE_SENSOR_TEMPERATURE, this);
  lp_var_t<float> pressure = lp_var_t<float>(sid.objectId, PoolIds::PRESSURE, this);
  lp_var_t<uint8_t> rwState = lp_var_t<uint8_t>(sid.objectId, PoolIds::TM_RW_STATE, this);
  lp_var_t<uint8_t> rwClcMode = lp_var_t<uint8_t>(sid.objectId, PoolIds::TM_CLC_MODE, this);
  lp_var_t<int32_t> rwCurrSpeed = lp_var_t<int32_t>(sid.objectId, PoolIds::TM_RW_CURR_SPEED, this);
  lp_var_t<int32_t> rwRefSpeed = lp_var_t<int32_t>(sid.objectId, PoolIds::TM_RW_REF_SPEED, this);
  lp_var_t<uint32_t> numOfInvalidCrcPackets =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::INVALID_CRC_PACKETS, this);
  lp_var_t<uint32_t> numOfInvalidLenPackets =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::INVALID_LEN_PACKETS, this);
  lp_var_t<uint32_t> numOfInvalidCmdPackets =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::INVALID_CMD_PACKETS, this);
  lp_var_t<uint32_t> numOfCmdExecutedReplies =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::EXECUTED_REPLIES, this);
  lp_var_t<uint32_t> numOfCmdReplies =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::COMMAND_REPLIES, this);
  lp_var_t<uint32_t> uartNumOfBytesWritten =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::UART_BYTES_WRITTEN, this);
  lp_var_t<uint32_t> uartNumOfBytesRead =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::UART_BYTES_READ, this);
  lp_var_t<uint32_t> uartNumOfParityErrors =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::UART_PARITY_ERRORS, this);
  lp_var_t<uint32_t> uartNumOfNoiseErrors =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::UART_NOISE_ERRORS, this);
  lp_var_t<uint32_t> uartNumOfFrameErrors =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::UART_FRAME_ERRORS, this);
  lp_var_t<uint32_t> uartNumOfRegisterOverrunErrors =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::UART_REG_OVERRUN_ERRORS, this);
  lp_var_t<uint32_t> uartTotalNumOfErrors =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::UART_TOTAL_ERRORS, this);
  lp_var_t<uint32_t> spiNumOfBytesWritten =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::SPI_BYTES_WRITTEN, this);
  lp_var_t<uint32_t> spiNumOfBytesRead =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::SPI_BYTES_READ, this);
  lp_var_t<uint32_t> spiNumOfRegisterOverrunErrors =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::SPI_REG_OVERRUN_ERRORS, this);
  lp_var_t<uint32_t> spiTotalNumOfErrors =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::SPI_TOTAL_ERRORS, this);
};

class RwSpeedActuationSet : public StaticLocalDataSet<2> {
  friend class RwHandler;

 public:
  RwSpeedActuationSet(HasLocalDataPoolIF& owner)
      : StaticLocalDataSet(&owner, rws::SetIds::SPEED_CMD_SET) {}
  RwSpeedActuationSet(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, rws::SetIds::SPEED_CMD_SET)) {}

  void setRwSpeed(int32_t rwSpeed_, uint16_t rampTime_) {
    if (rwSpeed.value != rwSpeed_) {
      rwSpeed = rwSpeed_;
    }
    if (rampTime.value != rampTime_) {
      rampTime = rampTime_;
    }
  }

  void getRwSpeed(int32_t& rwSpeed_, uint16_t& rampTime_) {
    rwSpeed_ = rwSpeed.value;
    rampTime_ = rampTime.value;
  }

 private:
  lp_var_t<int32_t> rwSpeed = lp_var_t<int32_t>(sid.objectId, rws::PoolIds::RW_SPEED, this);
  lp_var_t<uint16_t> rampTime = lp_var_t<uint16_t>(sid.objectId, rws::PoolIds::RAMP_TIME, this);
};

}  // namespace rws

/**
 * Raw pointer overlay to hold the different frames received from the reaction
 * wheel in a raw buffer and send them to the device handler.
 */
struct RwReplies {
  friend class RwPollingTask;

 public:
  RwReplies(const uint8_t* rawData) : rawData(const_cast<uint8_t*>(rawData)) { initPointers(); }

  const uint8_t* getClearLastResetStatusReply() const { return clearLastResetStatusReply + 1; }
  bool wasClearLastRsetStatusReplyRead() const { return clearLastResetStatusReply[0]; }

  const uint8_t* getGetLastResetStatusReply() const { return getLastResetStatusReply + 1; }
  bool wasGetLastStatusReplyRead() const { return getLastResetStatusReply[0]; }

  const uint8_t* getHkDataReply() const { return hkDataReply + 1; }
  bool wasHkDataReplyRead() const { return hkDataReply[0]; }

  const uint8_t* getInitRwControllerReply() const { return initRwControllerReply + 1; }
  bool wasInitRwControllerReplyRead() const { return initRwControllerReply[0]; }

  const uint8_t* getRawData() const { return rawData; }

  const uint8_t* getReadTemperatureReply() const { return readTemperatureReply + 1; }
  bool wasReadTemperatureReplySet() const { return readTemperatureReply[0]; }

  const uint8_t* getRwStatusReply() const { return rwStatusReply + 1; }
  bool wasRwStatusRead() const { return rwStatusReply[0]; }

  const uint8_t* getSetSpeedReply() const { return setSpeedReply + 1; }
  bool wasSetSpeedReplyRead() const { return setSpeedReply[0]; }

 private:
  RwReplies(uint8_t* rwData) : rawData(rwData) { initPointers(); }

  /**
   * The first byte of the reply buffers contains a flag which shows whether that
   * frame was read from the reaction wheel at least once.
   */
  void initPointers() {
    rwStatusReply = rawData;
    setSpeedReply = rawData + rws::SIZE_GET_RW_STATUS + 1;
    getLastResetStatusReply = setSpeedReply + rws::SIZE_SET_SPEED_REPLY + 1;
    clearLastResetStatusReply = getLastResetStatusReply + rws::SIZE_GET_RESET_STATUS + 1;
    readTemperatureReply = clearLastResetStatusReply + rws::SIZE_CLEAR_RESET_STATUS + 1;
    hkDataReply = readTemperatureReply + rws::SIZE_GET_TEMPERATURE_REPLY + 1;
    initRwControllerReply = hkDataReply + rws::SIZE_GET_TELEMETRY_REPLY + 1;
    dummyPointer = initRwControllerReply + rws::SIZE_INIT_RW + 1;
  }
  uint8_t* rawData;
  uint8_t* rwStatusReply;
  uint8_t* setSpeedReply;
  uint8_t* getLastResetStatusReply;
  uint8_t* clearLastResetStatusReply;
  uint8_t* readTemperatureReply;
  uint8_t* hkDataReply;
  uint8_t* initRwControllerReply;
  uint8_t* dummyPointer;
};

#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_H_ */