RwHandler first commands

2021-06-21 09:50:26 +02:00
parent 0913442804
commit 33a55d7114
16 changed files with 750 additions and 9 deletions
--- a/mission/devices/RwHandler.h
+++ b/mission/devices/RwHandler.h
@ -0,0 +1,125 @@
+#ifndef MISSION_DEVICES_RWHANDLER_H_
+#define MISSION_DEVICES_RWHANDLER_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <mission/devices/devicedefinitions/RwDefinitions.h>
+#include <string.h>
+
+/**
+ * @brief	This is the device handler for the reaction wheel from nano avionics.
+ *
+ * @details Datasheet: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
+ *                      Arbeitsdaten/08_Used%20Components/Nanoavionics_Reactionwheels&fileid=181622
+ *
+ * @note    Values are transferred in little endian format.
+ *
+ * @author	J. Meier
+ */
+class RwHandler: public DeviceHandlerBase {
+public:
+
+    RwHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie);
+	virtual ~RwHandler();
+
+	/**
+     * @brief   Sets mode to MODE_NORMAL. Can be used for debugging.
+     */
+    void setModeNormal();
+
+    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);
+
+protected:
+	void doStartUp() override;
+	void doShutDown() override;
+	ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
+	ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) override;
+	void fillCommandAndReplyMap() override;
+	ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+				const uint8_t * commandData,size_t commandDataLen) override;
+	ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
+			DeviceCommandId_t *foundId, size_t *foundLen) override;
+	ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+			const uint8_t *packet) override;
+	void setNormalDatapoolEntriesInvalid() override;
+	uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+	ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+            LocalDataPoolManager& poolManager) override;
+
+private:
+
+    static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::RW_HANDLER;
+
+    //! [EXPORT] : [COMMENT] Action Message with invalid speed was received. Valid speeds must be in the range of [-65000; 1000] or [1000; 65000]
+    static const ReturnValue_t INVALID_SPEED = MAKE_RETURN_CODE(0xA0);
+    //! [EXPORT] : [COMMENT] Action Message with invalid ramp time was received.
+    static const ReturnValue_t INVALID_RAMP_TIME = MAKE_RETURN_CODE(0xA1);
+    //! [EXPORT] : [COMMENT] Received set speed command has invalid length. Should be 6.
+    static const ReturnValue_t SET_SPEED_COMMAND_INVALID_LENGTH = MAKE_RETURN_CODE(0xA2);
+    //! [EXPORT] : [COMMENT] Command execution failed
+    static const ReturnValue_t EXECUTION_FAILED = MAKE_RETURN_CODE(0xA3);
+    //! [EXPORT] : [COMMENT] Reaction wheel reply has invalid crc
+    static const ReturnValue_t CRC_ERROR = MAKE_RETURN_CODE(0xA4);
+
+    RwDefinitions::TemperatureSet temperatureSet;
+    RwDefinitions::StatusSet statusSet;
+
+
+	uint8_t commandBuffer[RwDefinitions::MAX_CMD_SIZE];
+
+	enum class CommunicationStep {
+        READ_TEMPERATURE,
+        GET_RW_SATUS
+    };
+
+	CommunicationStep communicationStep = CommunicationStep::READ_TEMPERATURE;
+
+	size_t sizeOfReply = 0;
+
+	/**
+	 * @brief   This function prepares the send buffer with the data to request the status of
+	 *          the reaction wheel.
+	 */
+	void prepareGetStatusCmd(const uint8_t * commandData, size_t commandDataLen);
+
+	/**
+	 * @brief   This function checks if the receiced speed and ramp time to set are in a valid
+	 *          range.
+	 * @return  RETURN_OK if successful, otherwise error code.
+	 */
+	ReturnValue_t checkSpeedAndRampTime(const uint8_t * commandData, size_t commandDataLen);
+
+	/**
+	 * @brief   This function prepares the set speed command from the commandData received with
+	 *          an action message.
+	 */
+	void prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDataLen);
+
+    /**
+     * @brief   This function fills the commandBuffer with the data to request the temperature.
+     */
+    void prepareGetTemperatureCmd();
+
+	/**
+	 * @brief   This function handles the reply of the get temperature command.
+	 *
+	 * @param packet    Pointer to the reply data
+	 */
+	void handleTemperatureReply(const uint8_t* packet);
+
+	/**
+	 * @brief   This function fills the status set with the data from the get-status-reply.
+	 */
+	void handleGetRwStatusReply(const uint8_t* packet);
+};
+
+#endif /* MISSION_DEVICES_RWHANDLER_H_ */