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/devicedefinitions/RwDefinitions.h
+++ b/mission/devices/devicedefinitions/RwDefinitions.h
@ -0,0 +1,86 @@
+#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_
+#define MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_
+
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/datapoollocal/LocalPoolVariable.h>
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include "objects/systemObjectList.h"
+
+namespace RwDefinitions {
+
+enum PoolIds: lp_id_t {
+    TEMPERATURE_C,
+    CURR_SPEED,
+    REFERENCE_SPEED,
+    STATE,
+    CLC_MODE
+};
+
+static constexpr DeviceCommandId_t GET_RW_STATUS = 4;
+static constexpr DeviceCommandId_t SET_SPEED = 6;
+static constexpr DeviceCommandId_t GET_TEMPERATURE = 8;
+
+static constexpr uint32_t TEMPERATURE_SET_ID = GET_TEMPERATURE;
+static constexpr uint32_t STATUS_SET_ID = GET_RW_STATUS;
+
+static constexpr size_t SIZE_GET_RW_STATUS = 14;
+static constexpr size_t SIZE_SET_SPEED_REPLY = 4;
+static constexpr size_t SIZE_GET_TEMPERATURE_REPLY = 8;
+/** Max size when requesting telemetry */
+static constexpr size_t SIZE_GET_TELEMETRY_REPLY = 83;
+
+/** Set speed command has maximum size */
+static constexpr size_t MAX_CMD_SIZE = 9;
+static constexpr size_t MAX_REPLY_SIZE = SIZE_GET_TELEMETRY_REPLY;
+
+static constexpr uint8_t TEMPERATURE_SET_ENTRIES = 1;
+static constexpr uint8_t STATUS_SET_ENTRIES = 4;
+
+/**
+ * @brief   This dataset can be used to store the temperature of a reaction wheel.
+ */
+class TemperatureSet:
+        public StaticLocalDataSet<TEMPERATURE_SET_ENTRIES> {
+public:
+
+    TemperatureSet(HasLocalDataPoolIF* owner):
+        StaticLocalDataSet(owner, TEMPERATURE_SET_ID) {
+    }
+
+    TemperatureSet(object_id_t objectId):
+        StaticLocalDataSet(sid_t(objectId, TEMPERATURE_SET_ID)) {
+    }
+
+    lp_var_t<int32_t> temperatureCelcius = lp_var_t<int32_t>(sid.objectId,
+            PoolIds::TEMPERATURE_C, this);
+};
+
+/**
+ * @brief   This dataset can be used to store the reaction wheel status.
+ */
+class StatusSet:
+        public StaticLocalDataSet<STATUS_SET_ENTRIES> {
+public:
+
+    StatusSet(HasLocalDataPoolIF* owner):
+        StaticLocalDataSet(owner, STATUS_SET_ID) {
+    }
+
+    StatusSet(object_id_t objectId):
+        StaticLocalDataSet(sid_t(objectId, STATUS_SET_ID)) {
+    }
+
+    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);
+};
+
+}
+
+#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_ */
+