ploc handler wip
This commit is contained in:
parent
34ef313ab0
commit
5179954176
213
mission/devices/PlocHandler.cpp
Normal file
213
mission/devices/PlocHandler.cpp
Normal file
@ -0,0 +1,213 @@
|
|||||||
|
#include "PlocHandler.h"
|
||||||
|
|
||||||
|
#include <fsfwconfig/OBSWConfig.h>
|
||||||
|
#include <fsfw/globalfunctions/CRC.h>
|
||||||
|
#include <fsfw/datapool/PoolReadGuard.h>
|
||||||
|
#include <fsfwconfig/OBSWConfig.h>
|
||||||
|
|
||||||
|
PlocHandler::PlocHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
|
||||||
|
DeviceHandlerBase(objectId, comIF, comCookie), engHkDataset(this) {
|
||||||
|
if (comCookie == NULL) {
|
||||||
|
sif::error << "PlocHandler: Invalid com cookie" << std::endl;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
PlocHandler::~PlocHandler() {
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
void PlocHandler::doStartUp(){
|
||||||
|
if(mode == _MODE_START_UP){
|
||||||
|
setMode(MODE_ON);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void PlocHandler::doShutDown(){
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t PlocHandler::buildNormalDeviceCommand(
|
||||||
|
DeviceCommandId_t * id) {
|
||||||
|
*id = IMTQ::GET_ENG_HK_DATA;
|
||||||
|
return buildCommandFromCommand(*id, NULL, 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t PlocHandler::buildTransitionDeviceCommand(
|
||||||
|
DeviceCommandId_t * id){
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t PlocHandler::buildCommandFromCommand(
|
||||||
|
DeviceCommandId_t deviceCommand, const uint8_t * commandData,
|
||||||
|
size_t commandDataLen) {
|
||||||
|
switch(deviceCommand) {
|
||||||
|
case(IMTQ::GET_ENG_HK_DATA): {
|
||||||
|
commandBuffer[0] = IMTQ::CC::GET_ENG_HK_DATA;
|
||||||
|
rawPacket = commandBuffer;
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
case(IMTQ::START_ACTUATION_DIPOLE): {
|
||||||
|
/* IMTQ expects low byte first */
|
||||||
|
commandBuffer[0] = IMTQ::CC::START_ACTUATION_DIPOLE;
|
||||||
|
commandBuffer[1] = *(commandData + 1);
|
||||||
|
commandBuffer[2] = *(commandData);
|
||||||
|
commandBuffer[3] = *(commandData + 3);
|
||||||
|
commandBuffer[4] = *(commandData + 2);
|
||||||
|
commandBuffer[5] = *(commandData + 5);
|
||||||
|
commandBuffer[6] = *(commandData + 4);
|
||||||
|
commandBuffer[7] = *(commandData + 7);
|
||||||
|
commandBuffer[8] = *(commandData + 6);
|
||||||
|
rawPacket = commandBuffer;
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
default:
|
||||||
|
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||||
|
}
|
||||||
|
return HasReturnvaluesIF::RETURN_FAILED;
|
||||||
|
}
|
||||||
|
|
||||||
|
void PlocHandler::fillCommandAndReplyMap() {
|
||||||
|
this->insertInCommandAndReplyMap(IMTQ::GET_ENG_HK_DATA, 1, &engHkDataset,
|
||||||
|
IMTQ::SIZE_ENG_HK_DATA_REPLY, false, true, IMTQ::SIZE_ENG_HK_DATA_REPLY);
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t PlocHandler::scanForReply(const uint8_t *start,
|
||||||
|
size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
|
||||||
|
|
||||||
|
ReturnValue_t result = RETURN_OK;
|
||||||
|
|
||||||
|
switch(*start) {
|
||||||
|
case(IMTQ::CC::GET_ENG_HK_DATA):
|
||||||
|
*foundLen = IMTQ::SIZE_ENG_HK_DATA_REPLY;
|
||||||
|
*foundId = IMTQ::GET_ENG_HK_DATA;
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
sif::debug << "PlocHandler::scanForReply: Reply contains invalid command code" << std::endl;
|
||||||
|
result = IGNORE_REPLY_DATA;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t PlocHandler::interpretDeviceReply(DeviceCommandId_t id,
|
||||||
|
const uint8_t *packet) {
|
||||||
|
|
||||||
|
ReturnValue_t result = RETURN_OK;
|
||||||
|
|
||||||
|
result = parseStatusByte(packet);
|
||||||
|
|
||||||
|
if (result != RETURN_OK) {
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
switch (id) {
|
||||||
|
case (IMTQ::GET_ENG_HK_DATA):
|
||||||
|
fillEngHkDataset(packet);
|
||||||
|
break;
|
||||||
|
default: {
|
||||||
|
sif::debug << "PlocHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
|
||||||
|
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t PlocHandler::parseStatusByte(const uint8_t* packet) {
|
||||||
|
uint8_t cmdErrorField = *(packet + 1) & 0xF;
|
||||||
|
switch (cmdErrorField) {
|
||||||
|
case 0:
|
||||||
|
return RETURN_OK;
|
||||||
|
case 1:
|
||||||
|
return REJECTED_WITHOUT_REASON;
|
||||||
|
case 2:
|
||||||
|
return INVALID_COMMAND_CODE;
|
||||||
|
case 3:
|
||||||
|
return PARAMETER_MISSING;
|
||||||
|
case 4:
|
||||||
|
return PARAMETER_INVALID;
|
||||||
|
case 5:
|
||||||
|
return CC_UNAVAILABLE;
|
||||||
|
case 7:
|
||||||
|
return INTERNAL_PROCESSING_ERROR;
|
||||||
|
default:
|
||||||
|
sif::error << "PlocHandler::parseStatusByte: CMD Error field contains unknown error code "
|
||||||
|
<< cmdErrorField << std::endl;
|
||||||
|
return CMD_ERR_UNKNOWN;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void PlocHandler::fillEngHkDataset(const uint8_t* packet) {
|
||||||
|
uint8_t offset = 2;
|
||||||
|
engHkDataset.digitalVoltageMv = *(packet + offset + 1) | *(packet + offset);
|
||||||
|
offset += 2;
|
||||||
|
engHkDataset.analogVoltageMv = *(packet + offset + 1) | *(packet + offset);
|
||||||
|
offset += 2;
|
||||||
|
engHkDataset.digitalCurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
|
||||||
|
offset += 2;
|
||||||
|
engHkDataset.analogCurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
|
||||||
|
offset += 2;
|
||||||
|
engHkDataset.coilXcurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
|
||||||
|
offset += 2;
|
||||||
|
engHkDataset.coilYcurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
|
||||||
|
offset += 2;
|
||||||
|
engHkDataset.coilZcurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
|
||||||
|
offset += 2;
|
||||||
|
engHkDataset.coilXTemperature = (*(packet + offset + 1) | *(packet + offset));
|
||||||
|
offset += 2;
|
||||||
|
engHkDataset.coilYTemperature = (*(packet + offset + 1) | *(packet + offset));
|
||||||
|
offset += 2;
|
||||||
|
engHkDataset.coilZTemperature = (*(packet + offset + 1) | *(packet + offset));
|
||||||
|
offset += 2;
|
||||||
|
engHkDataset.mcuTemperature = (*(packet + offset + 1) | *(packet + offset));
|
||||||
|
|
||||||
|
#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1
|
||||||
|
sif::info << "IMTQ digital voltage: " << engHkDataset.digitalVoltageMv << " mV" << std::endl;
|
||||||
|
sif::info << "IMTQ analog voltage: " << engHkDataset.analogVoltageMv << " mV" << std::endl;
|
||||||
|
sif::info << "IMTQ digital current: " << engHkDataset.digitalCurrentA << " A" << std::endl;
|
||||||
|
sif::info << "IMTQ analog current: " << engHkDataset.analogCurrentA << " A" << std::endl;
|
||||||
|
sif::info << "IMTQ coil X current: " << engHkDataset.coilXcurrentA << " A" << std::endl;
|
||||||
|
sif::info << "IMTQ coil Y current: " << engHkDataset.coilYcurrentA << " A" << std::endl;
|
||||||
|
sif::info << "IMTQ coil Z current: " << engHkDataset.coilZcurrentA << " A" << std::endl;
|
||||||
|
sif::info << "IMTQ coil X temperature: " << engHkDataset.coilXTemperature << " °C"
|
||||||
|
<< std::endl;
|
||||||
|
sif::info << "IMTQ coil Y temperature: " << engHkDataset.coilYTemperature << " °C"
|
||||||
|
<< std::endl;
|
||||||
|
sif::info << "IMTQ coil Z temperature: " << engHkDataset.coilZTemperature << " °C"
|
||||||
|
<< std::endl;
|
||||||
|
sif::info << "IMTQ coil MCU temperature: " << engHkDataset.mcuTemperature << " °C"
|
||||||
|
<< std::endl;
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
void PlocHandler::setNormalDatapoolEntriesInvalid(){
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
uint32_t PlocHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
|
||||||
|
return 500;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t PlocHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||||
|
LocalDataPoolManager& poolManager) {
|
||||||
|
|
||||||
|
localDataPoolMap.emplace(IMTQ::DIGITAL_VOLTAGE_MV, new PoolEntry<uint16_t>( { 0 }));
|
||||||
|
localDataPoolMap.emplace(IMTQ::ANALOG_VOLTAGE_MV, new PoolEntry<uint16_t>( { 0 }));
|
||||||
|
localDataPoolMap.emplace(IMTQ::DIGITAL_CURRENT_A, new PoolEntry<float>( { 0 }));
|
||||||
|
localDataPoolMap.emplace(IMTQ::ANALOG_CURRENT_A, new PoolEntry<float>( { 0 }));
|
||||||
|
localDataPoolMap.emplace(IMTQ::COIL_X_CURRENT_A, new PoolEntry<float>( { 0 }));
|
||||||
|
localDataPoolMap.emplace(IMTQ::COIL_Y_CURRENT_A, new PoolEntry<float>( { 0 }));
|
||||||
|
localDataPoolMap.emplace(IMTQ::COIL_Z_CURRENT_A, new PoolEntry<float>( { 0 }));
|
||||||
|
localDataPoolMap.emplace(IMTQ::COIL_X_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
|
||||||
|
localDataPoolMap.emplace(IMTQ::COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
|
||||||
|
localDataPoolMap.emplace(IMTQ::COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
|
||||||
|
localDataPoolMap.emplace(IMTQ::MCU_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
|
||||||
|
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
void PlocHandler::setModeNormal() {
|
||||||
|
mode = MODE_NORMAL;
|
||||||
|
}
|
||||||
|
|
||||||
77
mission/devices/PlocHandler.h
Normal file
77
mission/devices/PlocHandler.h
Normal file
@ -0,0 +1,77 @@
|
|||||||
|
#ifndef MISSION_DEVICES_PLOCHANDLER_H_
|
||||||
|
#define MISSION_DEVICES_PLOCHANDLER_H_
|
||||||
|
|
||||||
|
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||||
|
#include <mission/devices/devicedefinitions/PlocHandlerDefinitions.h>
|
||||||
|
#include <string.h>
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief This is the device handler for the ISIS Magnetorquer iMTQ.
|
||||||
|
*
|
||||||
|
* @author J. Meier
|
||||||
|
*/
|
||||||
|
class PlocHandler: public DeviceHandlerBase {
|
||||||
|
public:
|
||||||
|
|
||||||
|
PlocHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie);
|
||||||
|
virtual ~PlocHandler();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Sets mode to MODE_NORMAL. Can be used for debugging.
|
||||||
|
*/
|
||||||
|
void setModeNormal();
|
||||||
|
|
||||||
|
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 INTERFACE_ID = CLASS_ID::IMTQ_HANDLER;
|
||||||
|
|
||||||
|
static const ReturnValue_t INVALID_COMMAND_CODE = MAKE_RETURN_CODE(0xA0);
|
||||||
|
static const ReturnValue_t PARAMETER_MISSING = MAKE_RETURN_CODE(0xA1);
|
||||||
|
static const ReturnValue_t PARAMETER_INVALID = MAKE_RETURN_CODE(0xA2);
|
||||||
|
static const ReturnValue_t CC_UNAVAILABLE = MAKE_RETURN_CODE(0xA3);
|
||||||
|
static const ReturnValue_t INTERNAL_PROCESSING_ERROR = MAKE_RETURN_CODE(0xA4);
|
||||||
|
static const ReturnValue_t REJECTED_WITHOUT_REASON = MAKE_RETURN_CODE(0xA5);
|
||||||
|
static const ReturnValue_t CMD_ERR_UNKNOWN = MAKE_RETURN_CODE(0xA6);
|
||||||
|
|
||||||
|
|
||||||
|
IMTQ::EngHkDataset engHkDataset;
|
||||||
|
|
||||||
|
uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE];
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Each reply contains a status byte giving information about a request. This function
|
||||||
|
* parses this byte and returns the associated failure message.
|
||||||
|
*
|
||||||
|
* @param packet Pointer to the received message containing the status byte.
|
||||||
|
*
|
||||||
|
* @return The return code derived from the received status byte.
|
||||||
|
*/
|
||||||
|
ReturnValue_t parseStatusByte(const uint8_t* packet);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief This function fills the engineering housekeeping dataset with the received data.
|
||||||
|
|
||||||
|
* @param packet Pointer to the received data.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
void fillEngHkDataset(const uint8_t* packet);
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif /* MISSION_DEVICES_PLOCHANDLER_H_ */
|
||||||
2
tmtc
2
tmtc
@ -1 +1 @@
|
|||||||
Subproject commit 80ee42089e5baadd60479178417299a8c660c80a
|
Subproject commit f40b70f66eba176d3c36533a779e4e0ed13ae701
|
||||||
Loading…
Reference in New Issue
Block a user