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dataPool for setting RW speeds
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This commit is contained in:
Marius Eggert 2023-02-09 17:11:23 +01:00
parent c34d32e65e
commit 5a5d00e4e5
3 changed files with 47 additions and 11 deletions
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2
mission/devices/RwHandler.cpp
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@ -243,6 +243,8 @@ uint32_t RwHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { retur
ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(RwDefinitions::RW_SPEED, &rwSpeed);
localDataPoolMap.emplace(RwDefinitions::TEMPERATURE_C, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::CURR_SPEED, new PoolEntry<int32_t>({0}));

2
mission/devices/RwHandler.h
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@ -96,6 +96,8 @@ class RwHandler : public DeviceHandlerBase {
uint8_t commandBuffer[RwDefinitions::MAX_CMD_SIZE];
PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>(0, false);
enum class InternalState { GET_RESET_STATUS, CLEAR_RESET_STATUS, READ_TEMPERATURE, GET_RW_SATUS };
InternalState internalState = InternalState::GET_RESET_STATUS;

54
mission/devices/devicedefinitions/RwDefinitions.h
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@ -51,7 +51,9 @@ enum PoolIds : lp_id_t {
SPI_BYTES_WRITTEN,
SPI_BYTES_READ,
SPI_REG_OVERRUN_ERRORS,
SPI_TOTAL_ERRORS
SPI_TOTAL_ERRORS,
RW_SPEED,
};
enum States : uint8_t { STATE_ERROR, IDLE, COASTING, RUNNING_SPEED_STABLE, RUNNING_SPEED_CHANGING };
@ -75,10 +77,13 @@ static const DeviceCommandId_t SET_SPEED = 6;
static const DeviceCommandId_t GET_TEMPERATURE = 8;
static const DeviceCommandId_t GET_TM = 9;
static const uint32_t TEMPERATURE_SET_ID = GET_TEMPERATURE;
static const uint32_t STATUS_SET_ID = GET_RW_STATUS;
static const uint32_t LAST_RESET_ID = GET_LAST_RESET_STATUS;
static const uint32_t TM_SET_ID = GET_TM;
enum SetIds : uint32_t {
TEMPERATURE_SET_ID = GET_TEMPERATURE,
STATUS_SET_ID = GET_RW_STATUS,
LAST_RESET_ID = GET_LAST_RESET_STATUS,
TM_SET_ID = GET_TM,
RW_SPEED = 10,
};
static const size_t SIZE_GET_RESET_STATUS = 5;
static const size_t SIZE_CLEAR_RESET_STATUS = 4;
@ -106,9 +111,11 @@ static const uint8_t TM_SET_ENTRIES = 24;
*/
class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {
public:
StatusSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, STATUS_SET_ID) {}
StatusSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, RwDefinitions::SetIds::STATUS_SET_ID) {}
StatusSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, STATUS_SET_ID)) {}
StatusSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::STATUS_SET_ID)) {}
lp_var_t<int32_t> temperatureCelcius =
lp_var_t<int32_t>(sid.objectId, PoolIds::TEMPERATURE_C, this);
@ -124,9 +131,11 @@ class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {
*/
class LastResetSatus : public StaticLocalDataSet<LAST_RESET_ENTRIES> {
public:
LastResetSatus(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, LAST_RESET_ID) {}
LastResetSatus(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, RwDefinitions::SetIds::LAST_RESET_ID) {}
LastResetSatus(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, LAST_RESET_ID)) {}
LastResetSatus(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::LAST_RESET_ID)) {}
// If a reset occurs, the status code will be cached into this variable
lp_var_t<uint8_t> lastNonClearedResetStatus =
@ -143,9 +152,11 @@ class LastResetSatus : public StaticLocalDataSet<LAST_RESET_ENTRIES> {
*/
class TmDataset : public StaticLocalDataSet<TM_SET_ENTRIES> {
public:
TmDataset(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TM_SET_ID) {}
TmDataset(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, RwDefinitions::SetIds::TM_SET_ID) {}
TmDataset(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TM_SET_ID)) {}
TmDataset(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::TM_SET_ID)) {}
lp_var_t<uint8_t> lastResetStatus =
lp_var_t<uint8_t>(sid.objectId, PoolIds::TM_LAST_RESET_STATUS, this);
@ -192,6 +203,27 @@ class TmDataset : public StaticLocalDataSet<TM_SET_ENTRIES> {
lp_var_t<uint32_t>(sid.objectId, PoolIds::SPI_TOTAL_ERRORS, this);
};
class RwSpeedActuationSet : StaticLocalDataSet<4> {
friend class ::RwHandler;
public:
RwSpeedActuationSet(HasLocalDataPoolIF& owner)
: StaticLocalDataSet(&owner, RwDefinitions::SetIds::RW_SPEED) {}
RwSpeedActuationSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::RW_SPEED)) {}
void setRwSpeed(int32_t rwSpeed_) {
if (rwSpeed.value != rwSpeed_) {
}
rwSpeed = rwSpeed_;
}
void getRwSpeed(int32_t& rwSpeed_) { rwSpeed_ = rwSpeed.value; }
private:
lp_var_t<int32_t> rwSpeed = lp_var_t<int32_t>(sid.objectId, RW_SPEED, this);
};
} // namespace RwDefinitions
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_ */