From a39d47cff51072ffde31cc0e53470f18012c3326 Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Sun, 16 May 2021 19:22:04 +0200 Subject: [PATCH 01/20] uio implementation --- bsp_q7s/InitMission.cpp | 13 +++ bsp_q7s/ObjectFactory.cpp | 18 +++- fsfw_hal | 2 +- fsfwconfig/OBSWConfig.h | 5 +- fsfwconfig/devices/gpioIds.h | 5 +- fsfwconfig/objects/systemObjectList.h | 1 + fsfwconfig/returnvalues/classIds.h | 3 +- mission/CMakeLists.txt | 1 + mission/obc/CCSDSIPCoreBridge.cpp | 104 +++++++++++++++++++++++ mission/obc/CCSDSIPCoreBridge.h | 116 ++++++++++++++++++++++++++ mission/obc/CMakeLists.txt | 5 ++ 11 files changed, 266 insertions(+), 7 deletions(-) create mode 100644 mission/obc/CCSDSIPCoreBridge.cpp create mode 100644 mission/obc/CCSDSIPCoreBridge.h create mode 100644 mission/obc/CMakeLists.txt diff --git a/bsp_q7s/InitMission.cpp b/bsp_q7s/InitMission.cpp index 797c5e71..85249099 100644 --- a/bsp_q7s/InitMission.cpp +++ b/bsp_q7s/InitMission.cpp @@ -83,6 +83,15 @@ void initmission::initTasks() { initmission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK); } +#if TEST_CCSDS_BRIDGE == 1 + PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask( + "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); + result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE); + } +#endif + /* PUS Services */ PeriodicTaskIF* pusVerification = factory->createPeriodicTask( "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); @@ -210,5 +219,9 @@ void initmission::initTasks() { #if OBSW_ADD_TEST_CODE == 1 testTask->startTask(); #endif + +#if TEST_CCSDS_BRIDGE == 1 + ptmeTestTask->startTask(); +#endif sif::info << "Tasks started.." << std::endl; } diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp index 4d1a413e..71e758b1 100644 --- a/bsp_q7s/ObjectFactory.cpp +++ b/bsp_q7s/ObjectFactory.cpp @@ -35,6 +35,7 @@ #include #include #include +#include #include #include @@ -577,9 +578,22 @@ void ObjectFactory::produce(){ SpiCookie* spiCookieSus = new SpiCookie(addresses::SUS_1, std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED); - SusHandler* sus1 = new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus, gpioComIF, + new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus, gpioComIF, gpioIds::CS_SUS_1); - sus1->setStartUpImmediately(); +#endif + +#if TE0720 == 1 && TEST_CCSDS_BRIDGE == 1 + GpioCookie* gpioCookieCcsdsIp = new GpioCookie; + GpiodRegular* papbBusyN = new GpiodRegular(std::string("gpiochip0"), 0, std::string("PAPBBusy_N")); + gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_BUSY_N, papbBusyN); + GpiodRegular* papbEmpty = new GpiodRegular(std::string("gpiochip0"), 1, + std::string("Chip Select Sus Sensor")); + gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_EMPTY, papbEmpty); + gpioComIF->addGpios(gpioCookieCcsdsIp); + + new CCSDSIPCoreBridge(objects::CCSDS_IP_CORE_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR, + objects::TM_STORE, objects::TC_STORE, gpioComIF, std::string("/dev/uio0"), + gpioIds::PAPB_BUSY_N, gpioIds::PAPB_EMPTY); #endif #if TE0720 == 1 && TEST_RADIATION_SENSOR_HANDLER == 1 diff --git a/fsfw_hal b/fsfw_hal index a0f698ff..6341da22 160000 --- a/fsfw_hal +++ b/fsfw_hal @@ -1 +1 @@ -Subproject commit a0f698fffa4dd5c9f86337c5d6170f9321cb8de7 +Subproject commit 6341da22123166ac5fafdbc09e823d7464f769e5 diff --git a/fsfwconfig/OBSWConfig.h b/fsfwconfig/OBSWConfig.h index 9426d01b..efc8bcc2 100644 --- a/fsfwconfig/OBSWConfig.h +++ b/fsfwconfig/OBSWConfig.h @@ -20,11 +20,12 @@ debugging. */ #define OBSW_PRINT_MISSED_DEADLINES 1 #define OBSW_ADD_TEST_CODE 1 #define TEST_LIBGPIOD 0 -#define TEST_RADIATION_SENSOR_HANDLER 1 +#define TEST_RADIATION_SENSOR_HANDLER 0 #define TEST_SUS_HANDLER 1 #define TEST_PLOC_HANDLER 0 +#define TEST_CCSDS_BRIDGE 1 -#define TE0720 0 +#define TE0720 1 #define TE0720_HEATER_TEST 0 #define P60DOCK_DEBUG 0 diff --git a/fsfwconfig/devices/gpioIds.h b/fsfwconfig/devices/gpioIds.h index 3221c613..102b04b9 100644 --- a/fsfwconfig/devices/gpioIds.h +++ b/fsfwconfig/devices/gpioIds.h @@ -65,7 +65,10 @@ namespace gpioIds { SPI_MUX_BIT_5, SPI_MUX_BIT_6, - CS_RAD_SENSOR + CS_RAD_SENSOR, + + PAPB_BUSY_N, + PAPB_EMPTY }; } diff --git a/fsfwconfig/objects/systemObjectList.h b/fsfwconfig/objects/systemObjectList.h index 746e83cf..0d20bd3d 100644 --- a/fsfwconfig/objects/systemObjectList.h +++ b/fsfwconfig/objects/systemObjectList.h @@ -16,6 +16,7 @@ namespace objects { PUS_PACKET_DISTRIBUTOR = 0x50000200, UDP_BRIDGE = 0x50000300, UDP_POLLING_TASK = 0x50000400, + CCSDS_IP_CORE_BRIDGE = 0x50000500, PUS_SERVICE_3 = 0x51000300, PUS_SERVICE_5 = 0x51000400, diff --git a/fsfwconfig/returnvalues/classIds.h b/fsfwconfig/returnvalues/classIds.h index 50bb3cea..f3f50592 100644 --- a/fsfwconfig/returnvalues/classIds.h +++ b/fsfwconfig/returnvalues/classIds.h @@ -21,7 +21,8 @@ enum { SYRLINKS_HANDLER, IMTQ_HANDLER, PLOC_HANDLER, - SUS_HANDLER + SUS_HANDLER, + CCSDS_IP_CORE_BRIDGE }; } diff --git a/mission/CMakeLists.txt b/mission/CMakeLists.txt index 9cb18749..8a18094c 100644 --- a/mission/CMakeLists.txt +++ b/mission/CMakeLists.txt @@ -1,3 +1,4 @@ add_subdirectory(core) add_subdirectory(devices) +add_subdirectory(obc) add_subdirectory(utility) diff --git a/mission/obc/CCSDSIPCoreBridge.cpp b/mission/obc/CCSDSIPCoreBridge.cpp new file mode 100644 index 00000000..f92244ce --- /dev/null +++ b/mission/obc/CCSDSIPCoreBridge.cpp @@ -0,0 +1,104 @@ +#include +#include + +#include + +CCSDSIPCoreBridge::CCSDSIPCoreBridge(object_id_t objectId, object_id_t tcDestination, + object_id_t tmStoreId, object_id_t tcStoreId, LinuxLibgpioIF* gpioComIF, + std::string uioPtme, gpioId_t papbBusyId, gpioId_t papbEmptyId) : + TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId), gpioComIF(gpioComIF), uioPtme( + uioPtme), papbBusyId(papbBusyId), papbEmptyId(papbEmptyId) { +} + +CCSDSIPCoreBridge::~CCSDSIPCoreBridge() { +} + +ReturnValue_t CCSDSIPCoreBridge::initialize() { + ReturnValue_t result = TmTcBridge::initialize(); + + fd = open("/dev/uio0", O_RDWR); + if (fd < 1) { + sif::debug << "CCSDSIPCoreBridge::initialize: Invalid UIO device file" << std::endl; + return RETURN_FAILED; + } + + /** + * Map uio device in virtual address space + * PROT_WRITE: Map uio device in writable only mode + */ + ptmeBaseAddress = static_cast(mmap(NULL, MAP_SIZE, PROT_WRITE, MAP_SHARED, fd, 0)); + + if (ptmeBaseAddress == MAP_FAILED) { + sif::error << "CCSDSIPCoreBridge::initialize: Failed to map uio address" << std::endl; + return RETURN_FAILED; + } + + return result; +} + +ReturnValue_t CCSDSIPCoreBridge::handleTm() { + + /** Size of one complete transfer frame data field amounts to 1105 bytes */ + uint8_t testPacket[1105]; + + /** Fill one test packet */ + for(int idx = 0; idx < 1105; idx++) { + testPacket[idx] = static_cast(idx & 0xFF); + } + + ReturnValue_t result = sendTm(testPacket, 1105); + if(result != RETURN_OK) { + return result; + } + return RETURN_OK; +} + +ReturnValue_t CCSDSIPCoreBridge::sendTm(const uint8_t * data, size_t dataLen) { + + if(pollPapbSignal() == RETURN_OK) { + startPacketTransfer(); + } + + for(size_t idx = 0; idx < dataLen; idx++) { + if(pollPapbSignal() == RETURN_OK) { + *(ptmeBaseAddress + PTME_DATA_REG_OFFSET) = static_cast(*(data + idx)); + } + else { + sif::debug << "CCSDSIPCoreBridge::sendTm: Only written " << idx - 1 << " of " << dataLen + << " data" << std::endl; + return RETURN_FAILED; + } + } + + if(pollPapbSignal() == RETURN_OK) { + endPacketTransfer(); + } + return RETURN_OK; +} + +void CCSDSIPCoreBridge::startPacketTransfer() { + *(ptmeBaseAddress) = PTME_CONFIG_START; +} + +void CCSDSIPCoreBridge::endPacketTransfer() { + *(ptmeBaseAddress) = PTME_CONFIG_END; +} + +ReturnValue_t CCSDSIPCoreBridge::pollPapbSignal() { + int papbBusyState = 0; + ReturnValue_t result = RETURN_OK; + + /** Check if PAPB interface is ready to receive data */ + result = gpioComIF->readGpio(papbBusyId, &papbBusyState); + if (result != RETURN_OK) { + sif::debug << "CCSDSIPCoreBridge::pollPapbSignal: Failed to read papb busy signal" + << std::endl; + return RETURN_FAILED; + } + if (!papbBusyState) { + sif::debug << "CCSDSIPCoreBridge::pollPapbSignal: PAPB busy" << std::endl; + return PAPB_BUSY; + } + + return RETURN_OK; +} diff --git a/mission/obc/CCSDSIPCoreBridge.h b/mission/obc/CCSDSIPCoreBridge.h new file mode 100644 index 00000000..ee73cbc3 --- /dev/null +++ b/mission/obc/CCSDSIPCoreBridge.h @@ -0,0 +1,116 @@ +#ifndef MISSION_OBC_CCSDSIPCOREBRIDGE_H_ +#define MISSION_OBC_CCSDSIPCOREBRIDGE_H_ + +#include +#include +#include +#include + +/** + * @brief This class handles the interfacing to the telemetry (PTME) and telecommand (PDEC) IP + * cores responsible for the CCSDS encoding and decoding. The IP cores are implemented + * on the programmable logic and are accessible through the linux UIO driver. + */ +class CCSDSIPCoreBridge: public TmTcBridge { +public: + /** + * @brief Constructor + * + * @param objectId + * @param tcDestination + * @param tmStoreId + * @param tcStoreId + * @param uioPtme Name of the uio device file which provides access to the PTME IP Core. + * @param papbBusyId The ID of the GPIO which is connected to the PAPBBusy_N signal of the + * PTME IP Core. A low logic level indicates the PTME is not ready to + * receive more data. + * @param papbEmptyId The ID of the GPIO which is connected to the PAPBEmpty signal of the + * PTME IP Core. The signal is high when there are no packets in the + * external buffer memory (BRAM). + */ + CCSDSIPCoreBridge(object_id_t objectId, object_id_t tcDestination, object_id_t tmStoreId, + object_id_t tcStoreId, LinuxLibgpioIF* gpioComIF, std::string uioPtme, + gpioId_t papbBusyId, gpioId_t papbEmptyId); + virtual ~CCSDSIPCoreBridge(); + + ReturnValue_t initialize() override; + +protected: + + /** + * Overwriting this function for testing purpose. Function is periodically called in + * performOperation. + */ + virtual ReturnValue_t handleTm() override; + + virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override; + +private: + + static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_IP_CORE_BRIDGE; + + static const ReturnValue_t PAPB_BUSY = MAKE_RETURN_CODE(0xA0); + + + /** Size of mapped address space. 4k (minimal size of pl device) */ + static const int MAP_SIZE = 0xFA0; + + /** + * Configuration bits: + * bit[1:0]: Size of data (1,2,3 or 4 bytes). 1 Byte <=> b00 + * bit[2]: Set this bit to 1 to abort a transfered packet + * bit[3]: Signals to PTME the start of a new telemetry packet + */ + static const uint32_t PTME_CONFIG_START = 0x8; + + /** + * Writing this word to the ptme base address signals to the PTME that a complete tm packet has + * been transferred. + */ + static const uint32_t PTME_CONFIG_END = 0x0; + + /** + * Writing to this offset within the PTME memory space will insert data for encoding to the + * PTME IP core. + */ + static const int PTME_DATA_REG_OFFSET = 0x400; + + LinuxLibgpioIF* gpioComIF = nullptr; + + /** The uio device file related to the PTME IP Core */ + std::string uioPtme; + + /** Pulled to low when PTME not ready to receive data */ + gpioId_t papbBusyId = gpio::NO_GPIO; + + /** High when externally buffer memory of PTME is empty */ + gpioId_t papbEmptyId = gpio::NO_GPIO; + + /** The file descriptor of the UIO driver */ + int fd; + + /** PTME base address */ + uint32_t* ptmeBaseAddress = nullptr; + + /** + * @brief This function sends the config byte to the PTME IP Core to initiate a packet + * transfer. + */ + void startPacketTransfer(); + + /** + * @brief This function sends the config byte to the PTME IP Core to signal the end of a + * packet transfer. + */ + void endPacketTransfer(); + + /** + * @brief This function reads the papb busy signal indicating whether the PAPB interface is + * ready to receive more data or not. PAPB is ready when PAPB_Busy_N == '1'. + * + * @return RETURN_OK when ready to receive data else PAPB_BUSY. + */ + ReturnValue_t pollPapbSignal(); +}; + +#endif /* MISSION_OBC_CCSDSIPCOREBRIDGE_H_ */ diff --git a/mission/obc/CMakeLists.txt b/mission/obc/CMakeLists.txt new file mode 100644 index 00000000..79d9ba9b --- /dev/null +++ b/mission/obc/CMakeLists.txt @@ -0,0 +1,5 @@ +target_sources(${TARGET_NAME} PUBLIC + CCSDSIPCoreBridge.cpp +) + + From fbad470836a19a5e38430c0c938f2250bfeb643f Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Sun, 16 May 2021 21:53:07 +0200 Subject: [PATCH 02/20] save before endianess change --- mission/obc/CCSDSIPCoreBridge.cpp | 9 +++++---- mission/obc/CCSDSIPCoreBridge.h | 2 +- 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/mission/obc/CCSDSIPCoreBridge.cpp b/mission/obc/CCSDSIPCoreBridge.cpp index f92244ce..8dd15a03 100644 --- a/mission/obc/CCSDSIPCoreBridge.cpp +++ b/mission/obc/CCSDSIPCoreBridge.cpp @@ -26,7 +26,7 @@ ReturnValue_t CCSDSIPCoreBridge::initialize() { * Map uio device in virtual address space * PROT_WRITE: Map uio device in writable only mode */ - ptmeBaseAddress = static_cast(mmap(NULL, MAP_SIZE, PROT_WRITE, MAP_SHARED, fd, 0)); + ptmeBaseAddress = mmap(NULL, MAP_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0); if (ptmeBaseAddress == MAP_FAILED) { sif::error << "CCSDSIPCoreBridge::initialize: Failed to map uio address" << std::endl; @@ -61,7 +61,8 @@ ReturnValue_t CCSDSIPCoreBridge::sendTm(const uint8_t * data, size_t dataLen) { for(size_t idx = 0; idx < dataLen; idx++) { if(pollPapbSignal() == RETURN_OK) { - *(ptmeBaseAddress + PTME_DATA_REG_OFFSET) = static_cast(*(data + idx)); + *(static_cast(ptmeBaseAddress) + PTME_DATA_REG_OFFSET) = + static_cast(*(data + idx)); } else { sif::debug << "CCSDSIPCoreBridge::sendTm: Only written " << idx - 1 << " of " << dataLen @@ -77,11 +78,11 @@ ReturnValue_t CCSDSIPCoreBridge::sendTm(const uint8_t * data, size_t dataLen) { } void CCSDSIPCoreBridge::startPacketTransfer() { - *(ptmeBaseAddress) = PTME_CONFIG_START; + *(static_cast(ptmeBaseAddress)) = PTME_CONFIG_START; } void CCSDSIPCoreBridge::endPacketTransfer() { - *(ptmeBaseAddress) = PTME_CONFIG_END; + *(static_cast(ptmeBaseAddress)) = PTME_CONFIG_END; } ReturnValue_t CCSDSIPCoreBridge::pollPapbSignal() { diff --git a/mission/obc/CCSDSIPCoreBridge.h b/mission/obc/CCSDSIPCoreBridge.h index ee73cbc3..2b135350 100644 --- a/mission/obc/CCSDSIPCoreBridge.h +++ b/mission/obc/CCSDSIPCoreBridge.h @@ -90,7 +90,7 @@ private: int fd; /** PTME base address */ - uint32_t* ptmeBaseAddress = nullptr; + void* ptmeBaseAddress = nullptr; /** * @brief This function sends the config byte to the PTME IP Core to initiate a packet From 9c0045dbd90170c490d0f4118c35b7b9063fb000 Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Mon, 17 May 2021 13:47:10 +0200 Subject: [PATCH 03/20] ptme access wip --- mission/obc/CCSDSIPCoreBridge.cpp | 23 +++++++++++++++++++++++ mission/obc/CCSDSIPCoreBridge.h | 9 ++++++++- 2 files changed, 31 insertions(+), 1 deletion(-) diff --git a/mission/obc/CCSDSIPCoreBridge.cpp b/mission/obc/CCSDSIPCoreBridge.cpp index 8dd15a03..61b9b85b 100644 --- a/mission/obc/CCSDSIPCoreBridge.cpp +++ b/mission/obc/CCSDSIPCoreBridge.cpp @@ -56,6 +56,7 @@ ReturnValue_t CCSDSIPCoreBridge::handleTm() { ReturnValue_t CCSDSIPCoreBridge::sendTm(const uint8_t * data, size_t dataLen) { if(pollPapbSignal() == RETURN_OK) { + ptmeBufferEmpty(); startPacketTransfer(); } @@ -72,6 +73,7 @@ ReturnValue_t CCSDSIPCoreBridge::sendTm(const uint8_t * data, size_t dataLen) { } if(pollPapbSignal() == RETURN_OK) { + ptmeBufferEmpty(); endPacketTransfer(); } return RETURN_OK; @@ -103,3 +105,24 @@ ReturnValue_t CCSDSIPCoreBridge::pollPapbSignal() { return RETURN_OK; } + +void CCSDSIPCoreBridge::ptmeBufferEmpty() { + ReturnValue_t result = RETURN_OK; + int papbEmptyState = 1; + + result = gpioComIF->readGpio(papbEmptyId, &papbEmptyState); + + if (result != RETURN_OK) { + sif::debug << "CCSDSIPCoreBridge::ptmeBufferEmpty: Failed to read papb empty signal" + << std::endl; + return; + } + + if (papbEmptyState == 1) { + sif::debug << "CCSDSIPCoreBridge::ptmeBufferEmpty: Buffer is empty" << std::endl; + } + else { + sif::debug << "CCSDSIPCoreBridge::ptmeBufferEmpty: Buffer is not empty" << std::endl; + } + return; +} diff --git a/mission/obc/CCSDSIPCoreBridge.h b/mission/obc/CCSDSIPCoreBridge.h index 2b135350..e54875e0 100644 --- a/mission/obc/CCSDSIPCoreBridge.h +++ b/mission/obc/CCSDSIPCoreBridge.h @@ -53,7 +53,8 @@ private: /** Size of mapped address space. 4k (minimal size of pl device) */ - static const int MAP_SIZE = 0xFA0; +// static const int MAP_SIZE = 0xFA0; + static const int MAP_SIZE = 0x1000; /** * Configuration bits: @@ -111,6 +112,12 @@ private: * @return RETURN_OK when ready to receive data else PAPB_BUSY. */ ReturnValue_t pollPapbSignal(); + + /** + * @brief This function can be used for debugging to check wheter there are packets in + * the packet buffer of the PTME or not. + */ + void ptmeBufferEmpty(); }; #endif /* MISSION_OBC_CCSDSIPCOREBRIDGE_H_ */ From d60bf5e037e47b3800b05e17a9af53f789159333 Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Thu, 27 May 2021 13:07:57 +0200 Subject: [PATCH 04/20] ptme bridge wip --- fsfw_hal | 2 +- fsfwconfig/OBSWConfig.h | 1 + mission/obc/CCSDSIPCoreBridge.cpp | 156 ++++++++++++++++-------------- mission/obc/CCSDSIPCoreBridge.h | 21 ++-- thirdparty/etl | 2 +- tmtc | 2 +- 6 files changed, 100 insertions(+), 84 deletions(-) diff --git a/fsfw_hal b/fsfw_hal index 6341da22..7724fdc3 160000 --- a/fsfw_hal +++ b/fsfw_hal @@ -1 +1 @@ -Subproject commit 6341da22123166ac5fafdbc09e823d7464f769e5 +Subproject commit 7724fdc389c48fc3c52ba94c7c7d9fe4530f1996 diff --git a/fsfwconfig/OBSWConfig.h b/fsfwconfig/OBSWConfig.h index efc8bcc2..1aa08764 100644 --- a/fsfwconfig/OBSWConfig.h +++ b/fsfwconfig/OBSWConfig.h @@ -24,6 +24,7 @@ debugging. */ #define TEST_SUS_HANDLER 1 #define TEST_PLOC_HANDLER 0 #define TEST_CCSDS_BRIDGE 1 +#define PERFORM_PTME_TEST 1 #define TE0720 1 #define TE0720_HEATER_TEST 0 diff --git a/mission/obc/CCSDSIPCoreBridge.cpp b/mission/obc/CCSDSIPCoreBridge.cpp index 61b9b85b..0dc5ffa2 100644 --- a/mission/obc/CCSDSIPCoreBridge.cpp +++ b/mission/obc/CCSDSIPCoreBridge.cpp @@ -26,7 +26,8 @@ ReturnValue_t CCSDSIPCoreBridge::initialize() { * Map uio device in virtual address space * PROT_WRITE: Map uio device in writable only mode */ - ptmeBaseAddress = mmap(NULL, MAP_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0); + ptmeBaseAddress = static_cast(mmap(NULL, MAP_SIZE, PROT_READ | PROT_WRITE, + MAP_SHARED, fd, 0)); if (ptmeBaseAddress == MAP_FAILED) { sif::error << "CCSDSIPCoreBridge::initialize: Failed to map uio address" << std::endl; @@ -38,6 +39,86 @@ ReturnValue_t CCSDSIPCoreBridge::initialize() { ReturnValue_t CCSDSIPCoreBridge::handleTm() { +#if PERFORM_PTME_TEST == 1 + return sendTestFrame(); +#else + return TmTcBridge::handleTm(); +#endif + +} + +ReturnValue_t CCSDSIPCoreBridge::sendTm(const uint8_t * data, size_t dataLen) { + + if(pollPapbBusySignal() == RETURN_OK) { + startPacketTransfer(); + } + + for(size_t idx = 0; idx < dataLen; idx++) { + if(pollPapbBusySignal() == RETURN_OK) { + *(ptmeBaseAddress + PTME_DATA_REG_OFFSET) = static_cast(*(data + idx)); + } + else { + sif::debug << "CCSDSIPCoreBridge::sendTm: Only written " << idx - 1 << " of " << dataLen + << " data" << std::endl; + return RETURN_FAILED; + } + } + + if(pollPapbBusySignal() == RETURN_OK) { + endPacketTransfer(); + } + return RETURN_OK; +} + +void CCSDSIPCoreBridge::startPacketTransfer() { + *ptmeBaseAddress = PTME_CONFIG_START; +} + +void CCSDSIPCoreBridge::endPacketTransfer() { + *ptmeBaseAddress = PTME_CONFIG_END; +} + +ReturnValue_t CCSDSIPCoreBridge::pollPapbBusySignal() { + int papbBusyState = 0; + ReturnValue_t result = RETURN_OK; + + /** Check if PAPB interface is ready to receive data */ + result = gpioComIF->readGpio(papbBusyId, &papbBusyState); + if (result != RETURN_OK) { + sif::debug << "CCSDSIPCoreBridge::pollPapbBusySignal: Failed to read papb busy signal" + << std::endl; + return RETURN_FAILED; + } + if (!papbBusyState) { + sif::debug << "CCSDSIPCoreBridge::pollPapbBusySignal: PAPB busy" << std::endl; + return PAPB_BUSY; + } + + return RETURN_OK; +} + +void CCSDSIPCoreBridge::isPtmeBufferEmpty() { + ReturnValue_t result = RETURN_OK; + int papbEmptyState = 1; + + result = gpioComIF->readGpio(papbEmptyId, &papbEmptyState); + + if (result != RETURN_OK) { + sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Failed to read papb empty signal" + << std::endl; + return; + } + + if (papbEmptyState == 1) { + sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Buffer is empty" << std::endl; + } + else { + sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Buffer is not empty" << std::endl; + } + return; +} + +ReturnValue_t CCSDSIPCoreBridge::sendTestFrame() { /** Size of one complete transfer frame data field amounts to 1105 bytes */ uint8_t testPacket[1105]; @@ -50,79 +131,6 @@ ReturnValue_t CCSDSIPCoreBridge::handleTm() { if(result != RETURN_OK) { return result; } - return RETURN_OK; -} - -ReturnValue_t CCSDSIPCoreBridge::sendTm(const uint8_t * data, size_t dataLen) { - - if(pollPapbSignal() == RETURN_OK) { - ptmeBufferEmpty(); - startPacketTransfer(); - } - - for(size_t idx = 0; idx < dataLen; idx++) { - if(pollPapbSignal() == RETURN_OK) { - *(static_cast(ptmeBaseAddress) + PTME_DATA_REG_OFFSET) = - static_cast(*(data + idx)); - } - else { - sif::debug << "CCSDSIPCoreBridge::sendTm: Only written " << idx - 1 << " of " << dataLen - << " data" << std::endl; - return RETURN_FAILED; - } - } - - if(pollPapbSignal() == RETURN_OK) { - ptmeBufferEmpty(); - endPacketTransfer(); - } - return RETURN_OK; -} - -void CCSDSIPCoreBridge::startPacketTransfer() { - *(static_cast(ptmeBaseAddress)) = PTME_CONFIG_START; -} - -void CCSDSIPCoreBridge::endPacketTransfer() { - *(static_cast(ptmeBaseAddress)) = PTME_CONFIG_END; -} - -ReturnValue_t CCSDSIPCoreBridge::pollPapbSignal() { - int papbBusyState = 0; - ReturnValue_t result = RETURN_OK; - - /** Check if PAPB interface is ready to receive data */ - result = gpioComIF->readGpio(papbBusyId, &papbBusyState); - if (result != RETURN_OK) { - sif::debug << "CCSDSIPCoreBridge::pollPapbSignal: Failed to read papb busy signal" - << std::endl; - return RETURN_FAILED; - } - if (!papbBusyState) { - sif::debug << "CCSDSIPCoreBridge::pollPapbSignal: PAPB busy" << std::endl; - return PAPB_BUSY; - } return RETURN_OK; } - -void CCSDSIPCoreBridge::ptmeBufferEmpty() { - ReturnValue_t result = RETURN_OK; - int papbEmptyState = 1; - - result = gpioComIF->readGpio(papbEmptyId, &papbEmptyState); - - if (result != RETURN_OK) { - sif::debug << "CCSDSIPCoreBridge::ptmeBufferEmpty: Failed to read papb empty signal" - << std::endl; - return; - } - - if (papbEmptyState == 1) { - sif::debug << "CCSDSIPCoreBridge::ptmeBufferEmpty: Buffer is empty" << std::endl; - } - else { - sif::debug << "CCSDSIPCoreBridge::ptmeBufferEmpty: Buffer is not empty" << std::endl; - } - return; -} diff --git a/mission/obc/CCSDSIPCoreBridge.h b/mission/obc/CCSDSIPCoreBridge.h index e54875e0..5b7674e9 100644 --- a/mission/obc/CCSDSIPCoreBridge.h +++ b/mission/obc/CCSDSIPCoreBridge.h @@ -5,6 +5,7 @@ #include #include #include +#include "OBSWConfig.h" /** * @brief This class handles the interfacing to the telemetry (PTME) and telecommand (PDEC) IP @@ -38,8 +39,8 @@ public: protected: /** - * Overwriting this function for testing purpose. Function is periodically called in - * performOperation. + * Overwriting this function to provide the capability of testing the PTME IP Core + * implementation. */ virtual ReturnValue_t handleTm() override; @@ -73,8 +74,9 @@ private: /** * Writing to this offset within the PTME memory space will insert data for encoding to the * PTME IP core. + * The address offset is 0x400 (= 4 * 256) */ - static const int PTME_DATA_REG_OFFSET = 0x400; + static const int PTME_DATA_REG_OFFSET = 256; LinuxLibgpioIF* gpioComIF = nullptr; @@ -90,8 +92,7 @@ private: /** The file descriptor of the UIO driver */ int fd; - /** PTME base address */ - void* ptmeBaseAddress = nullptr; + uint32_t* ptmeBaseAddress = nullptr; /** * @brief This function sends the config byte to the PTME IP Core to initiate a packet @@ -111,13 +112,19 @@ private: * * @return RETURN_OK when ready to receive data else PAPB_BUSY. */ - ReturnValue_t pollPapbSignal(); + ReturnValue_t pollPapbBusySignal(); /** * @brief This function can be used for debugging to check wheter there are packets in * the packet buffer of the PTME or not. */ - void ptmeBufferEmpty(); + void isPtmeBufferEmpty(); + + /** + * @brief This function sends a complete telemetry transfer frame data field (1105 bytes) + * to the input of the PTME IP Core. Can be used to test the implementation. + */ + ReturnValue_t sendTestFrame(); }; #endif /* MISSION_OBC_CCSDSIPCOREBRIDGE_H_ */ diff --git a/thirdparty/etl b/thirdparty/etl index c308dc42..0efecca7 160000 --- a/thirdparty/etl +++ b/thirdparty/etl @@ -1 +1 @@ -Subproject commit c308dc427b7a34e54f33860fb2e244564b2740b4 +Subproject commit 0efecca700c6d0847f91b5540638571ba298c793 diff --git a/tmtc b/tmtc index 06750809..574a3e92 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 06750809cb52044392e0683896538a652f11a512 +Subproject commit 574a3e92074d9d4d0335dad3ddc5962e1369f5d5 From a7e71a71545bf773f56c8cc20c4405f1e910c0c8 Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Thu, 27 May 2021 13:50:05 +0200 Subject: [PATCH 05/20] rtd update --- bsp_q7s/ObjectFactory.cpp | 37 ++++++++++++++++---------------- bsp_q7s/boardconfig/q7s_config.h | 2 +- fsfw | 2 +- fsfwconfig/OBSWConfig.h | 2 +- 4 files changed, 21 insertions(+), 22 deletions(-) diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp index 71e758b1..c3aa3781 100644 --- a/bsp_q7s/ObjectFactory.cpp +++ b/bsp_q7s/ObjectFactory.cpp @@ -401,54 +401,53 @@ void ObjectFactory::produce(){ #if Q7S_ADD_RTD_DEVICES == 1 GpioCookie* rtdGpioCookie = new GpioCookie; - gpioCallbacks::initTcsBoardDecoder(gpioComIF); GpioCallback* gpioRtdIc3 = new GpioCallback(std::string("Chip select RTD IC3"), gpio::OUT, 1, - &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC3, gpioRtdIc3); GpioCallback* gpioRtdIc4 = new GpioCallback(std::string("Chip select RTD IC4"), gpio::OUT, 1, - &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC4, gpioRtdIc4); GpioCallback* gpioRtdIc5 = new GpioCallback(std::string("Chip select RTD IC5"), gpio::OUT, 1, - &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC5, gpioRtdIc5); GpioCallback* gpioRtdIc6 = new GpioCallback(std::string("Chip select RTD IC6"), gpio::OUT, 1, - &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC6, gpioRtdIc6); GpioCallback* gpioRtdIc7 = new GpioCallback(std::string("Chip select RTD IC7"), gpio::OUT, 1, - &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC7, gpioRtdIc7); GpioCallback* gpioRtdIc8 = new GpioCallback(std::string("Chip select RTD IC8"), gpio::OUT, 1, - &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC8, gpioRtdIc8); GpioCallback* gpioRtdIc9 = new GpioCallback(std::string("Chip select RTD IC9"), gpio::OUT, 1, - &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC9, gpioRtdIc9); GpioCallback* gpioRtdIc10 = new GpioCallback(std::string("Chip select RTD IC10"), gpio::OUT, 1, - &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC10, gpioRtdIc10); GpioCallback* gpioRtdIc11 = new GpioCallback(std::string("Chip select RTD IC11"), gpio::OUT, 1, - &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC11, gpioRtdIc11); GpioCallback* gpioRtdIc12 = new GpioCallback(std::string("Chip select RTD IC12"), gpio::OUT, 1, - &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC12, gpioRtdIc12); GpioCallback* gpioRtdIc13 = new GpioCallback(std::string("Chip select RTD IC13"), gpio::OUT, 1, - &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC13, gpioRtdIc13); GpioCallback* gpioRtdIc14 = new GpioCallback(std::string("Chip select RTD IC14"), gpio::OUT, 1, - &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC14, gpioRtdIc14); GpioCallback* gpioRtdIc15 = new GpioCallback(std::string("Chip select RTD IC15"), gpio::OUT, 1, - &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC15, gpioRtdIc15); GpioCallback* gpioRtdIc16 = new GpioCallback(std::string("Chip select RTD IC16"), gpio::OUT, 1, - &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC16, gpioRtdIc16); GpioCallback* gpioRtdIc17 = new GpioCallback(std::string("Chip select RTD IC17"), gpio::OUT, 1, - &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC17, gpioRtdIc17); GpioCallback* gpioRtdIc18 = new GpioCallback(std::string("Chip select RTD IC18"), gpio::OUT, 1, - &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF); + &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC18, gpioRtdIc18); gpioComIF->addGpios(rtdGpioCookie); @@ -518,10 +517,10 @@ void ObjectFactory::produce(){ Max31865PT1000Handler* rtdIc16 = new Max31865PT1000Handler(objects::RTD_IC16, objects::SPI_COM_IF, spiRtdIc16, 0); Max31865PT1000Handler* rtdIc17 = new Max31865PT1000Handler(objects::RTD_IC17, objects::SPI_COM_IF, spiRtdIc17, 0); Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18, objects::SPI_COM_IF, spiRtdIc18, 0); -// rtdIc10->setStartUpImmediately(); + rtdIc3->setStartUpImmediately(); // rtdIc4->setStartUpImmediately(); - (void) rtdIc3; +// (void) rtdIc3; (void) rtdIc4; (void) rtdIc5; (void) rtdIc6; diff --git a/bsp_q7s/boardconfig/q7s_config.h b/bsp_q7s/boardconfig/q7s_config.h index 782ecf4f..73cf2225 100644 --- a/bsp_q7s/boardconfig/q7s_config.h +++ b/bsp_q7s/boardconfig/q7s_config.h @@ -1,7 +1,7 @@ #ifndef BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_ #define BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_ -#define Q7S_ADD_RTD_DEVICES 0 +#define Q7S_ADD_RTD_DEVICES 1 /* Only one of those 2 should be enabled! */ /* Add code for ACS board */ diff --git a/fsfw b/fsfw index e7d24563..e9adaf67 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit e7d245635047439ca4b5a46d05bf58437a5aa33a +Subproject commit e9adaf672f7bfac9aaa03c284410b318142431ff diff --git a/fsfwconfig/OBSWConfig.h b/fsfwconfig/OBSWConfig.h index 1aa08764..72f9165e 100644 --- a/fsfwconfig/OBSWConfig.h +++ b/fsfwconfig/OBSWConfig.h @@ -26,7 +26,7 @@ debugging. */ #define TEST_CCSDS_BRIDGE 1 #define PERFORM_PTME_TEST 1 -#define TE0720 1 +#define TE0720 0 #define TE0720_HEATER_TEST 0 #define P60DOCK_DEBUG 0 From 81809fd22dad1591d54822ea3f364708137ae56e Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 27 May 2021 14:06:52 +0200 Subject: [PATCH 06/20] updated submodules --- fsfw_hal | 2 +- thirdparty/etl | 2 +- tmtc | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/fsfw_hal b/fsfw_hal index 7724fdc3..ae322d98 160000 --- a/fsfw_hal +++ b/fsfw_hal @@ -1 +1 @@ -Subproject commit 7724fdc389c48fc3c52ba94c7c7d9fe4530f1996 +Subproject commit ae322d981bd1ed8411a058ba6b4dc185f00a12f3 diff --git a/thirdparty/etl b/thirdparty/etl index 0efecca7..c308dc42 160000 --- a/thirdparty/etl +++ b/thirdparty/etl @@ -1 +1 @@ -Subproject commit 0efecca700c6d0847f91b5540638571ba298c793 +Subproject commit c308dc427b7a34e54f33860fb2e244564b2740b4 diff --git a/tmtc b/tmtc index 574a3e92..7a4d6ee1 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 574a3e92074d9d4d0335dad3ddc5962e1369f5d5 +Subproject commit 7a4d6ee13a32119a9a9e815d32680ae7ab302699 From a40310bb8876417841045ee9ffaba49eb4a8263f Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 27 May 2021 14:09:07 +0200 Subject: [PATCH 07/20] small include fix --- bsp_q7s/ObjectFactory.cpp | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp index 8668fce1..07c5ce88 100644 --- a/bsp_q7s/ObjectFactory.cpp +++ b/bsp_q7s/ObjectFactory.cpp @@ -41,10 +41,8 @@ #include #include -#include -#include - - +#include "fsfw_hal/linux/uart/UartComIF.h" +#include "fsfw_hal/linux/uart/UartCookie.h" #include #include #include From ff508c89d10b04a9542bf93772ef6948784a52a7 Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Thu, 27 May 2021 15:24:19 +0200 Subject: [PATCH 08/20] minor changes --- bsp_q7s/InitMission.cpp | 10 ++++++++++ linux/fsfwconfig/OBSWConfig.h | 2 +- mission/devices/Max31865PT1000Handler.cpp | 4 ++-- 3 files changed, 13 insertions(+), 3 deletions(-) diff --git a/bsp_q7s/InitMission.cpp b/bsp_q7s/InitMission.cpp index 59f51891..82682561 100644 --- a/bsp_q7s/InitMission.cpp +++ b/bsp_q7s/InitMission.cpp @@ -84,6 +84,14 @@ void initmission::initTasks() { initmission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK); } + /* UDP bridge */ + PeriodicTaskIF* errorReporterTestTask = factory->createPeriodicTask( + "ERROR_REPORTER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); + result = udpBridgeTask->addComponent(objects::INTERNAL_ERROR_REPORTER); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER); + } + #if TEST_CCSDS_BRIDGE == 1 PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask( "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); @@ -217,6 +225,8 @@ void initmission::initTasks() { pusMedPrio->startTask(); pusLowPrio->startTask(); + errorReporterTestTask->startTask(); + #if OBSW_ADD_TEST_CODE == 1 testTask->startTask(); #endif diff --git a/linux/fsfwconfig/OBSWConfig.h b/linux/fsfwconfig/OBSWConfig.h index 9638ee24..98ed3cdc 100644 --- a/linux/fsfwconfig/OBSWConfig.h +++ b/linux/fsfwconfig/OBSWConfig.h @@ -25,7 +25,7 @@ debugging. */ #define TEST_RADIATION_SENSOR_HANDLER 0 #define TEST_SUS_HANDLER 1 #define TEST_PLOC_HANDLER 0 -#define TEST_CCSDS_BRIDGE 1 +#define TEST_CCSDS_BRIDGE 0 #define PERFORM_PTME_TEST 1 #define TE0720 0 diff --git a/mission/devices/Max31865PT1000Handler.cpp b/mission/devices/Max31865PT1000Handler.cpp index c6d98c0a..7b2a41f8 100644 --- a/mission/devices/Max31865PT1000Handler.cpp +++ b/mission/devices/Max31865PT1000Handler.cpp @@ -348,8 +348,8 @@ ReturnValue_t Max31865PT1000Handler::initializeLocalDataPool(localpool::DataPool new PoolEntry({0}, 1, true)); localDataPoolMap.emplace(Max31865Definitions::PoolIds::FAULT_BYTE, new PoolEntry({0})); - poolManager.subscribeForPeriodicPacket(sensorDatasetSid, - false, 4.0, false); +// poolManager.subscribeForPeriodicPacket(sensorDatasetSid, +// false, 4.0, false); return HasReturnvaluesIF::RETURN_OK; } From 377a9bae79d9b5020b47a406e828d409b125aa75 Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Thu, 27 May 2021 19:05:08 +0200 Subject: [PATCH 09/20] rtd test --- linux/fsfwconfig/FSFWConfig.h | 2 +- linux/fsfwconfig/OBSWConfig.h | 2 +- .../pollingSequenceFactory.cpp | 492 +++++++++--------- mission/devices/Max31865PT1000Handler.cpp | 2 +- 4 files changed, 249 insertions(+), 249 deletions(-) diff --git a/linux/fsfwconfig/FSFWConfig.h b/linux/fsfwconfig/FSFWConfig.h index 8ec01cb9..539b0073 100644 --- a/linux/fsfwconfig/FSFWConfig.h +++ b/linux/fsfwconfig/FSFWConfig.h @@ -68,6 +68,6 @@ static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6; static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124; } -#define FSFW_HAL_LINUX_SPI_WIRETAPPING 0 +#define FSFW_HAL_LINUX_SPI_WIRETAPPING 1 #endif /* CONFIG_FSFWCONFIG_H_ */ diff --git a/linux/fsfwconfig/OBSWConfig.h b/linux/fsfwconfig/OBSWConfig.h index 98ed3cdc..29e56cd4 100644 --- a/linux/fsfwconfig/OBSWConfig.h +++ b/linux/fsfwconfig/OBSWConfig.h @@ -26,7 +26,7 @@ debugging. */ #define TEST_SUS_HANDLER 1 #define TEST_PLOC_HANDLER 0 #define TEST_CCSDS_BRIDGE 0 -#define PERFORM_PTME_TEST 1 +#define PERFORM_PTME_TEST 0 #define TE0720 0 #define TE0720_HEATER_TEST 0 diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp index 64ffb4e1..39cbae4d 100644 --- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp +++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp @@ -145,11 +145,11 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence) /* Radiation sensor */ - thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ); +// thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE); +// thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ); if (length != 3000) { sif::warning << "pollingSequenceInitDefault: Frequency changed. Make sure timing critical " @@ -166,251 +166,251 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence) */ /* Write setup */ - thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_1, length * 0.9, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_1, length * 0.901, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_READ); +// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_1, length * 0.9, SusHandler::FIRST_WRITE); +// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_READ); +// /* Write setup */ +// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_1, length * 0.901, SusHandler::FIRST_WRITE); +// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_READ); +// /* Write setup */ +// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE); +// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_READ); /* Write setup */ - thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_2, length * 0.903, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_2, length * 0.904, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_2, length * 0.905, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_READ); +// thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_2, length * 0.903, SusHandler::FIRST_WRITE); +// thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_READ); +// /* Write setup */ +// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_2, length * 0.904, SusHandler::SEND_WRITE); +// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_READ); +// /* Write setup */ +// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_2, length * 0.905, SusHandler::SEND_WRITE); +// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_READ); /* Write setup */ - thisSequence->addSlot(objects::SUS_3, length * 0.906, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_3, length * 0.906, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_3, length * 0.906, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_3, length * 0.906, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_3, length * 0.906, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_3, length * 0.907, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_3, length * 0.907, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_3, length * 0.907, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_3, length * 0.907, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_3, length * 0.907, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_3, length * 0.908, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_3, length * 0.908, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_3, length * 0.908, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_3, length * 0.908, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_3, length * 0.908, DeviceHandlerIF::GET_READ); - - /* Write setup */ - thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_4, length * 0.909, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_4, length * 0.91, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_4, length * 0.911, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_READ); - - /* Write setup */ - thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_5, length * 0.912, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_5, length * 0.913, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_5, length * 0.914, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_READ); - - /* Write setup */ - thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_6, length * 0.915, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_READ); - /* Start ADC conversions */ - thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_READ); - /* Read ADC conversions from inernal FIFO */ - thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_READ); - - /* Write setup */ - thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_7, length * 0.918, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_READ); - /* Start ADC conversions */ - thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_READ); - /* Read ADC conversions from inernal FIFO */ - thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_READ); - - /* Write setup */ - thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_8, length * 0.921, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_READ); - /* Start ADC conversions */ - thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_READ); - /* Read ADC conversions from inernal FIFO */ - thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_READ); - - /* Write setup */ - thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_9, length * 0.924, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_READ); - /* Start ADC conversions */ - thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_READ); - /* Read ADC conversions */ - thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_READ); - - /* Write setup */ - thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_10, length * 0.927, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_READ); - /* Start ADC conversions */ - thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_READ); - /* Read ADC conversions */ - thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_READ); - - /* Write setup */ - thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_11, length * 0.93, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_READ); - /* Start ADC conversions */ - thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_READ); - /* Read ADC conversions */ - thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_READ); - - /* Write setup */ - thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_12, length * 0.933, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_READ); - /* Start ADC conversions */ - thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_READ); - /* Read ADC conversions */ - thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_READ); - - /* Write setup */ - thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_13, length * 0.936, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_READ); - /* Start ADC conversions */ - thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_READ); - /* Read ADC conversions */ - thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ); +// thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_3, length * 0.8, SusHandler::FIRST_WRITE); +// thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_READ); +// /* Write setup */ +// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_3, length * 0.91, SusHandler::SEND_WRITE); +// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_READ); +// /* Write setup */ +// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_3, length * 0.93, SusHandler::SEND_WRITE); +// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_READ); +// +// /* Write setup */ +// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_4, length * 0.909, SusHandler::FIRST_WRITE); +// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_READ); +// /* Write setup */ +// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_4, length * 0.91, SusHandler::FIRST_WRITE); +// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_READ); +// /* Write setup */ +// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_4, length * 0.911, SusHandler::FIRST_WRITE); +// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_READ); +// +// /* Write setup */ +// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_5, length * 0.912, SusHandler::FIRST_WRITE); +// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_READ); +// /* Write setup */ +// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_5, length * 0.913, SusHandler::FIRST_WRITE); +// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_READ); +// /* Write setup */ +// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_5, length * 0.914, SusHandler::FIRST_WRITE); +// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_READ); +// +// /* Write setup */ +// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_6, length * 0.915, SusHandler::FIRST_WRITE); +// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_READ); +// /* Start ADC conversions */ +// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_WRITE); +// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_READ); +// /* Read ADC conversions from inernal FIFO */ +// thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_WRITE); +// thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_READ); +// +// /* Write setup */ +// thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_7, length * 0.918, SusHandler::FIRST_WRITE); +// thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_READ); +// /* Start ADC conversions */ +// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_WRITE); +// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_READ); +// /* Read ADC conversions from inernal FIFO */ +// thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_WRITE); +// thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_READ); +// +// /* Write setup */ +// thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_8, length * 0.921, SusHandler::FIRST_WRITE); +// thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_READ); +// /* Start ADC conversions */ +// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_WRITE); +// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_READ); +// /* Read ADC conversions from inernal FIFO */ +// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_WRITE); +// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_READ); +// +// /* Write setup */ +// thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_9, length * 0.924, SusHandler::FIRST_WRITE); +// thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_READ); +// /* Start ADC conversions */ +// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_WRITE); +// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_READ); +// /* Read ADC conversions */ +// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_WRITE); +// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_READ); +// +// /* Write setup */ +// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_10, length * 0.927, SusHandler::FIRST_WRITE); +// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_READ); +// /* Start ADC conversions */ +// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_WRITE); +// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_READ); +// /* Read ADC conversions */ +// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_WRITE); +// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_READ); +// +// /* Write setup */ +// thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_11, length * 0.93, SusHandler::FIRST_WRITE); +// thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_READ); +// /* Start ADC conversions */ +// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_WRITE); +// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_READ); +// /* Read ADC conversions */ +// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_WRITE); +// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_READ); +// +// /* Write setup */ +// thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_12, length * 0.933, SusHandler::FIRST_WRITE); +// thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_READ); +// /* Start ADC conversions */ +// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_WRITE); +// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_READ); +// /* Read ADC conversions */ +// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_WRITE); +// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_READ); +// +// /* Write setup */ +// thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_13, length * 0.936, SusHandler::FIRST_WRITE); +// thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_READ); +// /* Start ADC conversions */ +// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_WRITE); +// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_READ); +// /* Read ADC conversions */ +// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::PERFORM_OPERATION); +// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_WRITE); +// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_WRITE); +// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_READ); +// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ); if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) { return HasReturnvaluesIF::RETURN_OK; diff --git a/mission/devices/Max31865PT1000Handler.cpp b/mission/devices/Max31865PT1000Handler.cpp index 7b2a41f8..4eb9a971 100644 --- a/mission/devices/Max31865PT1000Handler.cpp +++ b/mission/devices/Max31865PT1000Handler.cpp @@ -329,7 +329,7 @@ void Max31865PT1000Handler::debugInterface(uint8_t positionTracker, uint32_t Max31865PT1000Handler::getTransitionDelayMs( Mode_t modeFrom, Mode_t modeTo) { - return 5000; + return 10000; } ReturnValue_t Max31865PT1000Handler::getSwitches( From 076c6164969a3e0ed7be877f80c97dab69d5c6e8 Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Wed, 2 Jun 2021 10:25:35 +0200 Subject: [PATCH 10/20] fixed merge conflicts and added threshold configuration to Max31865Handler --- bsp_q7s/ObjectFactory.cpp | 10 +- linux/fsfwconfig/OBSWConfig.h | 1 + mission/devices/Max31865PT1000Handler.cpp | 157 +++++++++++++++++- mission/devices/Max31865PT1000Handler.h | 21 ++- .../devicedefinitions/Max31865Definitions.h | 4 + 5 files changed, 177 insertions(+), 16 deletions(-) diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp index 07c5ce88..8da44279 100644 --- a/bsp_q7s/ObjectFactory.cpp +++ b/bsp_q7s/ObjectFactory.cpp @@ -454,7 +454,7 @@ void ObjectFactory::produce(){ SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3, std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, - spi::SpiModes::MODE_1, 2000000); + spi::SpiModes::MODE_3, 2000000); SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4, std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, 2000000); @@ -490,7 +490,7 @@ void ObjectFactory::produce(){ spi::SpiModes::MODE_1, 2000000); SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC15, gpioIds::RTD_IC15, std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, - spi::SpiModes::MODE_1, 2000000); + spi::SpiModes::MODE_1, 3900000); SpiCookie* spiRtdIc16 = new SpiCookie(addresses::RTD_IC16, gpioIds::RTD_IC16, std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, 2000000); @@ -517,10 +517,10 @@ void ObjectFactory::produce(){ Max31865PT1000Handler* rtdIc16 = new Max31865PT1000Handler(objects::RTD_IC16, objects::SPI_COM_IF, spiRtdIc16, 0); Max31865PT1000Handler* rtdIc17 = new Max31865PT1000Handler(objects::RTD_IC17, objects::SPI_COM_IF, spiRtdIc17, 0); Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18, objects::SPI_COM_IF, spiRtdIc18, 0); - rtdIc3->setStartUpImmediately(); + rtdIc17->setStartUpImmediately(); // rtdIc4->setStartUpImmediately(); -// (void) rtdIc3; + (void) rtdIc3; (void) rtdIc4; (void) rtdIc5; (void) rtdIc6; @@ -534,7 +534,7 @@ void ObjectFactory::produce(){ (void) rtdIc14; (void) rtdIc15; (void) rtdIc16; - (void) rtdIc17; +// (void) rtdIc17; (void) rtdIc18; #endif /* Q7S_ADD_RTD_DEVICES == 1 */ diff --git a/linux/fsfwconfig/OBSWConfig.h b/linux/fsfwconfig/OBSWConfig.h index 29e56cd4..89bbfe46 100644 --- a/linux/fsfwconfig/OBSWConfig.h +++ b/linux/fsfwconfig/OBSWConfig.h @@ -41,6 +41,7 @@ debugging. */ #define L3GD20_GYRO_DEBUG 0 #define DEBUG_RAD_SENSOR 1 #define DEBUG_SUS 1 +#define DEBUG_RTD 1 // Leave at one as the BSP is linux. Used by the ADIS16507 device handler #define OBSW_ADIS16507_LINUX_COM_IF 1 diff --git a/mission/devices/Max31865PT1000Handler.cpp b/mission/devices/Max31865PT1000Handler.cpp index 4eb9a971..12fd5102 100644 --- a/mission/devices/Max31865PT1000Handler.cpp +++ b/mission/devices/Max31865PT1000Handler.cpp @@ -8,7 +8,7 @@ Max31865PT1000Handler::Max31865PT1000Handler(object_id_t objectId, DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId), sensorDataset(this), sensorDatasetSid(sensorDataset.getSid()) { #if OBSW_VERBOSE_LEVEL >= 1 - debugDivider = new PeriodicOperationDivider(10); + debugDivider = new PeriodicOperationDivider(0); #endif } @@ -38,10 +38,38 @@ void Max31865PT1000Handler::doStartUp() { if(internalState == InternalState::REQUEST_CONFIG) { if (commandExecuted) { + commandExecuted = false; + internalState = InternalState::CONFIG_HIGH_THRESHOLD; + } + } + + if(internalState == InternalState::CONFIG_HIGH_THRESHOLD) { + if(commandExecuted) { + internalState = InternalState::REQUEST_HIGH_THRESHOLD; + commandExecuted = false; + } + } + + if(internalState == InternalState::REQUEST_HIGH_THRESHOLD) { + if(commandExecuted) { + internalState = InternalState::CONFIG_LOW_THRESHOLD; + commandExecuted = false; + } + } + + if(internalState == InternalState::CONFIG_LOW_THRESHOLD) { + if(commandExecuted) { + internalState = InternalState::REQUEST_LOW_THRESHOLD; + commandExecuted = false; + } + } + + if(internalState == InternalState::REQUEST_LOW_THRESHOLD) { + if(commandExecuted) { setMode(MODE_ON); setMode(MODE_NORMAL); - commandExecuted = false; internalState = InternalState::RUNNING; + commandExecuted = false; } } } @@ -82,6 +110,22 @@ ReturnValue_t Max31865PT1000Handler::buildTransitionDeviceCommand( *id = Max31865Definitions::REQUEST_CONFIG; return buildCommandFromCommand(*id, nullptr, 0); } + case(InternalState::CONFIG_HIGH_THRESHOLD): { + *id = Max31865Definitions::WRITE_HIGH_THRESHOLD; + return buildCommandFromCommand(*id, nullptr, 0); + } + case(InternalState::REQUEST_HIGH_THRESHOLD): { + *id = Max31865Definitions::REQUEST_HIGH_THRESHOLD; + return buildCommandFromCommand(*id, nullptr, 0); + } + case(InternalState::CONFIG_LOW_THRESHOLD): { + *id = Max31865Definitions::WRITE_LOW_THRESHOLD; + return buildCommandFromCommand(*id, nullptr, 0); + } + case(InternalState::REQUEST_LOW_THRESHOLD): { + *id = Max31865Definitions::REQUEST_LOW_THRESHOLD; + return buildCommandFromCommand(*id, nullptr, 0); + } default: #if FSFW_CPP_OSTREAM_ENABLED == 1 @@ -110,13 +154,49 @@ ReturnValue_t Max31865PT1000Handler::buildCommandFromCommand( } } case(Max31865Definitions::REQUEST_CONFIG): { - commandBuffer[0] = 0x00; // dummy byte - commandBuffer[1] = static_cast( + commandBuffer[0] = static_cast( Max31865Definitions::REQUEST_CONFIG); + commandBuffer[1] = 0x00; // dummy byte DeviceHandlerBase::rawPacketLen = 2; DeviceHandlerBase::rawPacket = commandBuffer.data(); return HasReturnvaluesIF::RETURN_OK; } + case(Max31865Definitions::WRITE_HIGH_THRESHOLD): { + commandBuffer[0] = static_cast( + Max31865Definitions::WRITE_HIGH_THRESHOLD); + commandBuffer[1] = static_cast(HIGH_THRESHOLD >> 8); + commandBuffer[2] = static_cast(HIGH_THRESHOLD & 0xFF); + DeviceHandlerBase::rawPacketLen = 3; + DeviceHandlerBase::rawPacket = commandBuffer.data(); + return HasReturnvaluesIF::RETURN_OK; + } + case(Max31865Definitions::REQUEST_HIGH_THRESHOLD): { + commandBuffer[0] = static_cast( + Max31865Definitions::REQUEST_HIGH_THRESHOLD); + commandBuffer[1] = 0x00; //dummy byte + commandBuffer[2] = 0x00; //dummy byte + DeviceHandlerBase::rawPacketLen = 3; + DeviceHandlerBase::rawPacket = commandBuffer.data(); + return HasReturnvaluesIF::RETURN_OK; + } + case(Max31865Definitions::WRITE_LOW_THRESHOLD): { + commandBuffer[0] = static_cast( + Max31865Definitions::WRITE_LOW_THRESHOLD); + commandBuffer[1] = static_cast(LOW_THRESHOLD >> 8); + commandBuffer[2] = static_cast(LOW_THRESHOLD & 0xFF); + DeviceHandlerBase::rawPacketLen = 3; + DeviceHandlerBase::rawPacket = commandBuffer.data(); + return HasReturnvaluesIF::RETURN_OK; + } + case(Max31865Definitions::REQUEST_LOW_THRESHOLD): { + commandBuffer[0] = static_cast( + Max31865Definitions::REQUEST_LOW_THRESHOLD); + commandBuffer[1] = 0x00; //dummy byte + commandBuffer[2] = 0x00; //dummy byte + DeviceHandlerBase::rawPacketLen = 3; + DeviceHandlerBase::rawPacket = commandBuffer.data(); + return HasReturnvaluesIF::RETURN_OK; + } case(Max31865Definitions::REQUEST_RTD): { commandBuffer[0] = static_cast( Max31865Definitions::REQUEST_RTD); @@ -144,6 +224,10 @@ ReturnValue_t Max31865PT1000Handler::buildCommandFromCommand( void Max31865PT1000Handler::fillCommandAndReplyMap() { insertInCommandAndReplyMap(Max31865Definitions::CONFIG_CMD, 3); insertInCommandAndReplyMap(Max31865Definitions::REQUEST_CONFIG, 3); + insertInCommandAndReplyMap(Max31865Definitions::WRITE_LOW_THRESHOLD, 3); + insertInCommandAndReplyMap(Max31865Definitions::REQUEST_LOW_THRESHOLD, 3); + insertInCommandAndReplyMap(Max31865Definitions::WRITE_HIGH_THRESHOLD, 3); + insertInCommandAndReplyMap(Max31865Definitions::REQUEST_HIGH_THRESHOLD, 3); insertInCommandAndReplyMap(Max31865Definitions::REQUEST_RTD, 3, &sensorDataset); insertInCommandAndReplyMap(Max31865Definitions::REQUEST_FAULT_BYTE, 3); @@ -158,6 +242,39 @@ ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start, internalState == InternalState::RUNNING) { *foundId = Max31865Definitions::REQUEST_RTD; *foundLen = rtdReplySize; + return RETURN_OK; + } + + if(remainingSize == 3) { + switch(internalState) { + case(InternalState::CONFIG_HIGH_THRESHOLD): { + *foundLen = 3; + *foundId = Max31865Definitions::WRITE_HIGH_THRESHOLD; + commandExecuted = true; + return RETURN_OK; + } + case(InternalState::REQUEST_HIGH_THRESHOLD): { + *foundLen = 3; + *foundId = Max31865Definitions::REQUEST_HIGH_THRESHOLD; + return RETURN_OK; + } + case(InternalState::CONFIG_LOW_THRESHOLD): { + *foundLen = 3; + *foundId = Max31865Definitions::WRITE_LOW_THRESHOLD; + commandExecuted = true; + return RETURN_OK; + } + case(InternalState::REQUEST_LOW_THRESHOLD): { + *foundLen = 3; + *foundId = Max31865Definitions::REQUEST_LOW_THRESHOLD; + return RETURN_OK; + } + default: { + sif::debug << "Max31865PT1000Handler::scanForReply: Unknown internal state" + << std::endl; + return RETURN_OK; + } + } } if(remainingSize == configReplySize) { @@ -203,14 +320,38 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply( } break; } + case(Max31865Definitions::REQUEST_LOW_THRESHOLD): { + uint16_t readLowThreshold = packet[0] << 8 | packet[1]; + if(readLowThreshold != LOW_THRESHOLD) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 && DEBUG_RTD == 1 + sif::error + << "Max31865PT1000Handler::interpretDeviceReply: Missmatch between written " + << "and readback value of low threshold register" + << std::endl; +#endif + } + commandExecuted = true; + break; + } + case(Max31865Definitions::REQUEST_HIGH_THRESHOLD): { + uint16_t readHighThreshold = packet[0] << 8 | packet[1]; + if(readHighThreshold != HIGH_THRESHOLD) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 && DEBUG_RTD == 1 + sif::error + << "Max31865PT1000Handler::interpretDeviceReply: Missmatch between written " + << "and readback value of high threshold register" + << std::endl; +#endif + } + commandExecuted = true; + break; + } case(Max31865Definitions::REQUEST_RTD): { // first bit of LSB reply byte is the fault bit uint8_t faultBit = packet[2] & 0b0000'0001; if(faultBit == 1) { // Maybe we should attempt to restart it? - if(faultByte == 0) { - internalState = InternalState::REQUEST_FAULT_BYTE; - } + internalState = InternalState::REQUEST_FAULT_BYTE; } // RTD value consists of last seven bits of the LSB reply byte and @@ -329,7 +470,7 @@ void Max31865PT1000Handler::debugInterface(uint8_t positionTracker, uint32_t Max31865PT1000Handler::getTransitionDelayMs( Mode_t modeFrom, Mode_t modeTo) { - return 10000; + return 20000; } ReturnValue_t Max31865PT1000Handler::getSwitches( diff --git a/mission/devices/Max31865PT1000Handler.h b/mission/devices/Max31865PT1000Handler.h index 19780df2..f3240788 100644 --- a/mission/devices/Max31865PT1000Handler.h +++ b/mission/devices/Max31865PT1000Handler.h @@ -37,16 +37,27 @@ public: // Configuration in 8 digit code: // 1. 1 for V_BIAS enabled, 0 for disabled // 2. 1 for Auto-conversion, 0 for off - // 3. 1 for 1-shot enabled, 0 for disabled + // 3. 1 for 1-shot enabled, 0 for disabled (self-clearing bit) // 4. 1 for 3-wire disabled, 0 for disabled // 5./6. Fault detection: 00 for no action, 01 for automatic delay, 1 // 0 for run fault detection with manual delay, // 11 for finish fault detection with manual delay - // 7. Fault status: 1 for auto-clear, 0 for auto-clear off + // 7. Fault status: Write 1 to reset fault status register (Bit is self cleared afterwards) // 8. 1 for 50 Hz filter, 0 for 60 Hz filter (noise rejection filter) static constexpr uint8_t DEFAULT_CONFIG = 0b11000001; - static constexpr float RTD_RREF_PT1000 = 4000.0; //!< Ohm + /** + * Expected temperature range is -100°C and 100°C. + * If there are temperatures beyond this range there must be a fault. + * The threshold variables cause the MAX1385 to signal an error in case the measured resistance + * indicates a temperature higher than 100°C or lower than -100°C. + * Default settings of MAX13865 are 0xFFFF for the high threshold register and 0x0 for the + * low threshold register. + */ + static constexpr uint16_t HIGH_THRESHOLD = 11298; // = 100°C + static constexpr uint16_t LOW_THRESHOLD = 4902; // = -100°C + + static constexpr float RTD_RREF_PT1000 = 4020.0; //!< Ohm static constexpr float RTD_RESISTANCE0_PT1000 = 1000.0; //!< Ohm protected: /* DeviceHandlerBase abstract function implementation */ @@ -80,6 +91,10 @@ private: NONE, WARMUP, CONFIGURE, + CONFIG_HIGH_THRESHOLD, + REQUEST_HIGH_THRESHOLD, + CONFIG_LOW_THRESHOLD, + REQUEST_LOW_THRESHOLD, REQUEST_CONFIG, RUNNING, REQUEST_FAULT_BYTE diff --git a/mission/devices/devicedefinitions/Max31865Definitions.h b/mission/devices/devicedefinitions/Max31865Definitions.h index bdf82dc8..2a789a7b 100644 --- a/mission/devices/devicedefinitions/Max31865Definitions.h +++ b/mission/devices/devicedefinitions/Max31865Definitions.h @@ -14,8 +14,12 @@ enum PoolIds: lp_id_t { }; static constexpr DeviceCommandId_t CONFIG_CMD = 0x80; +static constexpr DeviceCommandId_t WRITE_HIGH_THRESHOLD = 0x83; +static constexpr DeviceCommandId_t WRITE_LOW_THRESHOLD = 0x85; static constexpr DeviceCommandId_t REQUEST_CONFIG = 0x00; static constexpr DeviceCommandId_t REQUEST_RTD = 0x01; +static constexpr DeviceCommandId_t REQUEST_HIGH_THRESHOLD = 0x03; +static constexpr DeviceCommandId_t REQUEST_LOW_THRESHOLD = 0x05; static constexpr DeviceCommandId_t REQUEST_FAULT_BYTE = 0x07; static constexpr uint32_t MAX31865_SET_ID = REQUEST_RTD; From 5144968ba5961ba91538fd69024f533710269a46 Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Fri, 4 Jun 2021 16:45:54 +0200 Subject: [PATCH 11/20] added self test, untested --- common/config/commonSubsystemIds.h | 1 + linux/fsfwconfig/OBSWConfig.h | 1 + mission/devices/IMTQHandler.cpp | 759 +++++++++++++++++- mission/devices/IMTQHandler.h | 51 +- .../IMTQHandlerDefinitions.h | 453 +++++++++-- 5 files changed, 1188 insertions(+), 77 deletions(-) diff --git a/common/config/commonSubsystemIds.h b/common/config/commonSubsystemIds.h index e06de2a1..0bc3e1dd 100644 --- a/common/config/commonSubsystemIds.h +++ b/common/config/commonSubsystemIds.h @@ -12,6 +12,7 @@ enum: uint8_t { HEATER_HANDLER = 109, SA_DEPL_HANDLER = 110, PLOC_HANDLER = 111, + IMTQ_HANDLER = 112, COMMON_SUBSYSTEM_ID_END }; } diff --git a/linux/fsfwconfig/OBSWConfig.h b/linux/fsfwconfig/OBSWConfig.h index 89bbfe46..1d5c31ff 100644 --- a/linux/fsfwconfig/OBSWConfig.h +++ b/linux/fsfwconfig/OBSWConfig.h @@ -42,6 +42,7 @@ debugging. */ #define DEBUG_RAD_SENSOR 1 #define DEBUG_SUS 1 #define DEBUG_RTD 1 +#define IMTQ_DEBUG 1 // Leave at one as the BSP is linux. Used by the ADIS16507 device handler #define OBSW_ADIS16507_LINUX_COM_IF 1 diff --git a/mission/devices/IMTQHandler.cpp b/mission/devices/IMTQHandler.cpp index 5751dd50..1d9d306f 100644 --- a/mission/devices/IMTQHandler.cpp +++ b/mission/devices/IMTQHandler.cpp @@ -7,7 +7,7 @@ IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) : DeviceHandlerBase(objectId, comIF, comCookie), engHkDataset(this), calMtmMeasurementSet( - this), rawMtmMeasurementSet(this) { + this), rawMtmMeasurementSet(this), selfTestDataset(this) { if (comCookie == NULL) { sif::error << "IMTQHandler: Invalid com cookie" << std::endl; } @@ -18,10 +18,13 @@ IMTQHandler::~IMTQHandler() { void IMTQHandler::doStartUp(){ - if(mode == _MODE_START_UP){ - //TODO: Set to MODE_ON again - setMode(MODE_NORMAL); - communicationStep = CommunicationStep::SELF_TEST; + if(selfTestSuccess == true){ +#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1 + setMode(MODE_NORMAL); +#else + setMode(_MODE_TO_ON); +#endif + selfTestSuccess = false; } } @@ -32,12 +35,6 @@ void IMTQHandler::doShutDown(){ ReturnValue_t IMTQHandler::buildNormalDeviceCommand( DeviceCommandId_t * id) { switch (communicationStep) { - case CommunicationStep::SELF_TEST: -// *id = IMTQ::SELF_TEST; -//TODO: Implementing self test command. On-hold because of issue with humidity in clean -// room - communicationStep = CommunicationStep::GET_ENG_HK_DATA; - break; case CommunicationStep::GET_ENG_HK_DATA: *id = IMTQ::GET_ENG_HK_DATA; communicationStep = CommunicationStep::START_MTM_MEASUREMENT; @@ -64,6 +61,19 @@ ReturnValue_t IMTQHandler::buildNormalDeviceCommand( ReturnValue_t IMTQHandler::buildTransitionDeviceCommand( DeviceCommandId_t * id){ + if (mode == _MODE_START_UP) { + switch (startupStep) { + case StartupStep::COMMAND_SELF_TEST: + *id = IMTQ::SELF_TEST_CMD; + break; + case StartupStep::GET_SELF_TEST_RESULT: + *id = IMTQ::GET_SELF_TEST_RESULT; + break; + default: + sif::debug << "IMTQHandler::buildTransitionDeviceCommand: Unknown startup step" + << std::endl; + } + } return HasReturnvaluesIF::RETURN_OK; } @@ -71,6 +81,19 @@ ReturnValue_t IMTQHandler::buildCommandFromCommand( DeviceCommandId_t deviceCommand, const uint8_t * commandData, size_t commandDataLen) { switch(deviceCommand) { + case(IMTQ::SELF_TEST_CMD): { + commandBuffer[0] = IMTQ::CC::SELF_TEST_CMD; + commandBuffer[1] = IMTQ::SELF_TEST_AXIS::ALL; + rawPacket = commandBuffer; + rawPacketLen = 2; + return RETURN_OK; + } + case(IMTQ::GET_SELF_TEST_RESULT): { + commandBuffer[0] = IMTQ::CC::GET_SELF_TEST_RESULT; + rawPacket = commandBuffer; + rawPacketLen = 1; + return RETURN_OK; + } case(IMTQ::START_ACTUATION_DIPOLE): { /* IMTQ expects low byte first */ commandBuffer[0] = IMTQ::CC::START_ACTUATION_DIPOLE; @@ -123,6 +146,8 @@ ReturnValue_t IMTQHandler::buildCommandFromCommand( } void IMTQHandler::fillCommandAndReplyMap() { + this->insertInCommandAndReplyMap(IMTQ::SELF_TEST_CMD, 1, nullptr, + IMTQ::SIZE_STATUS_REPLY); this->insertInCommandAndReplyMap(IMTQ::START_ACTUATION_DIPOLE, 1, nullptr, IMTQ::SIZE_STATUS_REPLY); this->insertInCommandAndReplyMap(IMTQ::GET_ENG_HK_DATA, 1, &engHkDataset, @@ -188,6 +213,7 @@ ReturnValue_t IMTQHandler::interpretDeviceReply(DeviceCommandId_t id, } switch (id) { + case (IMTQ::SELF_TEST_CMD): case (IMTQ::START_ACTUATION_DIPOLE): case (IMTQ::START_MTM_MEASUREMENT): /* Replies only the status byte which is already handled with parseStatusByte */ @@ -204,6 +230,9 @@ ReturnValue_t IMTQHandler::interpretDeviceReply(DeviceCommandId_t id, case (IMTQ::GET_RAW_MTM_MEASUREMENT): fillRawMtmDataset(packet); break; + case (IMTQ::GET_SELF_TEST_RESULT): + handleSelfTestReply(packet); + break; default: { sif::debug << "IMTQHandler::interpretDeviceReply: Unknown device reply id" << std::endl; return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY; @@ -218,7 +247,7 @@ void IMTQHandler::setNormalDatapoolEntriesInvalid(){ } uint32_t IMTQHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){ - return 500; + return 1000; } ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap, @@ -249,6 +278,119 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat localDataPoolMap.emplace(IMTQ::MTM_RAW_Z, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::ACTUATION_RAW_STATUS, new PoolEntry( { 0 })); + /** Entries of dataset for self test results */ + localDataPoolMap.emplace(IMTQ::INIT_ERR, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(IMTQ::POS_X_ERR, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_X_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_X_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_X_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_X_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_X_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_X_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_X_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_X_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_X_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_X_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_X_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_X_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(IMTQ::NEG_X_ERR, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_X_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_X_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_X_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_X_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_X_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_X_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_X_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_X_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_X_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_X_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_X_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_X_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(IMTQ::POS_Y_ERR, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Y_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Y_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Y_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Y_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Y_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Y_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Y_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Y_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Y_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Y_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Y_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Y_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(IMTQ::NEG_Y_ERR, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Y_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Y_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Y_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Y_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Y_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Y_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Y_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Y_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Y_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Y_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Y_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Y_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(IMTQ::POS_Z_ERR, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Z_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Z_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Z_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Z_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Z_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Z_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Z_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Z_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Z_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Z_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Z_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_Z_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(IMTQ::NEG_Z_ERR, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Z_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Z_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Z_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Z_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Z_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Z_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(IMTQ::FINA_ERR, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + return HasReturnvaluesIF::RETURN_OK; } @@ -284,6 +426,7 @@ ReturnValue_t IMTQHandler::parseStatusByte(const uint8_t* packet) { } void IMTQHandler::fillEngHkDataset(const uint8_t* packet) { + PoolReadGuard rg(&engHkDataset); uint8_t offset = 2; engHkDataset.digitalVoltageMv = *(packet + offset + 1) << 8 | *(packet + offset); offset += 2; @@ -307,7 +450,7 @@ void IMTQHandler::fillEngHkDataset(const uint8_t* packet) { offset += 2; engHkDataset.mcuTemperature = (*(packet + offset + 1) << 8 | *(packet + offset)); -#if OBSW_VERBOSE_LEVEL >= 1 && IMQT_DEBUG == 1 +#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.digitalCurrentmA << " mA" << std::endl; @@ -368,6 +511,7 @@ void IMTQHandler::handleGetCommandedDipoleReply(const uint8_t* packet) { } void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) { + PoolReadGuard rg(&calMtmMeasurementSet); int8_t offset = 2; calMtmMeasurementSet.mtmXnT = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); @@ -380,7 +524,7 @@ void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) { offset += 4; calMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24) | (*(packet + offset + 2) << 16) | (*(packet + offset + 1) << 8) | (*(packet + offset)); -#if OBSW_VERBOSE_LEVEL >= 1 && IMQT_DEBUG == 1 +#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1 sif::info << "IMTQ calibrated MTM measurement X: " << calMtmMeasurementSet.mtmXnT << " nT" << std::endl; sif::info << "IMTQ calibrated MTM measurement Y: " << calMtmMeasurementSet.mtmYnT << " nT" @@ -393,6 +537,7 @@ void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) { } void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) { + PoolReadGuard rg(&rawMtmMeasurementSet); int8_t offset = 2; rawMtmMeasurementSet.mtmXnT = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; @@ -405,7 +550,7 @@ void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) { offset += 4; rawMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24) | (*(packet + offset + 2) << 16) | (*(packet + offset + 1) << 8) | (*(packet + offset)); -#if OBSW_VERBOSE_LEVEL >= 1 && IMQT_DEBUG == 1 +#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1 sif::info << "IMTQ raw MTM measurement X: " << rawMtmMeasurementSet.mtmXnT << " nT" << std::endl; sif::info << "IMTQ raw MTM measurement Y: " << rawMtmMeasurementSet.mtmYnT << " nT" @@ -416,3 +561,587 @@ void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) { << (unsigned int) rawMtmMeasurementSet.coilActuationStatus.value << std::endl; #endif } + +void IMTQHandler::handleSelfTestReply(const uint8_t* packet) { + PoolReadGuard rg(&selfTestDataset); + + /** Init measurements */ + int8_t offset = 2; + checkErrorByte(*(packet + offset), *(packet + offset + 1)); + selfTestDataset.initErr = *(packet + offset); + offset += 2; // STEP byte will not be stored + selfTestDataset.initRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.initRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.initRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.initCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.initCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.initCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.initCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.initCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.initCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.initCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.initCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.initCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + + /** +X measurements */ + checkErrorByte(*(packet + offset), *(packet + offset + 1)); + selfTestDataset.posXErr = *(packet + offset); + offset += 2; // STEP byte will not be stored + selfTestDataset.posXRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.posXRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.posXRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.posXCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.posXCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.posXCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.posXCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.posXCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.posXCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.posXCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.posXCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.posXCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + + /** -X measurements */ + checkErrorByte(*(packet + offset), *(packet + offset + 1)); + selfTestDataset.negXErr = *(packet + offset); + offset += 2; // STEP byte will not be stored + selfTestDataset.negXRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.negXRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.negXRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.negXCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.negXCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.negXCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.negXCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.negXCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.negXCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.negXCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.negXCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.negXCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + + /** +Y measurements */ + checkErrorByte(*(packet + offset), *(packet + offset + 1)); + selfTestDataset.posYErr = *(packet + offset); + offset += 2; // STEP byte will not be stored + selfTestDataset.posYRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.posYRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.posYRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.posYCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.posYCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.posYCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.posYCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.posYCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.posYCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.posYCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.posYCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.posYCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + + /** -Y measurements */ + checkErrorByte(*(packet + offset), *(packet + offset + 1)); + selfTestDataset.negYErr = *(packet + offset); + offset += 2; // STEP byte will not be stored + selfTestDataset.negYRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.negYRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.negYRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.negYCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.negYCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.negYCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.negYCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.negYCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.negYCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.negYCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.negYCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.negYCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + + /** +Z measurements */ + selfTestDataset.posZErr = *(packet + offset); + offset += 2; // STEP byte will not be stored + selfTestDataset.posZRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.posZRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.posZRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.posZCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.posZCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.posZCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.posZCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.posZCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.posZCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.posZCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.posZCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.posZCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + + /** -Z measurements */ + selfTestDataset.negZErr = *(packet + offset); + offset += 2; // STEP byte will not be stored + selfTestDataset.negZRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.negZRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.negZRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.negZCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.negZCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.negZCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.negZCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.negZCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.negZCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.negZCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.negZCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.negZCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + + /** FINA measurements */ + selfTestDataset.finaErr = *(packet + offset); + offset += 2; // STEP byte will not be stored + selfTestDataset.finaRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.finaRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.finaRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.finaCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.finaCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.finaCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + selfTestDataset.finaCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.finaCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.finaCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.finaCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.finaCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + selfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + +#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1 + sif::info << "IMTQ self test (INIT) err: " + << static_cast(selfTestDataset.initErr.value) << std::endl; + sif::info << "IMTQ self test (INIT) raw magnetic field X: " << selfTestDataset.initRawMagX + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << selfTestDataset.initRawMagY + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << selfTestDataset.initRawMagZ + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (INIT) calibrated magnetic field X: " << selfTestDataset.initCalMagX + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: " << selfTestDataset.initCalMagY + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: " << selfTestDataset.initCalMagZ + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (INIT) coil X current: " << selfTestDataset.initCoilXCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (INIT) coil Y current: " << selfTestDataset.initCoilYCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (INIT) coil Z current: " << selfTestDataset.initCoilZCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (INIT) coil X temperature: " + << selfTestDataset.initCoilXTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (INIT) coil Y temperature: " + << selfTestDataset.initCoilYTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (INIT) coil Z temperature: " + << selfTestDataset.initCoilZTemperature << " °C" << std::endl; + + sif::info << "IMTQ self test (+X) err: " << + static_cast(selfTestDataset.posXErr.value) << std::endl; + sif::info << "IMTQ self test (+X) raw magnetic field X: " << selfTestDataset.posXRawMagX + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (+X) raw magnetic field Y: " << selfTestDataset.posXRawMagY + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (+X) raw magnetic field Z: " << selfTestDataset.posXRawMagZ + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (+X) calibrated magnetic field X: " << selfTestDataset.posXCalMagX + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (+X) calibrated magnetic field Y: " << selfTestDataset.posXCalMagY + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (+X) calibrated magnetic field Z: " << selfTestDataset.posXCalMagZ + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (+X) coil X current: " << selfTestDataset.posXCoilXCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (+X) coil Y current: " << selfTestDataset.posXCoilYCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (+X) coil Z current: " << selfTestDataset.initCoilZCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (+X) coil X temperature: " + << selfTestDataset.posXCoilXTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (+X) coil Y temperature: " + << selfTestDataset.posXCoilYTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (+X) coil Z temperature: " + << selfTestDataset.posXCoilZTemperature << " °C" << std::endl; + + sif::info << "IMTQ self test (-X) err: " + << static_cast(selfTestDataset.negXErr.value) << std::endl; + sif::info << "IMTQ self test (-X) raw magnetic field X: " << selfTestDataset.negXRawMagX + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (-X) raw magnetic field Y: " << selfTestDataset.negXRawMagY + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (-X) raw magnetic field Z: " << selfTestDataset.negXRawMagZ + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (-X) calibrated magnetic field X: " << selfTestDataset.negXCalMagX + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (-X) calibrated magnetic field Y: " << selfTestDataset.negXCalMagY + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (-X) calibrated magnetic field Z: " << selfTestDataset.negXCalMagZ + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (-X) coil X current: " << selfTestDataset.negXCoilXCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (-X) coil Y current: " << selfTestDataset.negXCoilYCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (-X) coil Z current: " << selfTestDataset.negXCoilZCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (-X) coil X temperature: " + << selfTestDataset.negXCoilXTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (-X) coil Y temperature: " + << selfTestDataset.negXCoilYTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (-X) coil Z temperature: " + << selfTestDataset.negXCoilZTemperature << " °C" << std::endl; + + sif::info << "IMTQ self test (+Y) err: " + << static_cast(selfTestDataset.posYErr.value) << std::endl; + sif::info << "IMTQ self test (+Y) raw magnetic field X: " << selfTestDataset.posYRawMagX + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (+Y) raw magnetic field Y: " << selfTestDataset.posYRawMagY + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (+Y) raw magnetic field Z: " << selfTestDataset.posYRawMagZ + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (+Y) calibrated magnetic field X: " << selfTestDataset.posYCalMagX + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (+Y) calibrated magnetic field Y: " << selfTestDataset.posYCalMagY + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (+Y) calibrated magnetic field Z: " << selfTestDataset.posYCalMagZ + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (+Y) coil X current: " << selfTestDataset.posYCoilXCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (+Y) coil Y current: " << selfTestDataset.posYCoilYCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (+Y) coil Z current: " << selfTestDataset.posYCoilZCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (+Y) coil X temperature: " + << selfTestDataset.posYCoilXTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (+Y) coil Y temperature: " + << selfTestDataset.posYCoilYTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (+Y) coil Z temperature: " + << selfTestDataset.posYCoilZTemperature << " °C" << std::endl; + + sif::info << "IMTQ self test (-Y) err: " + << static_cast(selfTestDataset.negYErr.value) << std::endl; + sif::info << "IMTQ self test (-Y) raw magnetic field X: " << selfTestDataset.negYRawMagX + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (-Y) raw magnetic field Y: " << selfTestDataset.negYRawMagY + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (-Y) raw magnetic field Z: " << selfTestDataset.negYRawMagZ + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (-Y) calibrated magnetic field X: " << selfTestDataset.negYCalMagX + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (-Y) calibrated magnetic field Y: " << selfTestDataset.negYCalMagY + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (-Y) calibrated magnetic field Z: " << selfTestDataset.negYCalMagZ + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (-Y) coil X current: " << selfTestDataset.negYCoilXCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (-Y) coil Y current: " << selfTestDataset.negYCoilYCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (-Y) coil Z current: " << selfTestDataset.negYCoilZCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (-Y) coil X temperature: " + << selfTestDataset.negYCoilXTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (-Y) coil Y temperature: " + << selfTestDataset.negYCoilYTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (-Y) coil Z temperature: " + << selfTestDataset.negYCoilZTemperature << " °C" << std::endl; + + sif::info << "IMTQ self test (+Z) err: " + << static_cast(selfTestDataset.posZErr.value) << std::endl; + sif::info << "IMTQ self test (+Z) raw magnetic field X: " << selfTestDataset.posZRawMagX + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (+Z) raw magnetic field Y: " << selfTestDataset.posZRawMagY + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (+Z) raw magnetic field Z: " << selfTestDataset.posZRawMagZ + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (+Z) calibrated magnetic field X: " << selfTestDataset.posZCalMagX + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (+Z) calibrated magnetic field Y: " << selfTestDataset.posZCalMagY + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (+Z) calibrated magnetic field Z: " << selfTestDataset.posZCalMagZ + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (+Z) coil X current: " << selfTestDataset.posZCoilXCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (+Z) coil Y current: " << selfTestDataset.posZCoilYCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (+Z) coil Z current: " << selfTestDataset.posZCoilZCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (+Z) coil X temperature: " + << selfTestDataset.posZCoilXTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (+Z) coil Y temperature: " + << selfTestDataset.posZCoilYTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (+Z) coil Z temperature: " + << selfTestDataset.posZCoilZTemperature << " °C" << std::endl; + + sif::info << "IMTQ self test (-Z) err: " + << static_cast(selfTestDataset.negZErr.value) << std::endl; + sif::info << "IMTQ self test (-Z) raw magnetic field X: " << selfTestDataset.negZRawMagX + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (-Z) raw magnetic field Y: " << selfTestDataset.negZRawMagY + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (-Z) raw magnetic field Z: " << selfTestDataset.negZRawMagZ + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (-Z) calibrated magnetic field X: " << selfTestDataset.negZCalMagX + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (-Z) calibrated magnetic field Y: " << selfTestDataset.negZCalMagY + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (-Z) calibrated magnetic field Z: " << selfTestDataset.negZCalMagZ + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (-Z) coil X current: " << selfTestDataset.negZCoilXCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (-Z) coil Y current: " << selfTestDataset.negZCoilYCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (-Z) coil Z current: " << selfTestDataset.negZCoilZCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (-Z) coil X temperature: " + << selfTestDataset.negZCoilXTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (-Z) coil Y temperature: " + << selfTestDataset.negZCoilYTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (-Z) coil Z temperature: " + << selfTestDataset.negZCoilZTemperature << " °C" << std::endl; + + sif::info << "IMTQ self test (FINA) err: " + << static_cast(selfTestDataset.finaErr.value) << std::endl; + sif::info << "IMTQ self test (FINA) raw magnetic field X: " << selfTestDataset.finaRawMagX + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << selfTestDataset.finaRawMagY + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << selfTestDataset.finaRawMagZ + << " 7.5 * 10^-9 T" << std::endl; + sif::info << "IMTQ self test (FINA) calibrated magnetic field X: " << selfTestDataset.finaCalMagX + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: " << selfTestDataset.finaCalMagY + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: " << selfTestDataset.finaCalMagZ + << " 10^-9 T" << std::endl; + sif::info << "IMTQ self test (FINA) coil X current: " << selfTestDataset.finaCoilXCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (FINA) coil Y current: " << selfTestDataset.finaCoilYCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (FINA) coil Z current: " << selfTestDataset.finaCoilZCurrent + << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (FINA) coil X temperature: " + << selfTestDataset.finaCoilXTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (FINA) coil Y temperature: " + << selfTestDataset.finaCoilYTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (FINA) coil Z temperature: " + << selfTestDataset.finaCoilZTemperature << " °C" << std::endl; +#endif +} + +void IMTQHandler::checkErrorByte(const uint8_t errorByte, const uint8_t step) { + std::string stepString(""); + if (step < 8) { + stepString = makeStepString(step); + } + else { + /** This should normally never happen */ + sif::debug << "IMTQHandler::checkErrorByte: Invalid step" << std::endl; + return; + } + + if (errorByte & IMTQ::I2C_FAILURE_MASK) { + triggerEvent(SELF_TEST_I2C_FAILURE, step); + sif::error << "IMTQHandler::checkErrorByte: Self test I2C failure for step " << stepString + << std::endl; + } + if (errorByte & IMTQ::SPI_FAILURE_MASK) { + triggerEvent(SELF_TEST_SPI_FAILURE, step); + sif::error << "IMTQHandler::checkErrorByte: Self test SPI failure for step " << stepString + << std::endl; + } + if (errorByte & IMTQ::ADC_FAILURE_MASK) { + triggerEvent(SELF_TEST_ADC_FAILURE, step); + sif::error << "IMTQHandler::checkErrorByte: Self test ADC failure for step " << stepString + << std::endl; + } + if (errorByte & IMTQ::PWM_FAILURE_MASK) { + triggerEvent(SELF_TEST_PWM_FAILURE, step); + sif::error << "IMTQHandler::checkErrorByte: Self test PWM failure for step " << stepString + << std::endl; + } + if (errorByte & IMTQ::TC_FAILURE_MASK) { + triggerEvent(SELF_TEST_TC_FAILURE, step); + sif::error << "IMTQHandler::checkErrorByte: Self test TC failure (system failure) for step " + << stepString << std::endl; + } + if (errorByte & IMTQ::MTM_RANGE_FAILURE_MASK) { + triggerEvent(SELF_TEST_TC_FAILURE, step); + sif::error << "IMTQHandler::checkErrorByte: Self test MTM range failure for step " + << stepString << std::endl; + } + if (errorByte & IMTQ::COIL_CURRENT_FAILURE_MASK) { + triggerEvent(SELF_TEST_COIL_CURRENT_FAILURE, step); + sif::error << "IMTQHandler::checkErrorByte: Self test coil current outside of expected " + "range for step " << stepString << std::endl; + } +} + +std::string IMTQHandler::makeStepString(const uint8_t step) { + std::string stepString(""); + switch (step) { + case IMTQ::SELF_TEST_STEPS::INIT: + stepString = std::string("INIT"); + break; + case IMTQ::SELF_TEST_STEPS::X_POSITIVE: + stepString = std::string("+X"); + break; + case IMTQ::SELF_TEST_STEPS::X_NEGATIVE: + stepString = std::string("-X"); + break; + case IMTQ::SELF_TEST_STEPS::Y_POSITIVE: + stepString = std::string("+Y"); + break; + case IMTQ::SELF_TEST_STEPS::Y_NEGATIVE: + stepString = std::string("-Y"); + break; + case IMTQ::SELF_TEST_STEPS::Z_POSITIVE: + stepString = std::string("+Z"); + break; + case IMTQ::SELF_TEST_STEPS::Z_NEGATIVE: + stepString = std::string("-Z"); + break; + case IMTQ::SELF_TEST_STEPS::FINA: + stepString = std::string("FINA"); + break; + default: + sif::error << "IMTQHandler::checkErrorByte: Received packet with invalid step information" + << std::endl; + break; + } + return stepString; +} + diff --git a/mission/devices/IMTQHandler.h b/mission/devices/IMTQHandler.h index e162c1c6..5565b261 100644 --- a/mission/devices/IMTQHandler.h +++ b/mission/devices/IMTQHandler.h @@ -50,15 +50,38 @@ private: static const ReturnValue_t REJECTED_WITHOUT_REASON = MAKE_RETURN_CODE(0xA5); static const ReturnValue_t CMD_ERR_UNKNOWN = MAKE_RETURN_CODE(0xA6); + static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::IMTQ_HANDLER; + + //! [EXPORT] : [COMMENT] Get self test result returns I2C failure + //! P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA + static const Event SELF_TEST_I2C_FAILURE = MAKE_EVENT(1, severity::LOW); + //! [EXPORT] : [COMMENT] Get self test result returns SPI failure. This concerns the MTM connectivity. + //! P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA + static const Event SELF_TEST_SPI_FAILURE = MAKE_EVENT(2, severity::LOW); + //! [EXPORT] : [COMMENT] Get self test result returns failure in measurement of current and temperature. + //! P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA + static const Event SELF_TEST_ADC_FAILURE = MAKE_EVENT(3, severity::LOW); + //! [EXPORT] : [COMMENT] Get self test result returns PWM failure which concerns the coil actuation. + //! P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA + static const Event SELF_TEST_PWM_FAILURE = MAKE_EVENT(4, severity::LOW); + //! [EXPORT] : [COMMENT] Get self test result returns TC failure (system failure) + //! P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA + static const Event SELF_TEST_TC_FAILURE = MAKE_EVENT(5, severity::LOW); + //! [EXPORT] : [COMMENT] Get self test result returns failure that MTM values were outside of the expected range. + //! P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA + static const Event SELF_TEST_MTM_RANGE_FAILURE = MAKE_EVENT(6, severity::LOW); + //! [EXPORT] : [COMMENT] Get self test result returns failure indicating that the coil current was outside of the expected range + //! P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA + static const Event SELF_TEST_COIL_CURRENT_FAILURE = MAKE_EVENT(7, severity::LOW); IMTQ::EngHkDataset engHkDataset; IMTQ::CalibratedMtmMeasurementSet calMtmMeasurementSet; IMTQ::RawMtmMeasurementSet rawMtmMeasurementSet; + IMTQ::SelfTestDataset selfTestDataset; uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE]; enum class CommunicationStep { - SELF_TEST, GET_ENG_HK_DATA, START_MTM_MEASUREMENT, GET_CAL_MTM_MEASUREMENT, @@ -67,6 +90,15 @@ private: CommunicationStep communicationStep = CommunicationStep::GET_ENG_HK_DATA; + enum class StartupStep { + COMMAND_SELF_TEST, + GET_SELF_TEST_RESULT + }; + + StartupStep startupStep = StartupStep::COMMAND_SELF_TEST; + + bool selfTestSuccess = false; + /** * @brief Each reply contains a status byte giving information about a request. This function * parses this byte and returns the associated failure message. @@ -114,6 +146,23 @@ private: * command. */ void fillRawMtmDataset(const uint8_t* packet); + + /** + * @brief This function fills the self test dataset and parses error bytes by means of the + * self test reply data. + * @param packet Pointer to the reply data holding the self test results. + */ + void handleSelfTestReply(const uint8_t* packet); + + /** + * @brief This function checks the error byte of a self test measurement. + * + * @param errorByte The received error byte to check + * @param step The step of the error byte. + */ + void checkErrorByte(const uint8_t errorByte, const uint8_t step); + + std::string makeStepString(const uint8_t step); }; #endif /* MISSION_DEVICES_IMTQHANDLER_H_ */ diff --git a/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h b/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h index 76dd85c5..a7c32316 100644 --- a/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h +++ b/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h @@ -13,7 +13,8 @@ namespace IMTQ { static const DeviceCommandId_t GET_CAL_MTM_MEASUREMENT = 0x5; /** Requests the raw values measured by the built-in MTM XEN1210 */ static const DeviceCommandId_t GET_RAW_MTM_MEASUREMENT = 0x6; - static const DeviceCommandId_t SELF_TEST = 0x7; + static const DeviceCommandId_t SELF_TEST_CMD = 0x7; + static const DeviceCommandId_t GET_SELF_TEST_RESULT = 0x8; static const uint8_t GET_TEMP_REPLY_SIZE = 2; static const uint8_t CFGR_CMD_SIZE = 3; @@ -21,6 +22,7 @@ namespace IMTQ { static const uint32_t ENG_HK_DATA_SET_ID = GET_ENG_HK_DATA; static const uint32_t CAL_MTM_SET = GET_CAL_MTM_MEASUREMENT; + static const uint32_t SELF_TEST_DATA_SET = GET_SELF_TEST_RESULT; static const uint8_t SIZE_ENG_HK_COMMAND = 1; static const uint8_t SIZE_STATUS_REPLY = 2; @@ -35,6 +37,16 @@ namespace IMTQ { /** Define entries in IMTQ specific dataset */ static const uint8_t ENG_HK_SET_POOL_ENTRIES = 11; static const uint8_t CAL_MTM_POOL_ENTRIES = 4; + static const uint8_t SELF_TEST_DATASET_ENTRIES = 104; + + /** Error codes for interpreting the self test error byte */ + static const uint8_t I2C_FAILURE_MASK = 0x1; + static const uint8_t SPI_FAILURE_MASK = 0x2; // MTM connectivity + static const uint8_t ADC_FAILURE_MASK = 0x4; // Current/Temp measurement + static const uint8_t PWM_FAILURE_MASK = 0x8; // Coil actuation + static const uint8_t TC_FAILURE_MASK = 0x10; // System failure + static const uint8_t MTM_RANGE_FAILURE_MASK = 0x20; // MTM values outside of expected range + static const uint8_t COIL_CURRENT_FAILURE_MASK = 0x40; // Coil currents outside of expected range /** * Command code definitions. Each command or reply of an IMTQ request will begin with one of @@ -43,13 +55,36 @@ namespace IMTQ { namespace CC { static const uint8_t START_MTM_MEASUREMENT = 0x4; static const uint8_t START_ACTUATION_DIPOLE = 0x6; + static const uint8_t SELF_TEST_CMD = 0x8; static const uint8_t SOFTWARE_RESET = 0xAA; static const uint8_t GET_ENG_HK_DATA = 0x4A; static const uint8_t GET_COMMANDED_DIPOLE = 0x46; static const uint8_t GET_RAW_MTM_MEASUREMENT = 0x42; static const uint8_t GET_CAL_MTM_MEASUREMENT = 0x43; + static const uint8_t GET_SELF_TEST_RESULT = 0x47; }; + namespace SELF_TEST_AXIS { + static const uint8_t ALL = 0x0; + static const uint8_t X_POSITIVE = 0x1; + static const uint8_t X_NEGATIVE = 0x2; + static const uint8_t Y_POSITIVE = 0x3; + static const uint8_t Y_NEGATIVE = 0x4; + static const uint8_t Z_POSITIVE = 0x5; + static const uint8_t Z_NEGATIVE = 0x6; + } + + namespace SELF_TEST_STEPS { + static const uint8_t INIT = 0x0; + static const uint8_t X_POSITIVE = 0x1; + static const uint8_t X_NEGATIVE = 0x2; + static const uint8_t Y_POSITIVE = 0x3; + static const uint8_t Y_NEGATIVE = 0x4; + static const uint8_t Z_POSITIVE = 0x5; + static const uint8_t Z_NEGATIVE = 0x6; + static const uint8_t FINA = 0x7; + } + enum IMTQPoolIds: lp_id_t { DIGITAL_VOLTAGE_MV, ANALOG_VOLTAGE_MV, @@ -69,98 +104,394 @@ namespace IMTQ { MTM_RAW_X, MTM_RAW_Y, MTM_RAW_Z, - ACTUATION_RAW_STATUS + ACTUATION_RAW_STATUS, + + INIT_ERR, + INIT_RAW_MAG_X, + INIT_RAW_MAG_Y, + INIT_RAW_MAG_Z, + INIT_CAL_MAG_X, + INIT_CAL_MAG_Y, + INIT_CAL_MAG_Z, + INIT_COIL_X_CURRENT, + INIT_COIL_Y_CURRENT, + INIT_COIL_Z_CURRENT, + INIT_COIL_X_TEMPERATURE, + INIT_COIL_Y_TEMPERATURE, + INIT_COIL_Z_TEMPERATURE, + + POS_X_ERR, + POS_X_RAW_MAG_X, + POS_X_RAW_MAG_Y, + POS_X_RAW_MAG_Z, + POS_X_CAL_MAG_X, + POS_X_CAL_MAG_Y, + POS_X_CAL_MAG_Z, + POS_X_COIL_X_CURRENT, + POS_X_COIL_Y_CURRENT, + POS_X_COIL_Z_CURRENT, + POS_X_COIL_X_TEMPERATURE, + POS_X_COIL_Y_TEMPERATURE, + POS_X_COIL_Z_TEMPERATURE, + + NEG_X_ERR, + NEG_X_RAW_MAG_X, + NEG_X_RAW_MAG_Y, + NEG_X_RAW_MAG_Z, + NEG_X_CAL_MAG_X, + NEG_X_CAL_MAG_Y, + NEG_X_CAL_MAG_Z, + NEG_X_COIL_X_CURRENT, + NEG_X_COIL_Y_CURRENT, + NEG_X_COIL_Z_CURRENT, + NEG_X_COIL_X_TEMPERATURE, + NEG_X_COIL_Y_TEMPERATURE, + NEG_X_COIL_Z_TEMPERATURE, + + POS_Y_ERR, + POS_Y_RAW_MAG_X, + POS_Y_RAW_MAG_Y, + POS_Y_RAW_MAG_Z, + POS_Y_CAL_MAG_X, + POS_Y_CAL_MAG_Y, + POS_Y_CAL_MAG_Z, + POS_Y_COIL_X_CURRENT, + POS_Y_COIL_Y_CURRENT, + POS_Y_COIL_Z_CURRENT, + POS_Y_COIL_X_TEMPERATURE, + POS_Y_COIL_Y_TEMPERATURE, + POS_Y_COIL_Z_TEMPERATURE, + + NEG_Y_ERR, + NEG_Y_RAW_MAG_X, + NEG_Y_RAW_MAG_Y, + NEG_Y_RAW_MAG_Z, + NEG_Y_CAL_MAG_X, + NEG_Y_CAL_MAG_Y, + NEG_Y_CAL_MAG_Z, + NEG_Y_COIL_X_CURRENT, + NEG_Y_COIL_Y_CURRENT, + NEG_Y_COIL_Z_CURRENT, + NEG_Y_COIL_X_TEMPERATURE, + NEG_Y_COIL_Y_TEMPERATURE, + NEG_Y_COIL_Z_TEMPERATURE, + + POS_Z_ERR, + POS_Z_RAW_MAG_X, + POS_Z_RAW_MAG_Y, + POS_Z_RAW_MAG_Z, + POS_Z_CAL_MAG_X, + POS_Z_CAL_MAG_Y, + POS_Z_CAL_MAG_Z, + POS_Z_COIL_X_CURRENT, + POS_Z_COIL_Y_CURRENT, + POS_Z_COIL_Z_CURRENT, + POS_Z_COIL_X_TEMPERATURE, + POS_Z_COIL_Y_TEMPERATURE, + POS_Z_COIL_Z_TEMPERATURE, + + NEG_Z_ERR, + NEG_Z_RAW_MAG_X, + NEG_Z_RAW_MAG_Y, + NEG_Z_RAW_MAG_Z, + NEG_Z_CAL_MAG_X, + NEG_Z_CAL_MAG_Y, + NEG_Z_CAL_MAG_Z, + NEG_Z_COIL_X_CURRENT, + NEG_Z_COIL_Y_CURRENT, + NEG_Z_COIL_Z_CURRENT, + NEG_Z_COIL_X_TEMPERATURE, + NEG_Z_COIL_Y_TEMPERATURE, + NEG_Z_COIL_Z_TEMPERATURE, + + FINA_ERR, + FINA_RAW_MAG_X, + FINA_RAW_MAG_Y, + FINA_RAW_MAG_Z, + FINA_CAL_MAG_X, + FINA_CAL_MAG_Y, + FINA_CAL_MAG_Z, + FINA_COIL_X_CURRENT, + FINA_COIL_Y_CURRENT, + FINA_COIL_Z_CURRENT, + FINA_COIL_X_TEMPERATURE, + FINA_COIL_Y_TEMPERATURE, + FINA_COIL_Z_TEMPERATURE, }; -class EngHkDataset: - public StaticLocalDataSet { +class EngHkDataset: public StaticLocalDataSet { public: - EngHkDataset(HasLocalDataPoolIF* owner): - StaticLocalDataSet(owner, ENG_HK_DATA_SET_ID) { - } + EngHkDataset(HasLocalDataPoolIF* owner) : + StaticLocalDataSet(owner, ENG_HK_DATA_SET_ID) { + } - EngHkDataset(object_id_t objectId): - StaticLocalDataSet(sid_t(objectId, ENG_HK_DATA_SET_ID)) { - } + EngHkDataset(object_id_t objectId) : + StaticLocalDataSet(sid_t(objectId, ENG_HK_DATA_SET_ID)) { + } - lp_var_t digitalVoltageMv = lp_var_t(sid.objectId, - DIGITAL_VOLTAGE_MV, this); - lp_var_t analogVoltageMv = lp_var_t(sid.objectId, - ANALOG_VOLTAGE_MV, this); - lp_var_t digitalCurrentmA = lp_var_t(sid.objectId, - DIGITAL_CURRENT, this); - lp_var_t analogCurrentmA = lp_var_t(sid.objectId, - ANALOG_CURRENT, this); - lp_var_t coilXCurrentmA = lp_var_t(sid.objectId, - COIL_X_CURRENT, this); - lp_var_t coilYCurrentmA = lp_var_t(sid.objectId, - COIL_Y_CURRENT, this); - lp_var_t coilZCurrentmA = lp_var_t(sid.objectId, - COIL_Z_CURRENT, this); - /** All temperatures in [�C] */ - lp_var_t coilXTemperature = lp_var_t(sid.objectId, - COIL_X_TEMPERATURE, this); - lp_var_t coilYTemperature = lp_var_t(sid.objectId, - COIL_Y_TEMPERATURE, this); - lp_var_t coilZTemperature = lp_var_t(sid.objectId, - COIL_Z_TEMPERATURE, this); - lp_var_t mcuTemperature = lp_var_t(sid.objectId, - MCU_TEMPERATURE, this); + lp_var_t digitalVoltageMv = lp_var_t(sid.objectId, DIGITAL_VOLTAGE_MV, + this); + lp_var_t analogVoltageMv = lp_var_t(sid.objectId, ANALOG_VOLTAGE_MV, this); + lp_var_t digitalCurrentmA = lp_var_t(sid.objectId, DIGITAL_CURRENT, this); + lp_var_t analogCurrentmA = lp_var_t(sid.objectId, ANALOG_CURRENT, this); + lp_var_t coilXCurrentmA = lp_var_t(sid.objectId, COIL_X_CURRENT, this); + lp_var_t coilYCurrentmA = lp_var_t(sid.objectId, COIL_Y_CURRENT, this); + lp_var_t coilZCurrentmA = lp_var_t(sid.objectId, COIL_Z_CURRENT, this); + /** All temperatures in [°C] */ + lp_var_t coilXTemperature = lp_var_t(sid.objectId, COIL_X_TEMPERATURE, + this); + lp_var_t coilYTemperature = lp_var_t(sid.objectId, COIL_Y_TEMPERATURE, + this); + lp_var_t coilZTemperature = lp_var_t(sid.objectId, COIL_Z_TEMPERATURE, + this); + lp_var_t mcuTemperature = lp_var_t(sid.objectId, MCU_TEMPERATURE, this); }; /** * @brief This dataset holds the raw MTM measurements. */ -class CalibratedMtmMeasurementSet: - public StaticLocalDataSet { +class CalibratedMtmMeasurementSet: public StaticLocalDataSet { public: - CalibratedMtmMeasurementSet(HasLocalDataPoolIF* owner): - StaticLocalDataSet(owner, CAL_MTM_SET) { + CalibratedMtmMeasurementSet(HasLocalDataPoolIF* owner) : + StaticLocalDataSet(owner, CAL_MTM_SET) { } - CalibratedMtmMeasurementSet(object_id_t objectId): - StaticLocalDataSet(sid_t(objectId, CAL_MTM_SET)) { + CalibratedMtmMeasurementSet(object_id_t objectId) : + StaticLocalDataSet(sid_t(objectId, CAL_MTM_SET)) { } /** The unit of all measurements is nT */ - lp_var_t mtmXnT = lp_var_t(sid.objectId, - MTM_CAL_X, this); - lp_var_t mtmYnT = lp_var_t(sid.objectId, - MTM_CAL_Y, this); - lp_var_t mtmZnT = lp_var_t(sid.objectId, - MTM_CAL_Z, this); + lp_var_t mtmXnT = lp_var_t(sid.objectId, MTM_CAL_X, this); + lp_var_t mtmYnT = lp_var_t(sid.objectId, MTM_CAL_Y, this); + lp_var_t mtmZnT = lp_var_t(sid.objectId, MTM_CAL_Z, this); /** 1 if coils were actuating during measurement otherwise 0 */ - lp_var_t coilActuationStatus = lp_var_t(sid.objectId, - ACTUATION_CAL_STATUS, this); + lp_var_t coilActuationStatus = lp_var_t(sid.objectId, ACTUATION_CAL_STATUS, + this); }; /** * @brief This dataset holds the last calibrated MTM measurement. */ -class RawMtmMeasurementSet: - public StaticLocalDataSet { +class RawMtmMeasurementSet: public StaticLocalDataSet { public: - RawMtmMeasurementSet(HasLocalDataPoolIF* owner): - StaticLocalDataSet(owner, CAL_MTM_SET) { + RawMtmMeasurementSet(HasLocalDataPoolIF* owner) : + StaticLocalDataSet(owner, CAL_MTM_SET) { } - RawMtmMeasurementSet(object_id_t objectId): - StaticLocalDataSet(sid_t(objectId, CAL_MTM_SET)) { + RawMtmMeasurementSet(object_id_t objectId) : + StaticLocalDataSet(sid_t(objectId, CAL_MTM_SET)) { } /** The unit of all measurements is nT */ - lp_var_t mtmXnT = lp_var_t(sid.objectId, - MTM_RAW_X, this); - lp_var_t mtmYnT = lp_var_t(sid.objectId, - MTM_RAW_Y, this); - lp_var_t mtmZnT = lp_var_t(sid.objectId, - MTM_RAW_Z, this); + lp_var_t mtmXnT = lp_var_t(sid.objectId, MTM_RAW_X, this); + lp_var_t mtmYnT = lp_var_t(sid.objectId, MTM_RAW_Y, this); + lp_var_t mtmZnT = lp_var_t(sid.objectId, MTM_RAW_Z, this); /** 1 if coils were actuating during measurement otherwise 0 */ - lp_var_t coilActuationStatus = lp_var_t(sid.objectId, - ACTUATION_RAW_STATUS, this); + lp_var_t coilActuationStatus = lp_var_t(sid.objectId, ACTUATION_RAW_STATUS, + this); +}; + +/** + * @brief This dataset can be used to store the self test results. + * + * @details Units of measurements: + * Currents: [10^-4 A] + * Raw MTM data: [7.5 * 10^-9 T] + * Calibrated MTM data: [10^-9 T] + * Temperature: [°C] + * The self test generates for each axis the positive and negative dipole and measures + * the magnetic field with the built-in MTM. The procedure of the test is as follows: + * 1. All coils off (INIT step) + * 2. +X + * 3. -X + * 4. +Y + * 5. -Y + * 6. +Z + * 7. -Z + * 8. All coils off (FINA step) + */ +class SelfTestDataset: public StaticLocalDataSet { +public: + + SelfTestDataset(HasLocalDataPoolIF* owner) : + StaticLocalDataSet(owner, SELF_TEST_DATA_SET) { + } + + SelfTestDataset(object_id_t objectId) : + StaticLocalDataSet(sid_t(objectId, SELF_TEST_DATA_SET)) { + } + + /** INIT block */ + lp_var_t initErr = lp_var_t(sid.objectId, INIT_ERR, this); + lp_var_t initRawMagX = lp_var_t(sid.objectId, INIT_RAW_MAG_X, this); + lp_var_t initRawMagY = lp_var_t(sid.objectId, INIT_RAW_MAG_Y, this); + lp_var_t initRawMagZ = lp_var_t(sid.objectId, INIT_RAW_MAG_Z, this); + lp_var_t initCalMagX = lp_var_t(sid.objectId, INIT_CAL_MAG_X, this); + lp_var_t initCalMagY = lp_var_t(sid.objectId, INIT_CAL_MAG_Y, this); + lp_var_t initCalMagZ = lp_var_t(sid.objectId, INIT_CAL_MAG_Z, this); + lp_var_t initCoilXCurrent = lp_var_t(sid.objectId, INIT_COIL_X_CURRENT, + this); + lp_var_t initCoilYCurrent = lp_var_t(sid.objectId, INIT_COIL_Y_CURRENT, + this); + lp_var_t initCoilZCurrent = lp_var_t(sid.objectId, INIT_COIL_Z_CURRENT, + this); + lp_var_t initCoilXTemperature = lp_var_t(sid.objectId, + INIT_COIL_X_TEMPERATURE, this); + lp_var_t initCoilYTemperature = lp_var_t(sid.objectId, + INIT_COIL_Y_TEMPERATURE, this); + lp_var_t initCoilZTemperature = lp_var_t(sid.objectId, + INIT_COIL_Z_TEMPERATURE, this); + + /** +X block */ + lp_var_t posXErr = lp_var_t(sid.objectId, POS_X_ERR, this); + lp_var_t posXRawMagX = lp_var_t(sid.objectId, POS_X_RAW_MAG_X, this); + lp_var_t posXRawMagY = lp_var_t(sid.objectId, POS_X_RAW_MAG_Y, this); + lp_var_t posXRawMagZ = lp_var_t(sid.objectId, POS_X_RAW_MAG_Z, this); + lp_var_t posXCalMagX = lp_var_t(sid.objectId, POS_X_CAL_MAG_X, this); + lp_var_t posXCalMagY = lp_var_t(sid.objectId, POS_X_CAL_MAG_Y, this); + lp_var_t posXCalMagZ = lp_var_t(sid.objectId, POS_X_CAL_MAG_Z, this); + lp_var_t posXCoilXCurrent = lp_var_t(sid.objectId, POS_X_COIL_X_CURRENT, + this); + lp_var_t posXCoilYCurrent = lp_var_t(sid.objectId, POS_X_COIL_Y_CURRENT, + this); + lp_var_t posXCoilZCurrent = lp_var_t(sid.objectId, POS_X_COIL_Z_CURRENT, + this); + lp_var_t posXCoilXTemperature = lp_var_t(sid.objectId, + POS_X_COIL_X_TEMPERATURE, this); + lp_var_t posXCoilYTemperature = lp_var_t(sid.objectId, + POS_X_COIL_Y_TEMPERATURE, this); + lp_var_t posXCoilZTemperature = lp_var_t(sid.objectId, + POS_X_COIL_Z_TEMPERATURE, this); + + /** -X block */ + lp_var_t negXErr = lp_var_t(sid.objectId, NEG_X_ERR, this); + lp_var_t negXRawMagX = lp_var_t(sid.objectId, NEG_X_RAW_MAG_X, this); + lp_var_t negXRawMagY = lp_var_t(sid.objectId, NEG_X_RAW_MAG_Y, this); + lp_var_t negXRawMagZ = lp_var_t(sid.objectId, NEG_X_RAW_MAG_Z, this); + lp_var_t negXCalMagX = lp_var_t(sid.objectId, NEG_X_CAL_MAG_X, this); + lp_var_t negXCalMagY = lp_var_t(sid.objectId, NEG_X_CAL_MAG_Y, this); + lp_var_t negXCalMagZ = lp_var_t(sid.objectId, NEG_X_CAL_MAG_Z, this); + lp_var_t negXCoilXCurrent = lp_var_t(sid.objectId, NEG_X_COIL_X_CURRENT, + this); + lp_var_t negXCoilYCurrent = lp_var_t(sid.objectId, NEG_X_COIL_Y_CURRENT, + this); + lp_var_t negXCoilZCurrent = lp_var_t(sid.objectId, NEG_X_COIL_Z_CURRENT, + this); + lp_var_t negXCoilXTemperature = lp_var_t(sid.objectId, + NEG_X_COIL_X_TEMPERATURE, this); + lp_var_t negXCoilYTemperature = lp_var_t(sid.objectId, + NEG_X_COIL_Y_TEMPERATURE, this); + lp_var_t negXCoilZTemperature = lp_var_t(sid.objectId, + NEG_X_COIL_Z_TEMPERATURE, this); + + /** +Y block */ + lp_var_t posYErr = lp_var_t(sid.objectId, POS_Y_ERR, this); + lp_var_t posYRawMagX = lp_var_t(sid.objectId, POS_Y_RAW_MAG_X, this); + lp_var_t posYRawMagY = lp_var_t(sid.objectId, POS_Y_RAW_MAG_Y, this); + lp_var_t posYRawMagZ = lp_var_t(sid.objectId, POS_Y_RAW_MAG_Z, this); + lp_var_t posYCalMagX = lp_var_t(sid.objectId, POS_Y_CAL_MAG_X, this); + lp_var_t posYCalMagY = lp_var_t(sid.objectId, POS_Y_CAL_MAG_Y, this); + lp_var_t posYCalMagZ = lp_var_t(sid.objectId, POS_Y_CAL_MAG_Z, this); + lp_var_t posYCoilXCurrent = lp_var_t(sid.objectId, POS_Y_COIL_X_CURRENT, + this); + lp_var_t posYCoilYCurrent = lp_var_t(sid.objectId, POS_Y_COIL_Y_CURRENT, + this); + lp_var_t posYCoilZCurrent = lp_var_t(sid.objectId, POS_Y_COIL_Z_CURRENT, + this); + lp_var_t posYCoilXTemperature = lp_var_t(sid.objectId, + POS_Y_COIL_X_TEMPERATURE, this); + lp_var_t posYCoilYTemperature = lp_var_t(sid.objectId, + POS_Y_COIL_Y_TEMPERATURE, this); + lp_var_t posYCoilZTemperature = lp_var_t(sid.objectId, + POS_Y_COIL_Z_TEMPERATURE, this); + + /** -Y block */ + lp_var_t negYErr = lp_var_t(sid.objectId, NEG_Y_ERR, this); + lp_var_t negYRawMagX = lp_var_t(sid.objectId, NEG_Y_RAW_MAG_X, this); + lp_var_t negYRawMagY = lp_var_t(sid.objectId, NEG_Y_RAW_MAG_Y, this); + lp_var_t negYRawMagZ = lp_var_t(sid.objectId, NEG_Y_RAW_MAG_Z, this); + lp_var_t negYCalMagX = lp_var_t(sid.objectId, NEG_Y_CAL_MAG_X, this); + lp_var_t negYCalMagY = lp_var_t(sid.objectId, NEG_Y_CAL_MAG_Y, this); + lp_var_t negYCalMagZ = lp_var_t(sid.objectId, NEG_Y_CAL_MAG_Z, this); + lp_var_t negYCoilXCurrent = lp_var_t(sid.objectId, NEG_Y_COIL_X_CURRENT, + this); + lp_var_t negYCoilYCurrent = lp_var_t(sid.objectId, NEG_Y_COIL_Y_CURRENT, + this); + lp_var_t negYCoilZCurrent = lp_var_t(sid.objectId, NEG_Y_COIL_Z_CURRENT, + this); + lp_var_t negYCoilXTemperature = lp_var_t(sid.objectId, + NEG_Y_COIL_X_TEMPERATURE, this); + lp_var_t negYCoilYTemperature = lp_var_t(sid.objectId, + NEG_Y_COIL_Y_TEMPERATURE, this); + lp_var_t negYCoilZTemperature = lp_var_t(sid.objectId, + NEG_Y_COIL_Z_TEMPERATURE, this); + + /** +Z block */ + lp_var_t posZErr = lp_var_t(sid.objectId, POS_Z_ERR, this); + lp_var_t posZRawMagX = lp_var_t(sid.objectId, POS_Z_RAW_MAG_X, this); + lp_var_t posZRawMagY = lp_var_t(sid.objectId, POS_Z_RAW_MAG_Y, this); + lp_var_t posZRawMagZ = lp_var_t(sid.objectId, POS_Z_RAW_MAG_Z, this); + lp_var_t posZCalMagX = lp_var_t(sid.objectId, POS_Z_CAL_MAG_X, this); + lp_var_t posZCalMagY = lp_var_t(sid.objectId, POS_Z_CAL_MAG_Y, this); + lp_var_t posZCalMagZ = lp_var_t(sid.objectId, POS_Z_CAL_MAG_Z, this); + lp_var_t posZCoilXCurrent = lp_var_t(sid.objectId, POS_Z_COIL_X_CURRENT, + this); + lp_var_t posZCoilYCurrent = lp_var_t(sid.objectId, POS_Z_COIL_Y_CURRENT, + this); + lp_var_t posZCoilZCurrent = lp_var_t(sid.objectId, POS_Z_COIL_Z_CURRENT, + this); + lp_var_t posZCoilXTemperature = lp_var_t(sid.objectId, + POS_Z_COIL_X_TEMPERATURE, this); + lp_var_t posZCoilYTemperature = lp_var_t(sid.objectId, + POS_Z_COIL_Y_TEMPERATURE, this); + lp_var_t posZCoilZTemperature = lp_var_t(sid.objectId, + POS_Z_COIL_Z_TEMPERATURE, this); + + /** -Z block */ + lp_var_t negZErr = lp_var_t(sid.objectId, NEG_Z_ERR, this); + lp_var_t negZRawMagX = lp_var_t(sid.objectId, NEG_Z_RAW_MAG_X, this); + lp_var_t negZRawMagY = lp_var_t(sid.objectId, NEG_Z_RAW_MAG_Y, this); + lp_var_t negZRawMagZ = lp_var_t(sid.objectId, NEG_Z_RAW_MAG_Z, this); + lp_var_t negZCalMagX = lp_var_t(sid.objectId, NEG_Z_CAL_MAG_X, this); + lp_var_t negZCalMagY = lp_var_t(sid.objectId, NEG_Z_CAL_MAG_Y, this); + lp_var_t negZCalMagZ = lp_var_t(sid.objectId, NEG_Z_CAL_MAG_Z, this); + lp_var_t negZCoilXCurrent = lp_var_t(sid.objectId, NEG_Z_COIL_X_CURRENT, + this); + lp_var_t negZCoilYCurrent = lp_var_t(sid.objectId, NEG_Z_COIL_Y_CURRENT, + this); + lp_var_t negZCoilZCurrent = lp_var_t(sid.objectId, NEG_Z_COIL_Z_CURRENT, + this); + lp_var_t negZCoilXTemperature = lp_var_t(sid.objectId, + NEG_Z_COIL_X_TEMPERATURE, this); + lp_var_t negZCoilYTemperature = lp_var_t(sid.objectId, + NEG_Z_COIL_Y_TEMPERATURE, this); + lp_var_t negZCoilZTemperature = lp_var_t(sid.objectId, + NEG_Z_COIL_Z_TEMPERATURE, this); + + /** FINA block */ + lp_var_t finaErr = lp_var_t(sid.objectId, FINA_ERR, this); + lp_var_t finaRawMagX = lp_var_t(sid.objectId, FINA_RAW_MAG_X, this); + lp_var_t finaRawMagY = lp_var_t(sid.objectId, FINA_RAW_MAG_Y, this); + lp_var_t finaRawMagZ = lp_var_t(sid.objectId, FINA_RAW_MAG_Z, this); + lp_var_t finaCalMagX = lp_var_t(sid.objectId, FINA_CAL_MAG_X, this); + lp_var_t finaCalMagY = lp_var_t(sid.objectId, FINA_CAL_MAG_Y, this); + lp_var_t finaCalMagZ = lp_var_t(sid.objectId, FINA_CAL_MAG_Z, this); + lp_var_t finaCoilXCurrent = lp_var_t(sid.objectId, FINA_COIL_X_CURRENT, + this); + lp_var_t finaCoilYCurrent = lp_var_t(sid.objectId, FINA_COIL_Y_CURRENT, + this); + lp_var_t finaCoilZCurrent = lp_var_t(sid.objectId, FINA_COIL_Z_CURRENT, + this); + lp_var_t finaCoilXTemperature = lp_var_t(sid.objectId, + FINA_COIL_X_TEMPERATURE, this); + lp_var_t finaCoilYTemperature = lp_var_t(sid.objectId, + FINA_COIL_Y_TEMPERATURE, this); + lp_var_t finaCoilZTemperature = lp_var_t(sid.objectId, + FINA_COIL_Z_TEMPERATURE, this); + }; /** From ddd33e57527fc7fc5d053b7bed2ad196d5e6416d Mon Sep 17 00:00:00 2001 From: Martin Zietz Date: Sun, 6 Jun 2021 14:11:05 +0200 Subject: [PATCH 12/20] some fixes in IMTQ Handler --- bsp_q7s/ObjectFactory.cpp | 3 +-- bsp_q7s/boardconfig/q7s_config.h | 2 +- mission/devices/IMTQHandler.cpp | 2 +- mission/devices/devicedefinitions/IMTQHandlerDefinitions.h | 3 ++- 4 files changed, 5 insertions(+), 5 deletions(-) diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp index 8da44279..32a00ef1 100644 --- a/bsp_q7s/ObjectFactory.cpp +++ b/bsp_q7s/ObjectFactory.cpp @@ -542,8 +542,7 @@ void ObjectFactory::produce(){ I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, std::string("/dev/i2c-0")); IMTQHandler* imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie); -// imtqHandler->setStartUpImmediately(); - (void) imtqHandler; + imtqHandler->setStartUpImmediately(); UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyUL3"), 115200, PLOC::MAX_REPLY_SIZE); diff --git a/bsp_q7s/boardconfig/q7s_config.h b/bsp_q7s/boardconfig/q7s_config.h index 73cf2225..782ecf4f 100644 --- a/bsp_q7s/boardconfig/q7s_config.h +++ b/bsp_q7s/boardconfig/q7s_config.h @@ -1,7 +1,7 @@ #ifndef BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_ #define BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_ -#define Q7S_ADD_RTD_DEVICES 1 +#define Q7S_ADD_RTD_DEVICES 0 /* Only one of those 2 should be enabled! */ /* Add code for ACS board */ diff --git a/mission/devices/IMTQHandler.cpp b/mission/devices/IMTQHandler.cpp index 1d9d306f..124213a0 100644 --- a/mission/devices/IMTQHandler.cpp +++ b/mission/devices/IMTQHandler.cpp @@ -74,7 +74,7 @@ ReturnValue_t IMTQHandler::buildTransitionDeviceCommand( << std::endl; } } - return HasReturnvaluesIF::RETURN_OK; + return buildCommandFromCommand(*id, nullptr, 0);; } ReturnValue_t IMTQHandler::buildCommandFromCommand( diff --git a/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h b/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h index a7c32316..0de6ab2f 100644 --- a/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h +++ b/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h @@ -30,8 +30,9 @@ namespace IMTQ { static const uint8_t SIZE_GET_COMMANDED_DIPOLE_REPLY = 8; static const uint8_t SIZE_GET_CAL_MTM_MEASUREMENT = 15; static const uint8_t SIZE_GET_RAW_MTM_MEASUREMENT = 15; + static const uint16_t SIZE_SELF_TEST_RESULTS = 320; - static const uint8_t MAX_REPLY_SIZE = SIZE_ENG_HK_DATA_REPLY; + static const uint16_t MAX_REPLY_SIZE = SIZE_SELF_TEST_RESULTS; static const uint8_t MAX_COMMAND_SIZE = 9; /** Define entries in IMTQ specific dataset */ From 0de484e42308bcea7b1e88d64f7f3d2c8b9e4bcf Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Wed, 9 Jun 2021 12:00:41 +0200 Subject: [PATCH 13/20] bug fixes in ImtqHandler --- mission/devices/IMTQHandler.cpp | 21 ++++++++++++++++++--- mission/devices/IMTQHandler.h | 3 ++- 2 files changed, 20 insertions(+), 4 deletions(-) diff --git a/mission/devices/IMTQHandler.cpp b/mission/devices/IMTQHandler.cpp index 124213a0..5d4e7d1d 100644 --- a/mission/devices/IMTQHandler.cpp +++ b/mission/devices/IMTQHandler.cpp @@ -18,13 +18,13 @@ IMTQHandler::~IMTQHandler() { void IMTQHandler::doStartUp(){ - if(selfTestSuccess == true){ + if(selfTestPerformed == true){ #if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1 setMode(MODE_NORMAL); #else setMode(_MODE_TO_ON); #endif - selfTestSuccess = false; + selfTestPerformed = false; } } @@ -65,9 +65,11 @@ ReturnValue_t IMTQHandler::buildTransitionDeviceCommand( switch (startupStep) { case StartupStep::COMMAND_SELF_TEST: *id = IMTQ::SELF_TEST_CMD; + startupStep = StartupStep::GET_SELF_TEST_RESULT; break; case StartupStep::GET_SELF_TEST_RESULT: *id = IMTQ::GET_SELF_TEST_RESULT; + startupStep = StartupStep::NONE; break; default: sif::debug << "IMTQHandler::buildTransitionDeviceCommand: Unknown startup step" @@ -148,6 +150,8 @@ ReturnValue_t IMTQHandler::buildCommandFromCommand( void IMTQHandler::fillCommandAndReplyMap() { this->insertInCommandAndReplyMap(IMTQ::SELF_TEST_CMD, 1, nullptr, IMTQ::SIZE_STATUS_REPLY); + this->insertInCommandAndReplyMap(IMTQ::GET_SELF_TEST_RESULT, 1, nullptr, + IMTQ::SIZE_SELF_TEST_RESULTS); this->insertInCommandAndReplyMap(IMTQ::START_ACTUATION_DIPOLE, 1, nullptr, IMTQ::SIZE_STATUS_REPLY); this->insertInCommandAndReplyMap(IMTQ::GET_ENG_HK_DATA, 1, &engHkDataset, @@ -192,6 +196,14 @@ ReturnValue_t IMTQHandler::scanForReply(const uint8_t *start, *foundLen = IMTQ::SIZE_GET_RAW_MTM_MEASUREMENT; *foundId = IMTQ::GET_RAW_MTM_MEASUREMENT; break; + case(IMTQ::CC::SELF_TEST_CMD): + *foundLen = IMTQ::SIZE_STATUS_REPLY; + *foundId = IMTQ::SELF_TEST_CMD; + break; + case(IMTQ::CC::GET_SELF_TEST_RESULT): + *foundLen = IMTQ::SIZE_SELF_TEST_RESULTS; + *foundId = IMTQ::GET_SELF_TEST_RESULT; + break; default: sif::debug << "IMTQHandler::scanForReply: Reply contains invalid command code" << std::endl; result = IGNORE_REPLY_DATA; @@ -247,7 +259,7 @@ void IMTQHandler::setNormalDatapoolEntriesInvalid(){ } uint32_t IMTQHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){ - return 1000; + return 5000; } ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap, @@ -1060,6 +1072,9 @@ void IMTQHandler::handleSelfTestReply(const uint8_t* packet) { sif::info << "IMTQ self test (FINA) coil Z temperature: " << selfTestDataset.finaCoilZTemperature << " °C" << std::endl; #endif + if (mode == _MODE_START_UP) { + selfTestPerformed = true; + } } void IMTQHandler::checkErrorByte(const uint8_t errorByte, const uint8_t step) { diff --git a/mission/devices/IMTQHandler.h b/mission/devices/IMTQHandler.h index 5565b261..dd5ae8cf 100644 --- a/mission/devices/IMTQHandler.h +++ b/mission/devices/IMTQHandler.h @@ -91,13 +91,14 @@ private: CommunicationStep communicationStep = CommunicationStep::GET_ENG_HK_DATA; enum class StartupStep { + NONE, COMMAND_SELF_TEST, GET_SELF_TEST_RESULT }; StartupStep startupStep = StartupStep::COMMAND_SELF_TEST; - bool selfTestSuccess = false; + bool selfTestPerformed = false; /** * @brief Each reply contains a status byte giving information about a request. This function From d13b232658f0fe06fea5d3625f6058c79e5d5cd0 Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Fri, 11 Jun 2021 11:53:43 +0200 Subject: [PATCH 14/20] positive x axis self test, untested --- mission/devices/IMTQHandler.cpp | 641 +++++------------- mission/devices/IMTQHandler.h | 23 +- .../IMTQHandlerDefinitions.h | 405 ++++++----- 3 files changed, 425 insertions(+), 644 deletions(-) diff --git a/mission/devices/IMTQHandler.cpp b/mission/devices/IMTQHandler.cpp index 5d4e7d1d..4c590b76 100644 --- a/mission/devices/IMTQHandler.cpp +++ b/mission/devices/IMTQHandler.cpp @@ -7,7 +7,7 @@ IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) : DeviceHandlerBase(objectId, comIF, comCookie), engHkDataset(this), calMtmMeasurementSet( - this), rawMtmMeasurementSet(this), selfTestDataset(this) { + this), rawMtmMeasurementSet(this), posXselfTestDataset(this) { if (comCookie == NULL) { sif::error << "IMTQHandler: Invalid com cookie" << std::endl; } @@ -18,14 +18,11 @@ IMTQHandler::~IMTQHandler() { void IMTQHandler::doStartUp(){ - if(selfTestPerformed == true){ #if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1 setMode(MODE_NORMAL); #else setMode(_MODE_TO_ON); #endif - selfTestPerformed = false; - } } void IMTQHandler::doShutDown(){ @@ -61,31 +58,16 @@ ReturnValue_t IMTQHandler::buildNormalDeviceCommand( ReturnValue_t IMTQHandler::buildTransitionDeviceCommand( DeviceCommandId_t * id){ - if (mode == _MODE_START_UP) { - switch (startupStep) { - case StartupStep::COMMAND_SELF_TEST: - *id = IMTQ::SELF_TEST_CMD; - startupStep = StartupStep::GET_SELF_TEST_RESULT; - break; - case StartupStep::GET_SELF_TEST_RESULT: - *id = IMTQ::GET_SELF_TEST_RESULT; - startupStep = StartupStep::NONE; - break; - default: - sif::debug << "IMTQHandler::buildTransitionDeviceCommand: Unknown startup step" - << std::endl; - } - } - return buildCommandFromCommand(*id, nullptr, 0);; + return RETURN_OK; } ReturnValue_t IMTQHandler::buildCommandFromCommand( DeviceCommandId_t deviceCommand, const uint8_t * commandData, size_t commandDataLen) { switch(deviceCommand) { - case(IMTQ::SELF_TEST_CMD): { + case(IMTQ::POS_X_SELF_TEST): { commandBuffer[0] = IMTQ::CC::SELF_TEST_CMD; - commandBuffer[1] = IMTQ::SELF_TEST_AXIS::ALL; + commandBuffer[1] = IMTQ::SELF_TEST_AXIS::X_POSITIVE; rawPacket = commandBuffer; rawPacketLen = 2; return RETURN_OK; @@ -148,7 +130,17 @@ ReturnValue_t IMTQHandler::buildCommandFromCommand( } void IMTQHandler::fillCommandAndReplyMap() { - this->insertInCommandAndReplyMap(IMTQ::SELF_TEST_CMD, 1, nullptr, + this->insertInCommandAndReplyMap(IMTQ::POS_X_SELF_TEST, 1, nullptr, + IMTQ::SIZE_STATUS_REPLY); + this->insertInCommandAndReplyMap(IMTQ::NEG_X_SELF_TEST, 1, nullptr, + IMTQ::SIZE_STATUS_REPLY); + this->insertInCommandAndReplyMap(IMTQ::POS_Y_SELF_TEST, 1, nullptr, + IMTQ::SIZE_STATUS_REPLY); + this->insertInCommandAndReplyMap(IMTQ::NEG_Y_SELF_TEST, 1, nullptr, + IMTQ::SIZE_STATUS_REPLY); + this->insertInCommandAndReplyMap(IMTQ::POS_Z_SELF_TEST, 1, nullptr, + IMTQ::SIZE_STATUS_REPLY); + this->insertInCommandAndReplyMap(IMTQ::NEG_Z_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY); this->insertInCommandAndReplyMap(IMTQ::GET_SELF_TEST_RESULT, 1, nullptr, IMTQ::SIZE_SELF_TEST_RESULTS); @@ -198,8 +190,8 @@ ReturnValue_t IMTQHandler::scanForReply(const uint8_t *start, break; case(IMTQ::CC::SELF_TEST_CMD): *foundLen = IMTQ::SIZE_STATUS_REPLY; - *foundId = IMTQ::SELF_TEST_CMD; - break; + result = getSelfTestCommandId(foundId); + break; case(IMTQ::CC::GET_SELF_TEST_RESULT): *foundLen = IMTQ::SIZE_SELF_TEST_RESULTS; *foundId = IMTQ::GET_SELF_TEST_RESULT; @@ -225,7 +217,12 @@ ReturnValue_t IMTQHandler::interpretDeviceReply(DeviceCommandId_t id, } switch (id) { - case (IMTQ::SELF_TEST_CMD): + case (IMTQ::POS_X_SELF_TEST): + case (IMTQ::NEG_X_SELF_TEST): + case (IMTQ::POS_Y_SELF_TEST): + case (IMTQ::NEG_Y_SELF_TEST): + case (IMTQ::POS_Z_SELF_TEST): + case (IMTQ::NEG_Z_SELF_TEST): case (IMTQ::START_ACTUATION_DIPOLE): case (IMTQ::START_MTM_MEASUREMENT): /* Replies only the status byte which is already handled with parseStatusByte */ @@ -290,20 +287,20 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat localDataPoolMap.emplace(IMTQ::MTM_RAW_Z, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::ACTUATION_RAW_STATUS, new PoolEntry( { 0 })); - /** Entries of dataset for self test results */ - localDataPoolMap.emplace(IMTQ::INIT_ERR, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::INIT_RAW_MAG_X, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::INIT_RAW_MAG_Y, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::INIT_RAW_MAG_Z, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::INIT_CAL_MAG_X, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::INIT_CAL_MAG_Y, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::INIT_CAL_MAG_Z, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::INIT_COIL_X_CURRENT, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::INIT_COIL_Y_CURRENT, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::INIT_COIL_Z_CURRENT, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::INIT_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::INIT_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::INIT_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + /** Entries of dataset for self test results of positive X axis test */ + localDataPoolMap.emplace(IMTQ::INIT_POS_X_ERR, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_X_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_X_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_X_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_X_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_X_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_X_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::POS_X_ERR, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::POS_X_RAW_MAG_X, new PoolEntry( { 0 })); @@ -319,6 +316,20 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat localDataPoolMap.emplace(IMTQ::POS_X_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::POS_X_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_X_ERR, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::NEG_X_ERR, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::NEG_X_RAW_MAG_X, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::NEG_X_RAW_MAG_Y, new PoolEntry( { 0 })); @@ -389,23 +400,28 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_ERR, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_RAW_MAG_X, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_RAW_MAG_Y, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_RAW_MAG_Z, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_CAL_MAG_X, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_CAL_MAG_Y, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_CAL_MAG_Z, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_COIL_X_CURRENT, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_COIL_Y_CURRENT, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_COIL_Z_CURRENT, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); - return HasReturnvaluesIF::RETURN_OK; } +ReturnValue_t IMTQHandler::getSelfTestCommandId(DeviceCommandId_t* id) { + DeviceCommandId_t commandId = getPendingCommand(); + switch(commandId) { + case IMTQ::POS_X_SELF_TEST: + case IMTQ::NEG_X_SELF_TEST: + case IMTQ::POS_Y_SELF_TEST: + case IMTQ::NEG_Y_SELF_TEST: + case IMTQ::POS_Z_SELF_TEST: + case IMTQ::NEG_Z_SELF_TEST: + *id = commandId; + break; + default: + sif::error << "IMTQHandler::getSelfTestCommandId: Reply does not match to pending " + << "command" << std::endl; + return UNEXPECTED_SELF_TEST_REPLY; + } + return RETURN_OK; +} + ReturnValue_t IMTQHandler::parseStatusByte(const uint8_t* packet) { uint8_t cmdErrorField = *(packet + 1) & 0xF; switch (cmdErrorField) { @@ -575,506 +591,209 @@ void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) { } void IMTQHandler::handleSelfTestReply(const uint8_t* packet) { - PoolReadGuard rg(&selfTestDataset); - - /** Init measurements */ - int8_t offset = 2; + uint16_t offset = 2; checkErrorByte(*(packet + offset), *(packet + offset + 1)); - selfTestDataset.initErr = *(packet + offset); + + switch(*(packet + IMTQ::MAIN_STEP_OFFSET)) { + case IMTQ::SELF_TEST_STEPS::X_POSITIVE: { + handlePositiveXSelfTestReply(packet); + break; + } + default: + break; + } +} + +void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) { + PoolReadGuard rg(&posXselfTestDataset); + + uint16_t offset = 2; + /** Init measurements */ + posXselfTestDataset.initErr = *(packet + offset); offset += 2; // STEP byte will not be stored - selfTestDataset.initRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + posXselfTestDataset.initRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - selfTestDataset.initRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + posXselfTestDataset.initRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - selfTestDataset.initRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + posXselfTestDataset.initRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - selfTestDataset.initCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + posXselfTestDataset.initCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - selfTestDataset.initCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + posXselfTestDataset.initCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - selfTestDataset.initCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + posXselfTestDataset.initCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - selfTestDataset.initCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.initCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); offset += 2; - selfTestDataset.initCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.initCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); offset += 2; - selfTestDataset.initCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.initCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); offset += 2; - selfTestDataset.initCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.initCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); offset += 2; - selfTestDataset.initCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.initCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); offset += 2; - selfTestDataset.initCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.initCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; /** +X measurements */ checkErrorByte(*(packet + offset), *(packet + offset + 1)); - selfTestDataset.posXErr = *(packet + offset); + posXselfTestDataset.err = *(packet + offset); offset += 2; // STEP byte will not be stored - selfTestDataset.posXRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + posXselfTestDataset.rawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - selfTestDataset.posXRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + posXselfTestDataset.rawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - selfTestDataset.posXRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + posXselfTestDataset.rawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - selfTestDataset.posXCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + posXselfTestDataset.calMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - selfTestDataset.posXCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + posXselfTestDataset.calMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - selfTestDataset.posXCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + posXselfTestDataset.calMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - selfTestDataset.posXCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.coilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); offset += 2; - selfTestDataset.posXCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.coilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); offset += 2; - selfTestDataset.posXCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.coilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); offset += 2; - selfTestDataset.posXCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.coilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); offset += 2; - selfTestDataset.posXCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.coilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); offset += 2; - selfTestDataset.posXCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - - /** -X measurements */ - checkErrorByte(*(packet + offset), *(packet + offset + 1)); - selfTestDataset.negXErr = *(packet + offset); - offset += 2; // STEP byte will not be stored - selfTestDataset.negXRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.negXRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.negXRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.negXCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.negXCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.negXCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.negXCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.negXCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.negXCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.negXCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.negXCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.negXCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - - /** +Y measurements */ - checkErrorByte(*(packet + offset), *(packet + offset + 1)); - selfTestDataset.posYErr = *(packet + offset); - offset += 2; // STEP byte will not be stored - selfTestDataset.posYRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.posYRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.posYRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.posYCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.posYCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.posYCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.posYCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.posYCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.posYCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.posYCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.posYCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.posYCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - - /** -Y measurements */ - checkErrorByte(*(packet + offset), *(packet + offset + 1)); - selfTestDataset.negYErr = *(packet + offset); - offset += 2; // STEP byte will not be stored - selfTestDataset.negYRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.negYRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.negYRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.negYCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.negYCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.negYCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.negYCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.negYCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.negYCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.negYCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.negYCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.negYCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - - /** +Z measurements */ - selfTestDataset.posZErr = *(packet + offset); - offset += 2; // STEP byte will not be stored - selfTestDataset.posZRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.posZRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.posZRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.posZCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.posZCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.posZCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.posZCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.posZCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.posZCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.posZCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.posZCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.posZCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - - /** -Z measurements */ - selfTestDataset.negZErr = *(packet + offset); - offset += 2; // STEP byte will not be stored - selfTestDataset.negZRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.negZRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.negZRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.negZCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.negZCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.negZCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); - offset += 4; - selfTestDataset.negZCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.negZCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.negZCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.negZCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.negZCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); - offset += 2; - selfTestDataset.negZCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.coilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; /** FINA measurements */ - selfTestDataset.finaErr = *(packet + offset); + checkErrorByte(*(packet + offset), *(packet + offset + 1)); + posXselfTestDataset.finaErr = *(packet + offset); offset += 2; // STEP byte will not be stored - selfTestDataset.finaRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + posXselfTestDataset.finaRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - selfTestDataset.finaRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + posXselfTestDataset.finaRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - selfTestDataset.finaRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + posXselfTestDataset.finaRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - selfTestDataset.finaCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + posXselfTestDataset.finaCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - selfTestDataset.finaCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + posXselfTestDataset.finaCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - selfTestDataset.finaCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + posXselfTestDataset.finaCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - selfTestDataset.finaCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.finaCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); offset += 2; - selfTestDataset.finaCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.finaCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); offset += 2; - selfTestDataset.finaCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.finaCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); offset += 2; - selfTestDataset.finaCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.finaCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); offset += 2; - selfTestDataset.finaCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.finaCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); offset += 2; - selfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; #if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1 sif::info << "IMTQ self test (INIT) err: " - << static_cast(selfTestDataset.initErr.value) << std::endl; - sif::info << "IMTQ self test (INIT) raw magnetic field X: " << selfTestDataset.initRawMagX + << static_cast(posXselfTestDataset.initErr.value) << std::endl; + sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posXselfTestDataset.initRawMagX << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << selfTestDataset.initRawMagY + sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << posXselfTestDataset.initRawMagY << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << selfTestDataset.initRawMagZ + sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << posXselfTestDataset.initRawMagZ << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (INIT) calibrated magnetic field X: " << selfTestDataset.initCalMagX + sif::info << "IMTQ self test (INIT) calibrated magnetic field X: " << posXselfTestDataset.initCalMagX << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: " << selfTestDataset.initCalMagY + sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: " << posXselfTestDataset.initCalMagY << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: " << selfTestDataset.initCalMagZ + sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: " << posXselfTestDataset.initCalMagZ << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (INIT) coil X current: " << selfTestDataset.initCoilXCurrent - << " 10^-4 A" << std::endl; - sif::info << "IMTQ self test (INIT) coil Y current: " << selfTestDataset.initCoilYCurrent - << " 10^-4 A" << std::endl; - sif::info << "IMTQ self test (INIT) coil Z current: " << selfTestDataset.initCoilZCurrent - << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (INIT) coil X current: " << posXselfTestDataset.initCoilXCurrent + << " * 10^-4 A" << std::endl; + sif::info << "IMTQ self test (INIT) coil Y current: " << posXselfTestDataset.initCoilYCurrent + << " * 10^-4 A" << std::endl; + sif::info << "IMTQ self test (INIT) coil Z current: " << posXselfTestDataset.initCoilZCurrent + << " * 10^-4 A" << std::endl; sif::info << "IMTQ self test (INIT) coil X temperature: " - << selfTestDataset.initCoilXTemperature << " °C" << std::endl; + << posXselfTestDataset.initCoilXTemperature << " °C" << std::endl; sif::info << "IMTQ self test (INIT) coil Y temperature: " - << selfTestDataset.initCoilYTemperature << " °C" << std::endl; + << posXselfTestDataset.initCoilYTemperature << " °C" << std::endl; sif::info << "IMTQ self test (INIT) coil Z temperature: " - << selfTestDataset.initCoilZTemperature << " °C" << std::endl; + << posXselfTestDataset.initCoilZTemperature << " °C" << std::endl; sif::info << "IMTQ self test (+X) err: " << - static_cast(selfTestDataset.posXErr.value) << std::endl; - sif::info << "IMTQ self test (+X) raw magnetic field X: " << selfTestDataset.posXRawMagX + static_cast(posXselfTestDataset.err.value) << std::endl; + sif::info << "IMTQ self test (+X) raw magnetic field X: " << posXselfTestDataset.rawMagX << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (+X) raw magnetic field Y: " << selfTestDataset.posXRawMagY + sif::info << "IMTQ self test (+X) raw magnetic field Y: " << posXselfTestDataset.rawMagY << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (+X) raw magnetic field Z: " << selfTestDataset.posXRawMagZ + sif::info << "IMTQ self test (+X) raw magnetic field Z: " << posXselfTestDataset.rawMagZ << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (+X) calibrated magnetic field X: " << selfTestDataset.posXCalMagX + sif::info << "IMTQ self test (+X) calibrated magnetic field X: " << posXselfTestDataset.calMagX << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (+X) calibrated magnetic field Y: " << selfTestDataset.posXCalMagY + sif::info << "IMTQ self test (+X) calibrated magnetic field Y: " << posXselfTestDataset.calMagY << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (+X) calibrated magnetic field Z: " << selfTestDataset.posXCalMagZ + sif::info << "IMTQ self test (+X) calibrated magnetic field Z: " << posXselfTestDataset.calMagZ << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (+X) coil X current: " << selfTestDataset.posXCoilXCurrent - << " 10^-4 A" << std::endl; - sif::info << "IMTQ self test (+X) coil Y current: " << selfTestDataset.posXCoilYCurrent - << " 10^-4 A" << std::endl; - sif::info << "IMTQ self test (+X) coil Z current: " << selfTestDataset.initCoilZCurrent - << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (+X) coil X current: " << posXselfTestDataset.coilXCurrent + << " * 10^-4 A" << std::endl; + sif::info << "IMTQ self test (+X) coil Y current: " << posXselfTestDataset.coilYCurrent + << " * 10^-4 A" << std::endl; + sif::info << "IMTQ self test (+X) coil Z current: " << posXselfTestDataset.coilZCurrent + << " * 10^-4 A" << std::endl; sif::info << "IMTQ self test (+X) coil X temperature: " - << selfTestDataset.posXCoilXTemperature << " °C" << std::endl; + << posXselfTestDataset.coilXTemperature << " °C" << std::endl; sif::info << "IMTQ self test (+X) coil Y temperature: " - << selfTestDataset.posXCoilYTemperature << " °C" << std::endl; + << posXselfTestDataset.coilYTemperature << " °C" << std::endl; sif::info << "IMTQ self test (+X) coil Z temperature: " - << selfTestDataset.posXCoilZTemperature << " °C" << std::endl; - - sif::info << "IMTQ self test (-X) err: " - << static_cast(selfTestDataset.negXErr.value) << std::endl; - sif::info << "IMTQ self test (-X) raw magnetic field X: " << selfTestDataset.negXRawMagX - << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (-X) raw magnetic field Y: " << selfTestDataset.negXRawMagY - << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (-X) raw magnetic field Z: " << selfTestDataset.negXRawMagZ - << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (-X) calibrated magnetic field X: " << selfTestDataset.negXCalMagX - << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (-X) calibrated magnetic field Y: " << selfTestDataset.negXCalMagY - << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (-X) calibrated magnetic field Z: " << selfTestDataset.negXCalMagZ - << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (-X) coil X current: " << selfTestDataset.negXCoilXCurrent - << " 10^-4 A" << std::endl; - sif::info << "IMTQ self test (-X) coil Y current: " << selfTestDataset.negXCoilYCurrent - << " 10^-4 A" << std::endl; - sif::info << "IMTQ self test (-X) coil Z current: " << selfTestDataset.negXCoilZCurrent - << " 10^-4 A" << std::endl; - sif::info << "IMTQ self test (-X) coil X temperature: " - << selfTestDataset.negXCoilXTemperature << " °C" << std::endl; - sif::info << "IMTQ self test (-X) coil Y temperature: " - << selfTestDataset.negXCoilYTemperature << " °C" << std::endl; - sif::info << "IMTQ self test (-X) coil Z temperature: " - << selfTestDataset.negXCoilZTemperature << " °C" << std::endl; - - sif::info << "IMTQ self test (+Y) err: " - << static_cast(selfTestDataset.posYErr.value) << std::endl; - sif::info << "IMTQ self test (+Y) raw magnetic field X: " << selfTestDataset.posYRawMagX - << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (+Y) raw magnetic field Y: " << selfTestDataset.posYRawMagY - << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (+Y) raw magnetic field Z: " << selfTestDataset.posYRawMagZ - << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (+Y) calibrated magnetic field X: " << selfTestDataset.posYCalMagX - << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (+Y) calibrated magnetic field Y: " << selfTestDataset.posYCalMagY - << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (+Y) calibrated magnetic field Z: " << selfTestDataset.posYCalMagZ - << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (+Y) coil X current: " << selfTestDataset.posYCoilXCurrent - << " 10^-4 A" << std::endl; - sif::info << "IMTQ self test (+Y) coil Y current: " << selfTestDataset.posYCoilYCurrent - << " 10^-4 A" << std::endl; - sif::info << "IMTQ self test (+Y) coil Z current: " << selfTestDataset.posYCoilZCurrent - << " 10^-4 A" << std::endl; - sif::info << "IMTQ self test (+Y) coil X temperature: " - << selfTestDataset.posYCoilXTemperature << " °C" << std::endl; - sif::info << "IMTQ self test (+Y) coil Y temperature: " - << selfTestDataset.posYCoilYTemperature << " °C" << std::endl; - sif::info << "IMTQ self test (+Y) coil Z temperature: " - << selfTestDataset.posYCoilZTemperature << " °C" << std::endl; - - sif::info << "IMTQ self test (-Y) err: " - << static_cast(selfTestDataset.negYErr.value) << std::endl; - sif::info << "IMTQ self test (-Y) raw magnetic field X: " << selfTestDataset.negYRawMagX - << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (-Y) raw magnetic field Y: " << selfTestDataset.negYRawMagY - << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (-Y) raw magnetic field Z: " << selfTestDataset.negYRawMagZ - << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (-Y) calibrated magnetic field X: " << selfTestDataset.negYCalMagX - << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (-Y) calibrated magnetic field Y: " << selfTestDataset.negYCalMagY - << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (-Y) calibrated magnetic field Z: " << selfTestDataset.negYCalMagZ - << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (-Y) coil X current: " << selfTestDataset.negYCoilXCurrent - << " 10^-4 A" << std::endl; - sif::info << "IMTQ self test (-Y) coil Y current: " << selfTestDataset.negYCoilYCurrent - << " 10^-4 A" << std::endl; - sif::info << "IMTQ self test (-Y) coil Z current: " << selfTestDataset.negYCoilZCurrent - << " 10^-4 A" << std::endl; - sif::info << "IMTQ self test (-Y) coil X temperature: " - << selfTestDataset.negYCoilXTemperature << " °C" << std::endl; - sif::info << "IMTQ self test (-Y) coil Y temperature: " - << selfTestDataset.negYCoilYTemperature << " °C" << std::endl; - sif::info << "IMTQ self test (-Y) coil Z temperature: " - << selfTestDataset.negYCoilZTemperature << " °C" << std::endl; - - sif::info << "IMTQ self test (+Z) err: " - << static_cast(selfTestDataset.posZErr.value) << std::endl; - sif::info << "IMTQ self test (+Z) raw magnetic field X: " << selfTestDataset.posZRawMagX - << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (+Z) raw magnetic field Y: " << selfTestDataset.posZRawMagY - << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (+Z) raw magnetic field Z: " << selfTestDataset.posZRawMagZ - << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (+Z) calibrated magnetic field X: " << selfTestDataset.posZCalMagX - << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (+Z) calibrated magnetic field Y: " << selfTestDataset.posZCalMagY - << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (+Z) calibrated magnetic field Z: " << selfTestDataset.posZCalMagZ - << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (+Z) coil X current: " << selfTestDataset.posZCoilXCurrent - << " 10^-4 A" << std::endl; - sif::info << "IMTQ self test (+Z) coil Y current: " << selfTestDataset.posZCoilYCurrent - << " 10^-4 A" << std::endl; - sif::info << "IMTQ self test (+Z) coil Z current: " << selfTestDataset.posZCoilZCurrent - << " 10^-4 A" << std::endl; - sif::info << "IMTQ self test (+Z) coil X temperature: " - << selfTestDataset.posZCoilXTemperature << " °C" << std::endl; - sif::info << "IMTQ self test (+Z) coil Y temperature: " - << selfTestDataset.posZCoilYTemperature << " °C" << std::endl; - sif::info << "IMTQ self test (+Z) coil Z temperature: " - << selfTestDataset.posZCoilZTemperature << " °C" << std::endl; - - sif::info << "IMTQ self test (-Z) err: " - << static_cast(selfTestDataset.negZErr.value) << std::endl; - sif::info << "IMTQ self test (-Z) raw magnetic field X: " << selfTestDataset.negZRawMagX - << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (-Z) raw magnetic field Y: " << selfTestDataset.negZRawMagY - << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (-Z) raw magnetic field Z: " << selfTestDataset.negZRawMagZ - << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (-Z) calibrated magnetic field X: " << selfTestDataset.negZCalMagX - << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (-Z) calibrated magnetic field Y: " << selfTestDataset.negZCalMagY - << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (-Z) calibrated magnetic field Z: " << selfTestDataset.negZCalMagZ - << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (-Z) coil X current: " << selfTestDataset.negZCoilXCurrent - << " 10^-4 A" << std::endl; - sif::info << "IMTQ self test (-Z) coil Y current: " << selfTestDataset.negZCoilYCurrent - << " 10^-4 A" << std::endl; - sif::info << "IMTQ self test (-Z) coil Z current: " << selfTestDataset.negZCoilZCurrent - << " 10^-4 A" << std::endl; - sif::info << "IMTQ self test (-Z) coil X temperature: " - << selfTestDataset.negZCoilXTemperature << " °C" << std::endl; - sif::info << "IMTQ self test (-Z) coil Y temperature: " - << selfTestDataset.negZCoilYTemperature << " °C" << std::endl; - sif::info << "IMTQ self test (-Z) coil Z temperature: " - << selfTestDataset.negZCoilZTemperature << " °C" << std::endl; + << posXselfTestDataset.coilZTemperature << " °C" << std::endl; sif::info << "IMTQ self test (FINA) err: " - << static_cast(selfTestDataset.finaErr.value) << std::endl; - sif::info << "IMTQ self test (FINA) raw magnetic field X: " << selfTestDataset.finaRawMagX + << static_cast(posXselfTestDataset.finaErr.value) << std::endl; + sif::info << "IMTQ self test (FINA) raw magnetic field X: " << posXselfTestDataset.finaRawMagX << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << selfTestDataset.finaRawMagY + sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << posXselfTestDataset.finaRawMagY << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << selfTestDataset.finaRawMagZ + sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << posXselfTestDataset.finaRawMagZ << " 7.5 * 10^-9 T" << std::endl; - sif::info << "IMTQ self test (FINA) calibrated magnetic field X: " << selfTestDataset.finaCalMagX + sif::info << "IMTQ self test (FINA) calibrated magnetic field X: " << posXselfTestDataset.finaCalMagX << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: " << selfTestDataset.finaCalMagY + sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: " << posXselfTestDataset.finaCalMagY << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: " << selfTestDataset.finaCalMagZ + sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: " << posXselfTestDataset.finaCalMagZ << " 10^-9 T" << std::endl; - sif::info << "IMTQ self test (FINA) coil X current: " << selfTestDataset.finaCoilXCurrent - << " 10^-4 A" << std::endl; - sif::info << "IMTQ self test (FINA) coil Y current: " << selfTestDataset.finaCoilYCurrent - << " 10^-4 A" << std::endl; - sif::info << "IMTQ self test (FINA) coil Z current: " << selfTestDataset.finaCoilZCurrent - << " 10^-4 A" << std::endl; + sif::info << "IMTQ self test (FINA) coil X current: " << posXselfTestDataset.finaCoilXCurrent + << " * 10^-4 A" << std::endl; + sif::info << "IMTQ self test (FINA) coil Y current: " << posXselfTestDataset.finaCoilYCurrent + << " * 10^-4 A" << std::endl; + sif::info << "IMTQ self test (FINA) coil Z current: " << posXselfTestDataset.finaCoilZCurrent + << " * 10^-4 A" << std::endl; sif::info << "IMTQ self test (FINA) coil X temperature: " - << selfTestDataset.finaCoilXTemperature << " °C" << std::endl; + << posXselfTestDataset.finaCoilXTemperature << " °C" << std::endl; sif::info << "IMTQ self test (FINA) coil Y temperature: " - << selfTestDataset.finaCoilYTemperature << " °C" << std::endl; + << posXselfTestDataset.finaCoilYTemperature << " °C" << std::endl; sif::info << "IMTQ self test (FINA) coil Z temperature: " - << selfTestDataset.finaCoilZTemperature << " °C" << std::endl; + << posXselfTestDataset.finaCoilZTemperature << " °C" << std::endl; #endif - if (mode == _MODE_START_UP) { - selfTestPerformed = true; - } } void IMTQHandler::checkErrorByte(const uint8_t errorByte, const uint8_t step) { @@ -1088,6 +807,10 @@ void IMTQHandler::checkErrorByte(const uint8_t errorByte, const uint8_t step) { return; } + if (errorByte == 0) { + return; + } + if (errorByte & IMTQ::I2C_FAILURE_MASK) { triggerEvent(SELF_TEST_I2C_FAILURE, step); sif::error << "IMTQHandler::checkErrorByte: Self test I2C failure for step " << stepString @@ -1123,6 +846,12 @@ void IMTQHandler::checkErrorByte(const uint8_t errorByte, const uint8_t step) { sif::error << "IMTQHandler::checkErrorByte: Self test coil current outside of expected " "range for step " << stepString << std::endl; } + + if (errorByte & IMTQ::INVALID_ERROR_BYTE) { + triggerEvent(INVALID_ERROR_BYTE, step); + sif::error << "IMTQHandler::checkErrorByte: Self test result of step " << stepString + << " has invalid error byte" << std::endl; + } } std::string IMTQHandler::makeStepString(const uint8_t step) { diff --git a/mission/devices/IMTQHandler.h b/mission/devices/IMTQHandler.h index dd5ae8cf..2522cfe5 100644 --- a/mission/devices/IMTQHandler.h +++ b/mission/devices/IMTQHandler.h @@ -49,6 +49,8 @@ private: 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); + //! [EXPORT] : [COMMENT] The status reply to a self test command was received but no self test command has been sent. This should normally never happen. + static const ReturnValue_t UNEXPECTED_SELF_TEST_REPLY = MAKE_RETURN_CODE(0xA7); static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::IMTQ_HANDLER; @@ -73,11 +75,13 @@ private: //! [EXPORT] : [COMMENT] Get self test result returns failure indicating that the coil current was outside of the expected range //! P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA static const Event SELF_TEST_COIL_CURRENT_FAILURE = MAKE_EVENT(7, severity::LOW); + //! [EXPORT] : [COMMENT] Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC. + static const Event INVALID_ERROR_BYTE = MAKE_EVENT(8, severity::LOW); IMTQ::EngHkDataset engHkDataset; IMTQ::CalibratedMtmMeasurementSet calMtmMeasurementSet; IMTQ::RawMtmMeasurementSet rawMtmMeasurementSet; - IMTQ::SelfTestDataset selfTestDataset; + IMTQ::PosXselfTestSet posXselfTestDataset; uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE]; @@ -100,6 +104,12 @@ private: bool selfTestPerformed = false; + /** + * @brief In case of a status reply to a single axis self test command, this function + * searches for the actual pending command. + */ + ReturnValue_t getSelfTestCommandId(DeviceCommandId_t* id); + /** * @brief Each reply contains a status byte giving information about a request. This function * parses this byte and returns the associated failure message. @@ -149,12 +159,17 @@ private: void fillRawMtmDataset(const uint8_t* packet); /** - * @brief This function fills the self test dataset and parses error bytes by means of the - * self test reply data. - * @param packet Pointer to the reply data holding the self test results. + * @brief This function handles all self test results. This comprises parsing the error byte + * and step byte and calling the function to fill the respective dataset. */ void handleSelfTestReply(const uint8_t* packet); + /** + * @brief The following functions fill the respective dataset of the single axis self tests. + * @param packet Pointer to the reply data holding the self test result. + */ + void handlePositiveXSelfTestReply(const uint8_t* packet); + /** * @brief This function checks the error byte of a self test measurement. * diff --git a/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h b/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h index 0de6ab2f..e57f39d2 100644 --- a/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h +++ b/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h @@ -13,8 +13,13 @@ namespace IMTQ { static const DeviceCommandId_t GET_CAL_MTM_MEASUREMENT = 0x5; /** Requests the raw values measured by the built-in MTM XEN1210 */ static const DeviceCommandId_t GET_RAW_MTM_MEASUREMENT = 0x6; - static const DeviceCommandId_t SELF_TEST_CMD = 0x7; - static const DeviceCommandId_t GET_SELF_TEST_RESULT = 0x8; + static const DeviceCommandId_t POS_X_SELF_TEST = 0x7; + static const DeviceCommandId_t NEG_X_SELF_TEST = 0x8; + static const DeviceCommandId_t POS_Y_SELF_TEST = 0x9; + static const DeviceCommandId_t NEG_Y_SELF_TEST = 0x10; + static const DeviceCommandId_t POS_Z_SELF_TEST = 0x11; + static const DeviceCommandId_t NEG_Z_SELF_TEST = 0x12; + static const DeviceCommandId_t GET_SELF_TEST_RESULT = 0x13; static const uint8_t GET_TEMP_REPLY_SIZE = 2; static const uint8_t CFGR_CMD_SIZE = 3; @@ -48,6 +53,9 @@ namespace IMTQ { static const uint8_t TC_FAILURE_MASK = 0x10; // System failure static const uint8_t MTM_RANGE_FAILURE_MASK = 0x20; // MTM values outside of expected range static const uint8_t COIL_CURRENT_FAILURE_MASK = 0x40; // Coil currents outside of expected range + static const uint8_t INVALID_ERROR_BYTE = 0x80; // This is an invalid error byte and should be never replied by the IMTQ + + static const uint8_t MAIN_STEP_OFFSET = 43; /** * Command code definitions. Each command or reply of an IMTQ request will begin with one of @@ -107,19 +115,89 @@ namespace IMTQ { MTM_RAW_Z, ACTUATION_RAW_STATUS, - INIT_ERR, - INIT_RAW_MAG_X, - INIT_RAW_MAG_Y, - INIT_RAW_MAG_Z, - INIT_CAL_MAG_X, - INIT_CAL_MAG_Y, - INIT_CAL_MAG_Z, - INIT_COIL_X_CURRENT, - INIT_COIL_Y_CURRENT, - INIT_COIL_Z_CURRENT, - INIT_COIL_X_TEMPERATURE, - INIT_COIL_Y_TEMPERATURE, - INIT_COIL_Z_TEMPERATURE, + INIT_POS_X_ERR, + INIT_POS_X_RAW_MAG_X, + INIT_POS_X_RAW_MAG_Y, + INIT_POS_X_RAW_MAG_Z, + INIT_POS_X_CAL_MAG_X, + INIT_POS_X_CAL_MAG_Y, + INIT_POS_X_CAL_MAG_Z, + INIT_POS_X_COIL_X_CURRENT, + INIT_POS_X_COIL_Y_CURRENT, + INIT_POS_X_COIL_Z_CURRENT, + INIT_POS_X_COIL_X_TEMPERATURE, + INIT_POS_X_COIL_Y_TEMPERATURE, + INIT_POS_X_COIL_Z_TEMPERATURE, + + INIT_NEG_X_ERR, + INIT_NEG_X_RAW_MAG_X, + INIT_NEG_X_RAW_MAG_Y, + INIT_NEG_X_RAW_MAG_Z, + INIT_NEG_X_CAL_MAG_X, + INIT_NEG_X_CAL_MAG_Y, + INIT_NEG_X_CAL_MAG_Z, + INIT_NEG_X_COIL_X_CURRENT, + INIT_NEG_X_COIL_Y_CURRENT, + INIT_NEG_X_COIL_Z_CURRENT, + INIT_NEG_X_COIL_X_TEMPERATURE, + INIT_NEG_X_COIL_Y_TEMPERATURE, + INIT_NEG_X_COIL_Z_TEMPERATURE, + + INIT_POS_Y_ERR, + INIT_POS_Y_RAW_MAG_X, + INIT_POS_Y_RAW_MAG_Y, + INIT_POS_Y_RAW_MAG_Z, + INIT_POS_Y_CAL_MAG_X, + INIT_POS_Y_CAL_MAG_Y, + INIT_POS_Y_CAL_MAG_Z, + INIT_POS_Y_COIL_X_CURRENT, + INIT_POS_Y_COIL_Y_CURRENT, + INIT_POS_Y_COIL_Z_CURRENT, + INIT_POS_Y_COIL_X_TEMPERATURE, + INIT_POS_Y_COIL_Y_TEMPERATURE, + INIT_POS_Y_COIL_Z_TEMPERATURE, + + INIT_NEG_Y_ERR, + INIT_NEG_Y_RAW_MAG_X, + INIT_NEG_Y_RAW_MAG_Y, + INIT_NEG_Y_RAW_MAG_Z, + INIT_NEG_Y_CAL_MAG_X, + INIT_NEG_Y_CAL_MAG_Y, + INIT_NEG_Y_CAL_MAG_Z, + INIT_NEG_Y_COIL_X_CURRENT, + INIT_NEG_Y_COIL_Y_CURRENT, + INIT_NEG_Y_COIL_Z_CURRENT, + INIT_NEG_Y_COIL_X_TEMPERATURE, + INIT_NEG_Y_COIL_Y_TEMPERATURE, + INIT_NEG_Y_COIL_Z_TEMPERATURE, + + INIT_POS_Z_ERR, + INIT_POS_Z_RAW_MAG_X, + INIT_POS_Z_RAW_MAG_Y, + INIT_POS_Z_RAW_MAG_Z, + INIT_POS_Z_CAL_MAG_X, + INIT_POS_Z_CAL_MAG_Y, + INIT_POS_Z_CAL_MAG_Z, + INIT_POS_Z_COIL_X_CURRENT, + INIT_POS_Z_COIL_Y_CURRENT, + INIT_POS_Z_COIL_Z_CURRENT, + INIT_POS_Z_COIL_X_TEMPERATURE, + INIT_POS_Z_COIL_Y_TEMPERATURE, + INIT_POS_Z_COIL_Z_TEMPERATURE, + + INIT_NEG_Z_ERR, + INIT_NEG_Z_RAW_MAG_X, + INIT_NEG_Z_RAW_MAG_Y, + INIT_NEG_Z_RAW_MAG_Z, + INIT_NEG_Z_CAL_MAG_X, + INIT_NEG_Z_CAL_MAG_Y, + INIT_NEG_Z_CAL_MAG_Z, + INIT_NEG_Z_COIL_X_CURRENT, + INIT_NEG_Z_COIL_Y_CURRENT, + INIT_NEG_Z_COIL_Z_CURRENT, + INIT_NEG_Z_COIL_X_TEMPERATURE, + INIT_NEG_Z_COIL_Y_TEMPERATURE, + INIT_NEG_Z_COIL_Z_TEMPERATURE, POS_X_ERR, POS_X_RAW_MAG_X, @@ -205,19 +283,89 @@ namespace IMTQ { NEG_Z_COIL_Y_TEMPERATURE, NEG_Z_COIL_Z_TEMPERATURE, - FINA_ERR, - FINA_RAW_MAG_X, - FINA_RAW_MAG_Y, - FINA_RAW_MAG_Z, - FINA_CAL_MAG_X, - FINA_CAL_MAG_Y, - FINA_CAL_MAG_Z, - FINA_COIL_X_CURRENT, - FINA_COIL_Y_CURRENT, - FINA_COIL_Z_CURRENT, - FINA_COIL_X_TEMPERATURE, - FINA_COIL_Y_TEMPERATURE, - FINA_COIL_Z_TEMPERATURE, + FINA_POS_X_ERR, + FINA_POS_X_RAW_MAG_X, + FINA_POS_X_RAW_MAG_Y, + FINA_POS_X_RAW_MAG_Z, + FINA_POS_X_CAL_MAG_X, + FINA_POS_X_CAL_MAG_Y, + FINA_POS_X_CAL_MAG_Z, + FINA_POS_X_COIL_X_CURRENT, + FINA_POS_X_COIL_Y_CURRENT, + FINA_POS_X_COIL_Z_CURRENT, + FINA_POS_X_COIL_X_TEMPERATURE, + FINA_POS_X_COIL_Y_TEMPERATURE, + FINA_POS_X_COIL_Z_TEMPERATURE, + + FINA_NEG_X_ERR, + FINA_NEG_X_RAW_MAG_X, + FINA_NEG_X_RAW_MAG_Y, + FINA_NEG_X_RAW_MAG_Z, + FINA_NEG_X_CAL_MAG_X, + FINA_NEG_X_CAL_MAG_Y, + FINA_NEG_X_CAL_MAG_Z, + FINA_NEG_X_COIL_X_CURRENT, + FINA_NEG_X_COIL_Y_CURRENT, + FINA_NEG_X_COIL_Z_CURRENT, + FINA_NEG_X_COIL_X_TEMPERATURE, + FINA_NEG_X_COIL_Y_TEMPERATURE, + FINA_NEG_X_COIL_Z_TEMPERATURE, + + FINA_POS_Y_ERR, + FINA_POS_Y_RAW_MAG_X, + FINA_POS_Y_RAW_MAG_Y, + FINA_POS_Y_RAW_MAG_Z, + FINA_POS_Y_CAL_MAG_X, + FINA_POS_Y_CAL_MAG_Y, + FINA_POS_Y_CAL_MAG_Z, + FINA_POS_Y_COIL_X_CURRENT, + FINA_POS_Y_COIL_Y_CURRENT, + FINA_POS_Y_COIL_Z_CURRENT, + FINA_POS_Y_COIL_X_TEMPERATURE, + FINA_POS_Y_COIL_Y_TEMPERATURE, + FINA_POS_Y_COIL_Z_TEMPERATURE, + + FINA_NEG_Y_ERR, + FINA_NEG_Y_RAW_MAG_X, + FINA_NEG_Y_RAW_MAG_Y, + FINA_NEG_Y_RAW_MAG_Z, + FINA_NEG_Y_CAL_MAG_X, + FINA_NEG_Y_CAL_MAG_Y, + FINA_NEG_Y_CAL_MAG_Z, + FINA_NEG_Y_COIL_X_CURRENT, + FINA_NEG_Y_COIL_Y_CURRENT, + FINA_NEG_Y_COIL_Z_CURRENT, + FINA_NEG_Y_COIL_X_TEMPERATURE, + FINA_NEG_Y_COIL_Y_TEMPERATURE, + FINA_NEG_Y_COIL_Z_TEMPERATURE, + + FINA_POS_Z_ERR, + FINA_POS_Z_RAW_MAG_X, + FINA_POS_Z_RAW_MAG_Y, + FINA_POS_Z_RAW_MAG_Z, + FINA_POS_Z_CAL_MAG_X, + FINA_POS_Z_CAL_MAG_Y, + FINA_POS_Z_CAL_MAG_Z, + FINA_POS_Z_COIL_X_CURRENT, + FINA_POS_Z_COIL_Y_CURRENT, + FINA_POS_Z_COIL_Z_CURRENT, + FINA_POS_Z_COIL_X_TEMPERATURE, + FINA_POS_Z_COIL_Y_TEMPERATURE, + FINA_POS_Z_COIL_Z_TEMPERATURE, + + FINA_NEG_Z_ERR, + FINA_NEG_Z_RAW_MAG_X, + FINA_NEG_Z_RAW_MAG_Y, + FINA_NEG_Z_RAW_MAG_Z, + FINA_NEG_Z_CAL_MAG_X, + FINA_NEG_Z_CAL_MAG_Y, + FINA_NEG_Z_CAL_MAG_Z, + FINA_NEG_Z_COIL_X_CURRENT, + FINA_NEG_Z_COIL_Y_CURRENT, + FINA_NEG_Z_COIL_Z_CURRENT, + FINA_NEG_Z_COIL_X_TEMPERATURE, + FINA_NEG_Z_COIL_Y_TEMPERATURE, + FINA_NEG_Z_COIL_Z_TEMPERATURE, }; class EngHkDataset: public StaticLocalDataSet { @@ -296,7 +444,7 @@ public: }; /** - * @brief This dataset can be used to store the self test results. + * @brief This dataset can be used to store the self test results of the positve X axis test. * * @details Units of measurements: * Currents: [10^-4 A] @@ -306,193 +454,82 @@ public: * The self test generates for each axis the positive and negative dipole and measures * the magnetic field with the built-in MTM. The procedure of the test is as follows: * 1. All coils off (INIT step) - * 2. +X - * 3. -X - * 4. +Y - * 5. -Y - * 6. +Z - * 7. -Z - * 8. All coils off (FINA step) + * 2. +X (apply current to generate dipole in positive X direction) + * 3. All coils off (FINA step) */ -class SelfTestDataset: public StaticLocalDataSet { +class PosXselfTestSet: public StaticLocalDataSet { public: - SelfTestDataset(HasLocalDataPoolIF* owner) : + PosXselfTestSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SELF_TEST_DATA_SET) { } - SelfTestDataset(object_id_t objectId) : + PosXselfTestSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, SELF_TEST_DATA_SET)) { } /** INIT block */ - lp_var_t initErr = lp_var_t(sid.objectId, INIT_ERR, this); - lp_var_t initRawMagX = lp_var_t(sid.objectId, INIT_RAW_MAG_X, this); - lp_var_t initRawMagY = lp_var_t(sid.objectId, INIT_RAW_MAG_Y, this); - lp_var_t initRawMagZ = lp_var_t(sid.objectId, INIT_RAW_MAG_Z, this); - lp_var_t initCalMagX = lp_var_t(sid.objectId, INIT_CAL_MAG_X, this); - lp_var_t initCalMagY = lp_var_t(sid.objectId, INIT_CAL_MAG_Y, this); - lp_var_t initCalMagZ = lp_var_t(sid.objectId, INIT_CAL_MAG_Z, this); - lp_var_t initCoilXCurrent = lp_var_t(sid.objectId, INIT_COIL_X_CURRENT, + lp_var_t initErr = lp_var_t(sid.objectId, INIT_POS_X_ERR, this); + lp_var_t initRawMagX = lp_var_t(sid.objectId, INIT_POS_X_RAW_MAG_X, this); + lp_var_t initRawMagY = lp_var_t(sid.objectId, INIT_POS_X_RAW_MAG_Y, this); + lp_var_t initRawMagZ = lp_var_t(sid.objectId, INIT_POS_X_RAW_MAG_Z, this); + lp_var_t initCalMagX = lp_var_t(sid.objectId, INIT_POS_X_CAL_MAG_X, this); + lp_var_t initCalMagY = lp_var_t(sid.objectId, INIT_POS_X_CAL_MAG_Y, this); + lp_var_t initCalMagZ = lp_var_t(sid.objectId, INIT_POS_X_CAL_MAG_Z, this); + lp_var_t initCoilXCurrent = lp_var_t(sid.objectId, INIT_POS_X_COIL_X_CURRENT, this); - lp_var_t initCoilYCurrent = lp_var_t(sid.objectId, INIT_COIL_Y_CURRENT, + lp_var_t initCoilYCurrent = lp_var_t(sid.objectId, INIT_POS_X_COIL_Y_CURRENT, this); - lp_var_t initCoilZCurrent = lp_var_t(sid.objectId, INIT_COIL_Z_CURRENT, + lp_var_t initCoilZCurrent = lp_var_t(sid.objectId, INIT_POS_X_COIL_Z_CURRENT, this); lp_var_t initCoilXTemperature = lp_var_t(sid.objectId, - INIT_COIL_X_TEMPERATURE, this); + INIT_POS_X_COIL_X_TEMPERATURE, this); lp_var_t initCoilYTemperature = lp_var_t(sid.objectId, - INIT_COIL_Y_TEMPERATURE, this); + INIT_POS_X_COIL_Y_TEMPERATURE, this); lp_var_t initCoilZTemperature = lp_var_t(sid.objectId, - INIT_COIL_Z_TEMPERATURE, this); + INIT_POS_X_COIL_Z_TEMPERATURE, this); /** +X block */ - lp_var_t posXErr = lp_var_t(sid.objectId, POS_X_ERR, this); - lp_var_t posXRawMagX = lp_var_t(sid.objectId, POS_X_RAW_MAG_X, this); - lp_var_t posXRawMagY = lp_var_t(sid.objectId, POS_X_RAW_MAG_Y, this); - lp_var_t posXRawMagZ = lp_var_t(sid.objectId, POS_X_RAW_MAG_Z, this); - lp_var_t posXCalMagX = lp_var_t(sid.objectId, POS_X_CAL_MAG_X, this); - lp_var_t posXCalMagY = lp_var_t(sid.objectId, POS_X_CAL_MAG_Y, this); - lp_var_t posXCalMagZ = lp_var_t(sid.objectId, POS_X_CAL_MAG_Z, this); - lp_var_t posXCoilXCurrent = lp_var_t(sid.objectId, POS_X_COIL_X_CURRENT, + lp_var_t err = lp_var_t(sid.objectId, POS_X_ERR, this); + lp_var_t rawMagX = lp_var_t(sid.objectId, POS_X_RAW_MAG_X, this); + lp_var_t rawMagY = lp_var_t(sid.objectId, POS_X_RAW_MAG_Y, this); + lp_var_t rawMagZ = lp_var_t(sid.objectId, POS_X_RAW_MAG_Z, this); + lp_var_t calMagX = lp_var_t(sid.objectId, POS_X_CAL_MAG_X, this); + lp_var_t calMagY = lp_var_t(sid.objectId, POS_X_CAL_MAG_Y, this); + lp_var_t calMagZ = lp_var_t(sid.objectId, POS_X_CAL_MAG_Z, this); + lp_var_t coilXCurrent = lp_var_t(sid.objectId, POS_X_COIL_X_CURRENT, this); - lp_var_t posXCoilYCurrent = lp_var_t(sid.objectId, POS_X_COIL_Y_CURRENT, + lp_var_t coilYCurrent = lp_var_t(sid.objectId, POS_X_COIL_Y_CURRENT, this); - lp_var_t posXCoilZCurrent = lp_var_t(sid.objectId, POS_X_COIL_Z_CURRENT, + lp_var_t coilZCurrent = lp_var_t(sid.objectId, POS_X_COIL_Z_CURRENT, this); - lp_var_t posXCoilXTemperature = lp_var_t(sid.objectId, + lp_var_t coilXTemperature = lp_var_t(sid.objectId, POS_X_COIL_X_TEMPERATURE, this); - lp_var_t posXCoilYTemperature = lp_var_t(sid.objectId, + lp_var_t coilYTemperature = lp_var_t(sid.objectId, POS_X_COIL_Y_TEMPERATURE, this); - lp_var_t posXCoilZTemperature = lp_var_t(sid.objectId, + lp_var_t coilZTemperature = lp_var_t(sid.objectId, POS_X_COIL_Z_TEMPERATURE, this); - /** -X block */ - lp_var_t negXErr = lp_var_t(sid.objectId, NEG_X_ERR, this); - lp_var_t negXRawMagX = lp_var_t(sid.objectId, NEG_X_RAW_MAG_X, this); - lp_var_t negXRawMagY = lp_var_t(sid.objectId, NEG_X_RAW_MAG_Y, this); - lp_var_t negXRawMagZ = lp_var_t(sid.objectId, NEG_X_RAW_MAG_Z, this); - lp_var_t negXCalMagX = lp_var_t(sid.objectId, NEG_X_CAL_MAG_X, this); - lp_var_t negXCalMagY = lp_var_t(sid.objectId, NEG_X_CAL_MAG_Y, this); - lp_var_t negXCalMagZ = lp_var_t(sid.objectId, NEG_X_CAL_MAG_Z, this); - lp_var_t negXCoilXCurrent = lp_var_t(sid.objectId, NEG_X_COIL_X_CURRENT, - this); - lp_var_t negXCoilYCurrent = lp_var_t(sid.objectId, NEG_X_COIL_Y_CURRENT, - this); - lp_var_t negXCoilZCurrent = lp_var_t(sid.objectId, NEG_X_COIL_Z_CURRENT, - this); - lp_var_t negXCoilXTemperature = lp_var_t(sid.objectId, - NEG_X_COIL_X_TEMPERATURE, this); - lp_var_t negXCoilYTemperature = lp_var_t(sid.objectId, - NEG_X_COIL_Y_TEMPERATURE, this); - lp_var_t negXCoilZTemperature = lp_var_t(sid.objectId, - NEG_X_COIL_Z_TEMPERATURE, this); - - /** +Y block */ - lp_var_t posYErr = lp_var_t(sid.objectId, POS_Y_ERR, this); - lp_var_t posYRawMagX = lp_var_t(sid.objectId, POS_Y_RAW_MAG_X, this); - lp_var_t posYRawMagY = lp_var_t(sid.objectId, POS_Y_RAW_MAG_Y, this); - lp_var_t posYRawMagZ = lp_var_t(sid.objectId, POS_Y_RAW_MAG_Z, this); - lp_var_t posYCalMagX = lp_var_t(sid.objectId, POS_Y_CAL_MAG_X, this); - lp_var_t posYCalMagY = lp_var_t(sid.objectId, POS_Y_CAL_MAG_Y, this); - lp_var_t posYCalMagZ = lp_var_t(sid.objectId, POS_Y_CAL_MAG_Z, this); - lp_var_t posYCoilXCurrent = lp_var_t(sid.objectId, POS_Y_COIL_X_CURRENT, - this); - lp_var_t posYCoilYCurrent = lp_var_t(sid.objectId, POS_Y_COIL_Y_CURRENT, - this); - lp_var_t posYCoilZCurrent = lp_var_t(sid.objectId, POS_Y_COIL_Z_CURRENT, - this); - lp_var_t posYCoilXTemperature = lp_var_t(sid.objectId, - POS_Y_COIL_X_TEMPERATURE, this); - lp_var_t posYCoilYTemperature = lp_var_t(sid.objectId, - POS_Y_COIL_Y_TEMPERATURE, this); - lp_var_t posYCoilZTemperature = lp_var_t(sid.objectId, - POS_Y_COIL_Z_TEMPERATURE, this); - - /** -Y block */ - lp_var_t negYErr = lp_var_t(sid.objectId, NEG_Y_ERR, this); - lp_var_t negYRawMagX = lp_var_t(sid.objectId, NEG_Y_RAW_MAG_X, this); - lp_var_t negYRawMagY = lp_var_t(sid.objectId, NEG_Y_RAW_MAG_Y, this); - lp_var_t negYRawMagZ = lp_var_t(sid.objectId, NEG_Y_RAW_MAG_Z, this); - lp_var_t negYCalMagX = lp_var_t(sid.objectId, NEG_Y_CAL_MAG_X, this); - lp_var_t negYCalMagY = lp_var_t(sid.objectId, NEG_Y_CAL_MAG_Y, this); - lp_var_t negYCalMagZ = lp_var_t(sid.objectId, NEG_Y_CAL_MAG_Z, this); - lp_var_t negYCoilXCurrent = lp_var_t(sid.objectId, NEG_Y_COIL_X_CURRENT, - this); - lp_var_t negYCoilYCurrent = lp_var_t(sid.objectId, NEG_Y_COIL_Y_CURRENT, - this); - lp_var_t negYCoilZCurrent = lp_var_t(sid.objectId, NEG_Y_COIL_Z_CURRENT, - this); - lp_var_t negYCoilXTemperature = lp_var_t(sid.objectId, - NEG_Y_COIL_X_TEMPERATURE, this); - lp_var_t negYCoilYTemperature = lp_var_t(sid.objectId, - NEG_Y_COIL_Y_TEMPERATURE, this); - lp_var_t negYCoilZTemperature = lp_var_t(sid.objectId, - NEG_Y_COIL_Z_TEMPERATURE, this); - - /** +Z block */ - lp_var_t posZErr = lp_var_t(sid.objectId, POS_Z_ERR, this); - lp_var_t posZRawMagX = lp_var_t(sid.objectId, POS_Z_RAW_MAG_X, this); - lp_var_t posZRawMagY = lp_var_t(sid.objectId, POS_Z_RAW_MAG_Y, this); - lp_var_t posZRawMagZ = lp_var_t(sid.objectId, POS_Z_RAW_MAG_Z, this); - lp_var_t posZCalMagX = lp_var_t(sid.objectId, POS_Z_CAL_MAG_X, this); - lp_var_t posZCalMagY = lp_var_t(sid.objectId, POS_Z_CAL_MAG_Y, this); - lp_var_t posZCalMagZ = lp_var_t(sid.objectId, POS_Z_CAL_MAG_Z, this); - lp_var_t posZCoilXCurrent = lp_var_t(sid.objectId, POS_Z_COIL_X_CURRENT, - this); - lp_var_t posZCoilYCurrent = lp_var_t(sid.objectId, POS_Z_COIL_Y_CURRENT, - this); - lp_var_t posZCoilZCurrent = lp_var_t(sid.objectId, POS_Z_COIL_Z_CURRENT, - this); - lp_var_t posZCoilXTemperature = lp_var_t(sid.objectId, - POS_Z_COIL_X_TEMPERATURE, this); - lp_var_t posZCoilYTemperature = lp_var_t(sid.objectId, - POS_Z_COIL_Y_TEMPERATURE, this); - lp_var_t posZCoilZTemperature = lp_var_t(sid.objectId, - POS_Z_COIL_Z_TEMPERATURE, this); - - /** -Z block */ - lp_var_t negZErr = lp_var_t(sid.objectId, NEG_Z_ERR, this); - lp_var_t negZRawMagX = lp_var_t(sid.objectId, NEG_Z_RAW_MAG_X, this); - lp_var_t negZRawMagY = lp_var_t(sid.objectId, NEG_Z_RAW_MAG_Y, this); - lp_var_t negZRawMagZ = lp_var_t(sid.objectId, NEG_Z_RAW_MAG_Z, this); - lp_var_t negZCalMagX = lp_var_t(sid.objectId, NEG_Z_CAL_MAG_X, this); - lp_var_t negZCalMagY = lp_var_t(sid.objectId, NEG_Z_CAL_MAG_Y, this); - lp_var_t negZCalMagZ = lp_var_t(sid.objectId, NEG_Z_CAL_MAG_Z, this); - lp_var_t negZCoilXCurrent = lp_var_t(sid.objectId, NEG_Z_COIL_X_CURRENT, - this); - lp_var_t negZCoilYCurrent = lp_var_t(sid.objectId, NEG_Z_COIL_Y_CURRENT, - this); - lp_var_t negZCoilZCurrent = lp_var_t(sid.objectId, NEG_Z_COIL_Z_CURRENT, - this); - lp_var_t negZCoilXTemperature = lp_var_t(sid.objectId, - NEG_Z_COIL_X_TEMPERATURE, this); - lp_var_t negZCoilYTemperature = lp_var_t(sid.objectId, - NEG_Z_COIL_Y_TEMPERATURE, this); - lp_var_t negZCoilZTemperature = lp_var_t(sid.objectId, - NEG_Z_COIL_Z_TEMPERATURE, this); - /** FINA block */ - lp_var_t finaErr = lp_var_t(sid.objectId, FINA_ERR, this); - lp_var_t finaRawMagX = lp_var_t(sid.objectId, FINA_RAW_MAG_X, this); - lp_var_t finaRawMagY = lp_var_t(sid.objectId, FINA_RAW_MAG_Y, this); - lp_var_t finaRawMagZ = lp_var_t(sid.objectId, FINA_RAW_MAG_Z, this); - lp_var_t finaCalMagX = lp_var_t(sid.objectId, FINA_CAL_MAG_X, this); - lp_var_t finaCalMagY = lp_var_t(sid.objectId, FINA_CAL_MAG_Y, this); - lp_var_t finaCalMagZ = lp_var_t(sid.objectId, FINA_CAL_MAG_Z, this); - lp_var_t finaCoilXCurrent = lp_var_t(sid.objectId, FINA_COIL_X_CURRENT, + lp_var_t finaErr = lp_var_t(sid.objectId, FINA_POS_X_ERR, this); + lp_var_t finaRawMagX = lp_var_t(sid.objectId, FINA_POS_X_RAW_MAG_X, this); + lp_var_t finaRawMagY = lp_var_t(sid.objectId, FINA_POS_X_RAW_MAG_Y, this); + lp_var_t finaRawMagZ = lp_var_t(sid.objectId, FINA_POS_X_RAW_MAG_Z, this); + lp_var_t finaCalMagX = lp_var_t(sid.objectId, FINA_POS_X_CAL_MAG_X, this); + lp_var_t finaCalMagY = lp_var_t(sid.objectId, FINA_POS_X_CAL_MAG_Y, this); + lp_var_t finaCalMagZ = lp_var_t(sid.objectId, FINA_POS_X_CAL_MAG_Z, this); + lp_var_t finaCoilXCurrent = lp_var_t(sid.objectId, FINA_POS_X_COIL_X_CURRENT, this); - lp_var_t finaCoilYCurrent = lp_var_t(sid.objectId, FINA_COIL_Y_CURRENT, + lp_var_t finaCoilYCurrent = lp_var_t(sid.objectId, FINA_POS_X_COIL_Y_CURRENT, this); - lp_var_t finaCoilZCurrent = lp_var_t(sid.objectId, FINA_COIL_Z_CURRENT, + lp_var_t finaCoilZCurrent = lp_var_t(sid.objectId, FINA_POS_X_COIL_Z_CURRENT, this); lp_var_t finaCoilXTemperature = lp_var_t(sid.objectId, - FINA_COIL_X_TEMPERATURE, this); + FINA_POS_X_COIL_X_TEMPERATURE, this); lp_var_t finaCoilYTemperature = lp_var_t(sid.objectId, - FINA_COIL_Y_TEMPERATURE, this); + FINA_POS_X_COIL_Y_TEMPERATURE, this); lp_var_t finaCoilZTemperature = lp_var_t(sid.objectId, - FINA_COIL_Z_TEMPERATURE, this); - + FINA_POS_X_COIL_Z_TEMPERATURE, this); }; /** From 595abf38992d3fbeed1f8d6e0cbc5a46a563feb5 Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Sat, 12 Jun 2021 15:45:24 +0200 Subject: [PATCH 15/20] IMTQ positive x dipole test --- bsp_q7s/InitMission.cpp | 1 + fsfw | 2 +- mission/devices/IMTQHandler.cpp | 193 ++++++++++-------- mission/devices/IMTQHandler.h | 1 + .../IMTQHandlerDefinitions.h | 87 ++++---- tmtc | 2 +- 6 files changed, 162 insertions(+), 124 deletions(-) diff --git a/bsp_q7s/InitMission.cpp b/bsp_q7s/InitMission.cpp index 6f1c209e..9a475a11 100644 --- a/bsp_q7s/InitMission.cpp +++ b/bsp_q7s/InitMission.cpp @@ -31,6 +31,7 @@ ServiceInterfaceStream sif::error("ERROR", true, false, true); ObjectManagerIF *objectManager = nullptr; void initmission::initMission() { + sif::info << "Building global objects.." << std::endl; /* Instantiate global object manager and also create all objects */ ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr); diff --git a/fsfw b/fsfw index 4b095eea..16306825 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 4b095eea8991d3e9a48fa8945c86339cfdad26d5 +Subproject commit 1630682548a8775bd0c293b3c76c29e120de5bf0 diff --git a/mission/devices/IMTQHandler.cpp b/mission/devices/IMTQHandler.cpp index 2e26e0a0..35f0169f 100644 --- a/mission/devices/IMTQHandler.cpp +++ b/mission/devices/IMTQHandler.cpp @@ -3,6 +3,7 @@ #include #include +#include IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) : @@ -255,6 +256,25 @@ void IMTQHandler::setNormalDatapoolEntriesInvalid(){ } +LocalPoolDataSetBase* IMTQHandler::getDataSetHandle(sid_t sid) { + if (sid == engHkDataset.getSid()) { + return &engHkDataset; + } + else if (sid== calMtmMeasurementSet.getSid()) { + return &calMtmMeasurementSet; + } + else if (sid== rawMtmMeasurementSet.getSid()) { + return &rawMtmMeasurementSet; + } + else if (sid== posXselfTestDataset.getSid()) { + return &posXselfTestDataset; + } + else { + sif::error << "IMTQHandler::getDataSetHandle: Invalid sid" << std::endl; + return nullptr; + } +} + uint32_t IMTQHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){ return 5000; } @@ -289,43 +309,43 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat /** Entries of dataset for self test results of positive X axis test */ localDataPoolMap.emplace(IMTQ::INIT_POS_X_ERR, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::INIT_POS_X_RAW_MAG_X, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::INIT_POS_X_RAW_MAG_Y, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::INIT_POS_X_RAW_MAG_Z, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::INIT_POS_X_CAL_MAG_X, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::INIT_POS_X_CAL_MAG_Y, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::INIT_POS_X_CAL_MAG_Z, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_X_CURRENT, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Y_CURRENT, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_X_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_X_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_X_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_X_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_X_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_X_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Z_CURRENT, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::POS_X_ERR, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::POS_X_RAW_MAG_X, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::POS_X_RAW_MAG_Y, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::POS_X_RAW_MAG_Z, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::POS_X_CAL_MAG_X, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::POS_X_CAL_MAG_Y, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::POS_X_CAL_MAG_Z, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::POS_X_COIL_X_CURRENT, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::POS_X_COIL_Y_CURRENT, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::POS_X_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_X_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_X_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_X_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_X_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_X_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_X_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_X_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_X_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_X_COIL_Z_CURRENT, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::POS_X_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::POS_X_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::POS_X_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::INIT_POS_X_ERR, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_X, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_Y, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_Z, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_X, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_Y, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_Z, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_X_CURRENT, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Y_CURRENT, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_ERR, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Z_CURRENT, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); @@ -611,14 +631,14 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) { /** Init measurements */ posXselfTestDataset.initErr = *(packet + offset); offset += 2; // STEP byte will not be stored - posXselfTestDataset.initRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.initRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; offset += 4; - posXselfTestDataset.initRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.initRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; offset += 4; - posXselfTestDataset.initRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.initRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; offset += 4; posXselfTestDataset.initCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); @@ -629,11 +649,14 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) { posXselfTestDataset.initCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - posXselfTestDataset.initCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.initCoilXCurrent = (*(packet + offset + 1) << 8 | *(packet + offset)) + * 0.1; offset += 2; - posXselfTestDataset.initCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.initCoilYCurrent = (*(packet + offset + 1) << 8 | *(packet + offset)) + * 0.1; offset += 2; - posXselfTestDataset.initCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.initCoilZCurrent = (*(packet + offset + 1) << 8 | *(packet + offset)) + * 0.1; offset += 2; posXselfTestDataset.initCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); offset += 2; @@ -646,14 +669,14 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) { checkErrorByte(*(packet + offset), *(packet + offset + 1)); posXselfTestDataset.err = *(packet + offset); offset += 2; // STEP byte will not be stored - posXselfTestDataset.rawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.rawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; offset += 4; - posXselfTestDataset.rawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.rawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; offset += 4; - posXselfTestDataset.rawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.rawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; offset += 4; posXselfTestDataset.calMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); @@ -664,11 +687,14 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) { posXselfTestDataset.calMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - posXselfTestDataset.coilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.coilXCurrent = (*(packet + offset + 1) << 8 | *(packet + offset)) + * 0.1; offset += 2; - posXselfTestDataset.coilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.coilYCurrent = (*(packet + offset + 1) << 8 | *(packet + offset)) + * 0.1; offset += 2; - posXselfTestDataset.coilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.coilZCurrent = (*(packet + offset + 1) << 8 | *(packet + offset)) + * 0.1; offset += 2; posXselfTestDataset.coilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); offset += 2; @@ -681,14 +707,14 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) { checkErrorByte(*(packet + offset), *(packet + offset + 1)); posXselfTestDataset.finaErr = *(packet + offset); offset += 2; // STEP byte will not be stored - posXselfTestDataset.finaRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.finaRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; offset += 4; - posXselfTestDataset.finaRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.finaRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; offset += 4; - posXselfTestDataset.finaRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.finaRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; offset += 4; posXselfTestDataset.finaCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); @@ -699,11 +725,14 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) { posXselfTestDataset.finaCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - posXselfTestDataset.finaCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.finaCoilXCurrent = (*(packet + offset + 1) << 8 | *(packet + offset)) + * 0.1; offset += 2; - posXselfTestDataset.finaCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.finaCoilYCurrent = (*(packet + offset + 1) << 8 | *(packet + offset)) + * 0.1; offset += 2; - posXselfTestDataset.finaCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); + posXselfTestDataset.finaCoilZCurrent = (*(packet + offset + 1) << 8 | *(packet + offset)) + * 0.1; offset += 2; posXselfTestDataset.finaCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); offset += 2; @@ -716,23 +745,23 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) { sif::info << "IMTQ self test (INIT) err: " << static_cast(posXselfTestDataset.initErr.value) << std::endl; sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posXselfTestDataset.initRawMagX - << " 7.5 * 10^-9 T" << std::endl; + << " nT" << std::endl; sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << posXselfTestDataset.initRawMagY - << " 7.5 * 10^-9 T" << std::endl; + << " nT" << std::endl; sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << posXselfTestDataset.initRawMagZ - << " 7.5 * 10^-9 T" << std::endl; + << " nT" << std::endl; sif::info << "IMTQ self test (INIT) calibrated magnetic field X: " << posXselfTestDataset.initCalMagX - << " 10^-9 T" << std::endl; + << " nT" << std::endl; sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: " << posXselfTestDataset.initCalMagY - << " 10^-9 T" << std::endl; + << " nT" << std::endl; sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: " << posXselfTestDataset.initCalMagZ - << " 10^-9 T" << std::endl; + << " nT" << std::endl; sif::info << "IMTQ self test (INIT) coil X current: " << posXselfTestDataset.initCoilXCurrent - << " * 10^-4 A" << std::endl; + << " mA" << std::endl; sif::info << "IMTQ self test (INIT) coil Y current: " << posXselfTestDataset.initCoilYCurrent - << " * 10^-4 A" << std::endl; + << " mA" << std::endl; sif::info << "IMTQ self test (INIT) coil Z current: " << posXselfTestDataset.initCoilZCurrent - << " * 10^-4 A" << std::endl; + << " mA" << std::endl; sif::info << "IMTQ self test (INIT) coil X temperature: " << posXselfTestDataset.initCoilXTemperature << " °C" << std::endl; sif::info << "IMTQ self test (INIT) coil Y temperature: " @@ -743,23 +772,23 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) { sif::info << "IMTQ self test (+X) err: " << static_cast(posXselfTestDataset.err.value) << std::endl; sif::info << "IMTQ self test (+X) raw magnetic field X: " << posXselfTestDataset.rawMagX - << " 7.5 * 10^-9 T" << std::endl; + << " nT" << std::endl; sif::info << "IMTQ self test (+X) raw magnetic field Y: " << posXselfTestDataset.rawMagY - << " 7.5 * 10^-9 T" << std::endl; + << " nT" << std::endl; sif::info << "IMTQ self test (+X) raw magnetic field Z: " << posXselfTestDataset.rawMagZ - << " 7.5 * 10^-9 T" << std::endl; + << " nT" << std::endl; sif::info << "IMTQ self test (+X) calibrated magnetic field X: " << posXselfTestDataset.calMagX - << " 10^-9 T" << std::endl; + << " nT" << std::endl; sif::info << "IMTQ self test (+X) calibrated magnetic field Y: " << posXselfTestDataset.calMagY - << " 10^-9 T" << std::endl; + << " nT" << std::endl; sif::info << "IMTQ self test (+X) calibrated magnetic field Z: " << posXselfTestDataset.calMagZ - << " 10^-9 T" << std::endl; + << " nT" << std::endl; sif::info << "IMTQ self test (+X) coil X current: " << posXselfTestDataset.coilXCurrent - << " * 10^-4 A" << std::endl; + << " mA" << std::endl; sif::info << "IMTQ self test (+X) coil Y current: " << posXselfTestDataset.coilYCurrent - << " * 10^-4 A" << std::endl; + << " mA" << std::endl; sif::info << "IMTQ self test (+X) coil Z current: " << posXselfTestDataset.coilZCurrent - << " * 10^-4 A" << std::endl; + << " mA" << std::endl; sif::info << "IMTQ self test (+X) coil X temperature: " << posXselfTestDataset.coilXTemperature << " °C" << std::endl; sif::info << "IMTQ self test (+X) coil Y temperature: " @@ -770,23 +799,23 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) { sif::info << "IMTQ self test (FINA) err: " << static_cast(posXselfTestDataset.finaErr.value) << std::endl; sif::info << "IMTQ self test (FINA) raw magnetic field X: " << posXselfTestDataset.finaRawMagX - << " 7.5 * 10^-9 T" << std::endl; + << " nT" << std::endl; sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << posXselfTestDataset.finaRawMagY - << " 7.5 * 10^-9 T" << std::endl; + << " nT" << std::endl; sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << posXselfTestDataset.finaRawMagZ - << " 7.5 * 10^-9 T" << std::endl; + << " nT" << std::endl; sif::info << "IMTQ self test (FINA) calibrated magnetic field X: " << posXselfTestDataset.finaCalMagX - << " 10^-9 T" << std::endl; + << " nT" << std::endl; sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: " << posXselfTestDataset.finaCalMagY - << " 10^-9 T" << std::endl; + << " nT" << std::endl; sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: " << posXselfTestDataset.finaCalMagZ - << " 10^-9 T" << std::endl; + << " nT" << std::endl; sif::info << "IMTQ self test (FINA) coil X current: " << posXselfTestDataset.finaCoilXCurrent - << " * 10^-4 A" << std::endl; + << " mA" << std::endl; sif::info << "IMTQ self test (FINA) coil Y current: " << posXselfTestDataset.finaCoilYCurrent - << " * 10^-4 A" << std::endl; + << " mA" << std::endl; sif::info << "IMTQ self test (FINA) coil Z current: " << posXselfTestDataset.finaCoilZCurrent - << " * 10^-4 A" << std::endl; + << " mA" << std::endl; sif::info << "IMTQ self test (FINA) coil X temperature: " << posXselfTestDataset.finaCoilXTemperature << " °C" << std::endl; sif::info << "IMTQ self test (FINA) coil Y temperature: " diff --git a/mission/devices/IMTQHandler.h b/mission/devices/IMTQHandler.h index 2522cfe5..92d24a46 100644 --- a/mission/devices/IMTQHandler.h +++ b/mission/devices/IMTQHandler.h @@ -34,6 +34,7 @@ protected: ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override; void setNormalDatapoolEntriesInvalid() override; + virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override; uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override; ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, LocalDataPoolManager& poolManager) override; diff --git a/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h b/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h index e57f39d2..d90a41b0 100644 --- a/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h +++ b/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h @@ -1,6 +1,8 @@ #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_ #define MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_ +#include + namespace IMTQ { static const DeviceCommandId_t NONE = 0x0; @@ -16,18 +18,23 @@ namespace IMTQ { static const DeviceCommandId_t POS_X_SELF_TEST = 0x7; static const DeviceCommandId_t NEG_X_SELF_TEST = 0x8; static const DeviceCommandId_t POS_Y_SELF_TEST = 0x9; - static const DeviceCommandId_t NEG_Y_SELF_TEST = 0x10; - static const DeviceCommandId_t POS_Z_SELF_TEST = 0x11; - static const DeviceCommandId_t NEG_Z_SELF_TEST = 0x12; - static const DeviceCommandId_t GET_SELF_TEST_RESULT = 0x13; + static const DeviceCommandId_t NEG_Y_SELF_TEST = 0xA; + static const DeviceCommandId_t POS_Z_SELF_TEST = 0xB; + static const DeviceCommandId_t NEG_Z_SELF_TEST = 0xC; + static const DeviceCommandId_t GET_SELF_TEST_RESULT = 0xD; static const uint8_t GET_TEMP_REPLY_SIZE = 2; static const uint8_t CFGR_CMD_SIZE = 3; static const uint8_t POINTER_REG_SIZE = 1; - static const uint32_t ENG_HK_DATA_SET_ID = GET_ENG_HK_DATA; - static const uint32_t CAL_MTM_SET = GET_CAL_MTM_MEASUREMENT; - static const uint32_t SELF_TEST_DATA_SET = GET_SELF_TEST_RESULT; + static const uint32_t ENG_HK_DATA_SET_ID = 1; + static const uint32_t CAL_MTM_SET = 2; + static const uint32_t POS_X_TEST_DATASET = 3; + static const uint32_t NEG_X_TEST_DATASET = 4; + static const uint32_t POS_Y_TEST_DATASET = 5; + static const uint32_t NEG_Y_TEST_DATASET = 6; + static const uint32_t POS_Z_TEST_DATASET = 7; + static const uint32_t NEG_Z_TEST_DATASET = 8; static const uint8_t SIZE_ENG_HK_COMMAND = 1; static const uint8_t SIZE_STATUS_REPLY = 2; @@ -35,7 +42,7 @@ namespace IMTQ { static const uint8_t SIZE_GET_COMMANDED_DIPOLE_REPLY = 8; static const uint8_t SIZE_GET_CAL_MTM_MEASUREMENT = 15; static const uint8_t SIZE_GET_RAW_MTM_MEASUREMENT = 15; - static const uint16_t SIZE_SELF_TEST_RESULTS = 320; + static const uint16_t SIZE_SELF_TEST_RESULTS = 120; static const uint16_t MAX_REPLY_SIZE = SIZE_SELF_TEST_RESULTS; static const uint8_t MAX_COMMAND_SIZE = 9; @@ -447,9 +454,9 @@ public: * @brief This dataset can be used to store the self test results of the positve X axis test. * * @details Units of measurements: - * Currents: [10^-4 A] - * Raw MTM data: [7.5 * 10^-9 T] - * Calibrated MTM data: [10^-9 T] + * Raw magnetic field: [nT] + * Calibrated magnetic field: [nT] + * Coil currents: [mA] * Temperature: [°C] * The self test generates for each axis the positive and negative dipole and measures * the magnetic field with the built-in MTM. The procedure of the test is as follows: @@ -461,26 +468,26 @@ class PosXselfTestSet: public StaticLocalDataSet { public: PosXselfTestSet(HasLocalDataPoolIF* owner) : - StaticLocalDataSet(owner, SELF_TEST_DATA_SET) { + StaticLocalDataSet(owner, POS_X_TEST_DATASET) { } PosXselfTestSet(object_id_t objectId) : - StaticLocalDataSet(sid_t(objectId, SELF_TEST_DATA_SET)) { + StaticLocalDataSet(sid_t(objectId, POS_X_TEST_DATASET)) { } /** INIT block */ lp_var_t initErr = lp_var_t(sid.objectId, INIT_POS_X_ERR, this); - lp_var_t initRawMagX = lp_var_t(sid.objectId, INIT_POS_X_RAW_MAG_X, this); - lp_var_t initRawMagY = lp_var_t(sid.objectId, INIT_POS_X_RAW_MAG_Y, this); - lp_var_t initRawMagZ = lp_var_t(sid.objectId, INIT_POS_X_RAW_MAG_Z, this); - lp_var_t initCalMagX = lp_var_t(sid.objectId, INIT_POS_X_CAL_MAG_X, this); - lp_var_t initCalMagY = lp_var_t(sid.objectId, INIT_POS_X_CAL_MAG_Y, this); - lp_var_t initCalMagZ = lp_var_t(sid.objectId, INIT_POS_X_CAL_MAG_Z, this); - lp_var_t initCoilXCurrent = lp_var_t(sid.objectId, INIT_POS_X_COIL_X_CURRENT, + lp_var_t initRawMagX = lp_var_t(sid.objectId, INIT_POS_X_RAW_MAG_X, this); + lp_var_t initRawMagY = lp_var_t(sid.objectId, INIT_POS_X_RAW_MAG_Y, this); + lp_var_t initRawMagZ = lp_var_t(sid.objectId, INIT_POS_X_RAW_MAG_Z, this); + lp_var_t initCalMagX = lp_var_t(sid.objectId, INIT_POS_X_CAL_MAG_X, this); + lp_var_t initCalMagY = lp_var_t(sid.objectId, INIT_POS_X_CAL_MAG_Y, this); + lp_var_t initCalMagZ = lp_var_t(sid.objectId, INIT_POS_X_CAL_MAG_Z, this); + lp_var_t initCoilXCurrent = lp_var_t(sid.objectId, INIT_POS_X_COIL_X_CURRENT, this); - lp_var_t initCoilYCurrent = lp_var_t(sid.objectId, INIT_POS_X_COIL_Y_CURRENT, + lp_var_t initCoilYCurrent = lp_var_t(sid.objectId, INIT_POS_X_COIL_Y_CURRENT, this); - lp_var_t initCoilZCurrent = lp_var_t(sid.objectId, INIT_POS_X_COIL_Z_CURRENT, + lp_var_t initCoilZCurrent = lp_var_t(sid.objectId, INIT_POS_X_COIL_Z_CURRENT, this); lp_var_t initCoilXTemperature = lp_var_t(sid.objectId, INIT_POS_X_COIL_X_TEMPERATURE, this); @@ -491,17 +498,17 @@ public: /** +X block */ lp_var_t err = lp_var_t(sid.objectId, POS_X_ERR, this); - lp_var_t rawMagX = lp_var_t(sid.objectId, POS_X_RAW_MAG_X, this); - lp_var_t rawMagY = lp_var_t(sid.objectId, POS_X_RAW_MAG_Y, this); - lp_var_t rawMagZ = lp_var_t(sid.objectId, POS_X_RAW_MAG_Z, this); - lp_var_t calMagX = lp_var_t(sid.objectId, POS_X_CAL_MAG_X, this); - lp_var_t calMagY = lp_var_t(sid.objectId, POS_X_CAL_MAG_Y, this); - lp_var_t calMagZ = lp_var_t(sid.objectId, POS_X_CAL_MAG_Z, this); - lp_var_t coilXCurrent = lp_var_t(sid.objectId, POS_X_COIL_X_CURRENT, + lp_var_t rawMagX = lp_var_t(sid.objectId, POS_X_RAW_MAG_X, this); + lp_var_t rawMagY = lp_var_t(sid.objectId, POS_X_RAW_MAG_Y, this); + lp_var_t rawMagZ = lp_var_t(sid.objectId, POS_X_RAW_MAG_Z, this); + lp_var_t calMagX = lp_var_t(sid.objectId, POS_X_CAL_MAG_X, this); + lp_var_t calMagY = lp_var_t(sid.objectId, POS_X_CAL_MAG_Y, this); + lp_var_t calMagZ = lp_var_t(sid.objectId, POS_X_CAL_MAG_Z, this); + lp_var_t coilXCurrent = lp_var_t(sid.objectId, POS_X_COIL_X_CURRENT, this); - lp_var_t coilYCurrent = lp_var_t(sid.objectId, POS_X_COIL_Y_CURRENT, + lp_var_t coilYCurrent = lp_var_t(sid.objectId, POS_X_COIL_Y_CURRENT, this); - lp_var_t coilZCurrent = lp_var_t(sid.objectId, POS_X_COIL_Z_CURRENT, + lp_var_t coilZCurrent = lp_var_t(sid.objectId, POS_X_COIL_Z_CURRENT, this); lp_var_t coilXTemperature = lp_var_t(sid.objectId, POS_X_COIL_X_TEMPERATURE, this); @@ -512,17 +519,17 @@ public: /** FINA block */ lp_var_t finaErr = lp_var_t(sid.objectId, FINA_POS_X_ERR, this); - lp_var_t finaRawMagX = lp_var_t(sid.objectId, FINA_POS_X_RAW_MAG_X, this); - lp_var_t finaRawMagY = lp_var_t(sid.objectId, FINA_POS_X_RAW_MAG_Y, this); - lp_var_t finaRawMagZ = lp_var_t(sid.objectId, FINA_POS_X_RAW_MAG_Z, this); - lp_var_t finaCalMagX = lp_var_t(sid.objectId, FINA_POS_X_CAL_MAG_X, this); - lp_var_t finaCalMagY = lp_var_t(sid.objectId, FINA_POS_X_CAL_MAG_Y, this); - lp_var_t finaCalMagZ = lp_var_t(sid.objectId, FINA_POS_X_CAL_MAG_Z, this); - lp_var_t finaCoilXCurrent = lp_var_t(sid.objectId, FINA_POS_X_COIL_X_CURRENT, + lp_var_t finaRawMagX = lp_var_t(sid.objectId, FINA_POS_X_RAW_MAG_X, this); + lp_var_t finaRawMagY = lp_var_t(sid.objectId, FINA_POS_X_RAW_MAG_Y, this); + lp_var_t finaRawMagZ = lp_var_t(sid.objectId, FINA_POS_X_RAW_MAG_Z, this); + lp_var_t finaCalMagX = lp_var_t(sid.objectId, FINA_POS_X_CAL_MAG_X, this); + lp_var_t finaCalMagY = lp_var_t(sid.objectId, FINA_POS_X_CAL_MAG_Y, this); + lp_var_t finaCalMagZ = lp_var_t(sid.objectId, FINA_POS_X_CAL_MAG_Z, this); + lp_var_t finaCoilXCurrent = lp_var_t(sid.objectId, FINA_POS_X_COIL_X_CURRENT, this); - lp_var_t finaCoilYCurrent = lp_var_t(sid.objectId, FINA_POS_X_COIL_Y_CURRENT, + lp_var_t finaCoilYCurrent = lp_var_t(sid.objectId, FINA_POS_X_COIL_Y_CURRENT, this); - lp_var_t finaCoilZCurrent = lp_var_t(sid.objectId, FINA_POS_X_COIL_Z_CURRENT, + lp_var_t finaCoilZCurrent = lp_var_t(sid.objectId, FINA_POS_X_COIL_Z_CURRENT, this); lp_var_t finaCoilXTemperature = lp_var_t(sid.objectId, FINA_POS_X_COIL_X_TEMPERATURE, this); diff --git a/tmtc b/tmtc index 58c20e31..fe1e6a28 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 58c20e31cc38f04229f1016b6810205aaaa9922d +Subproject commit fe1e6a287710ebd90fa78c22feea5b82523b2324 From 5e7cdd9f7f92d0c6a3481acc1e43c760cc7fd5eb Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Tue, 15 Jun 2021 15:13:47 +0200 Subject: [PATCH 16/20] IMTQ handler complete --- bsp_q7s/ObjectFactory.cpp | 3 +- fsfw | 2 +- mission/devices/IMTQHandler.cpp | 1599 +++++++++++++++-- mission/devices/IMTQHandler.h | 12 +- .../IMTQHandlerDefinitions.h | 549 +++++- 5 files changed, 1916 insertions(+), 249 deletions(-) diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp index d9b82ea0..bc59b402 100644 --- a/bsp_q7s/ObjectFactory.cpp +++ b/bsp_q7s/ObjectFactory.cpp @@ -542,8 +542,7 @@ void ObjectFactory::produce(void* args){ I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, std::string("/dev/i2c-0")); - IMTQHandler* imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie); - imtqHandler->setStartUpImmediately(); + new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie); UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyUL3"), 115200, PLOC::MAX_REPLY_SIZE); diff --git a/fsfw b/fsfw index 16306825..d700fb55 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 1630682548a8775bd0c293b3c76c29e120de5bf0 +Subproject commit d700fb551c85393b58a3ada96fbd3f807217d14b diff --git a/mission/devices/IMTQHandler.cpp b/mission/devices/IMTQHandler.cpp index 35f0169f..bd5ed2d2 100644 --- a/mission/devices/IMTQHandler.cpp +++ b/mission/devices/IMTQHandler.cpp @@ -5,10 +5,11 @@ #include #include - IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) : DeviceHandlerBase(objectId, comIF, comCookie), engHkDataset(this), calMtmMeasurementSet( - this), rawMtmMeasurementSet(this), posXselfTestDataset(this) { + this), rawMtmMeasurementSet(this), posXselfTestDataset(this), negXselfTestDataset( + this), posYselfTestDataset(this), negYselfTestDataset(this), posZselfTestDataset( + this), negZselfTestDataset(this) { if (comCookie == NULL) { sif::error << "IMTQHandler: Invalid com cookie" << std::endl; } @@ -17,21 +18,19 @@ IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF * com IMTQHandler::~IMTQHandler() { } - -void IMTQHandler::doStartUp(){ +void IMTQHandler::doStartUp() { #if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1 - setMode(MODE_NORMAL); + setMode(MODE_NORMAL); #else - setMode(_MODE_TO_ON); + setMode(_MODE_TO_ON); #endif } -void IMTQHandler::doShutDown(){ +void IMTQHandler::doShutDown() { } -ReturnValue_t IMTQHandler::buildNormalDeviceCommand( - DeviceCommandId_t * id) { +ReturnValue_t IMTQHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) { switch (communicationStep) { case CommunicationStep::GET_ENG_HK_DATA: *id = IMTQ::GET_ENG_HK_DATA; @@ -51,35 +50,68 @@ ReturnValue_t IMTQHandler::buildNormalDeviceCommand( break; default: sif::debug << "IMTQHandler::buildNormalDeviceCommand: Invalid communication step" - << std::endl; + << std::endl; break; } return buildCommandFromCommand(*id, NULL, 0); } -ReturnValue_t IMTQHandler::buildTransitionDeviceCommand( - DeviceCommandId_t * id){ - return RETURN_OK; +ReturnValue_t IMTQHandler::buildTransitionDeviceCommand(DeviceCommandId_t * id) { + return RETURN_OK; } -ReturnValue_t IMTQHandler::buildCommandFromCommand( - DeviceCommandId_t deviceCommand, const uint8_t * commandData, - size_t commandDataLen) { - switch(deviceCommand) { - case(IMTQ::POS_X_SELF_TEST): { - commandBuffer[0] = IMTQ::CC::SELF_TEST_CMD; - commandBuffer[1] = IMTQ::SELF_TEST_AXIS::X_POSITIVE; - rawPacket = commandBuffer; +ReturnValue_t IMTQHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand, + const uint8_t * commandData, size_t commandDataLen) { + switch (deviceCommand) { + case (IMTQ::POS_X_SELF_TEST): { + commandBuffer[0] = IMTQ::CC::SELF_TEST_CMD; + commandBuffer[1] = IMTQ::SELF_TEST_AXIS::X_POSITIVE; + rawPacket = commandBuffer; rawPacketLen = 2; - return RETURN_OK; - } - case(IMTQ::GET_SELF_TEST_RESULT): { - commandBuffer[0] = IMTQ::CC::GET_SELF_TEST_RESULT; - rawPacket = commandBuffer; + return RETURN_OK; + } + case (IMTQ::NEG_X_SELF_TEST): { + commandBuffer[0] = IMTQ::CC::SELF_TEST_CMD; + commandBuffer[1] = IMTQ::SELF_TEST_AXIS::X_NEGATIVE; + rawPacket = commandBuffer; + rawPacketLen = 2; + return RETURN_OK; + } + case (IMTQ::POS_Y_SELF_TEST): { + commandBuffer[0] = IMTQ::CC::SELF_TEST_CMD; + commandBuffer[1] = IMTQ::SELF_TEST_AXIS::Y_POSITIVE; + rawPacket = commandBuffer; + rawPacketLen = 2; + return RETURN_OK; + } + case (IMTQ::NEG_Y_SELF_TEST): { + commandBuffer[0] = IMTQ::CC::SELF_TEST_CMD; + commandBuffer[1] = IMTQ::SELF_TEST_AXIS::Y_NEGATIVE; + rawPacket = commandBuffer; + rawPacketLen = 2; + return RETURN_OK; + } + case (IMTQ::POS_Z_SELF_TEST): { + commandBuffer[0] = IMTQ::CC::SELF_TEST_CMD; + commandBuffer[1] = IMTQ::SELF_TEST_AXIS::Z_POSITIVE; + rawPacket = commandBuffer; + rawPacketLen = 2; + return RETURN_OK; + } + case (IMTQ::NEG_Z_SELF_TEST): { + commandBuffer[0] = IMTQ::CC::SELF_TEST_CMD; + commandBuffer[1] = IMTQ::SELF_TEST_AXIS::Z_NEGATIVE; + rawPacket = commandBuffer; + rawPacketLen = 2; + return RETURN_OK; + } + case (IMTQ::GET_SELF_TEST_RESULT): { + commandBuffer[0] = IMTQ::CC::GET_SELF_TEST_RESULT; + rawPacket = commandBuffer; rawPacketLen = 1; - return RETURN_OK; - } - case(IMTQ::START_ACTUATION_DIPOLE): { + return RETURN_OK; + } + case (IMTQ::START_ACTUATION_DIPOLE): { /* IMTQ expects low byte first */ commandBuffer[0] = IMTQ::CC::START_ACTUATION_DIPOLE; commandBuffer[1] = *(commandData + 1); @@ -94,55 +126,49 @@ ReturnValue_t IMTQHandler::buildCommandFromCommand( rawPacketLen = 9; return RETURN_OK; } - case(IMTQ::GET_ENG_HK_DATA): { - commandBuffer[0] = IMTQ::CC::GET_ENG_HK_DATA; - rawPacket = commandBuffer; - rawPacketLen = 1; - return RETURN_OK; - } - case(IMTQ::GET_COMMANDED_DIPOLE): { - commandBuffer[0] = IMTQ::CC::GET_COMMANDED_DIPOLE; - rawPacket = commandBuffer; - rawPacketLen = 1; - return RETURN_OK; - } - case(IMTQ::START_MTM_MEASUREMENT): { - commandBuffer[0] = IMTQ::CC::START_MTM_MEASUREMENT; - rawPacket = commandBuffer; - rawPacketLen = 1; - return RETURN_OK; - } - case(IMTQ::GET_CAL_MTM_MEASUREMENT): { - commandBuffer[0] = IMTQ::CC::GET_CAL_MTM_MEASUREMENT; - rawPacket = commandBuffer; - rawPacketLen = 1; - return RETURN_OK; - } - case(IMTQ::GET_RAW_MTM_MEASUREMENT): { - commandBuffer[0] = IMTQ::CC::GET_RAW_MTM_MEASUREMENT; - rawPacket = commandBuffer; - rawPacketLen = 1; - return RETURN_OK; - } - default: - return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; - } - return HasReturnvaluesIF::RETURN_FAILED; + case (IMTQ::GET_ENG_HK_DATA): { + commandBuffer[0] = IMTQ::CC::GET_ENG_HK_DATA; + rawPacket = commandBuffer; + rawPacketLen = 1; + return RETURN_OK; + } + case (IMTQ::GET_COMMANDED_DIPOLE): { + commandBuffer[0] = IMTQ::CC::GET_COMMANDED_DIPOLE; + rawPacket = commandBuffer; + rawPacketLen = 1; + return RETURN_OK; + } + case (IMTQ::START_MTM_MEASUREMENT): { + commandBuffer[0] = IMTQ::CC::START_MTM_MEASUREMENT; + rawPacket = commandBuffer; + rawPacketLen = 1; + return RETURN_OK; + } + case (IMTQ::GET_CAL_MTM_MEASUREMENT): { + commandBuffer[0] = IMTQ::CC::GET_CAL_MTM_MEASUREMENT; + rawPacket = commandBuffer; + rawPacketLen = 1; + return RETURN_OK; + } + case (IMTQ::GET_RAW_MTM_MEASUREMENT): { + commandBuffer[0] = IMTQ::CC::GET_RAW_MTM_MEASUREMENT; + rawPacket = commandBuffer; + rawPacketLen = 1; + return RETURN_OK; + } + default: + return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; + } + return HasReturnvaluesIF::RETURN_FAILED; } void IMTQHandler::fillCommandAndReplyMap() { - this->insertInCommandAndReplyMap(IMTQ::POS_X_SELF_TEST, 1, nullptr, - IMTQ::SIZE_STATUS_REPLY); - this->insertInCommandAndReplyMap(IMTQ::NEG_X_SELF_TEST, 1, nullptr, - IMTQ::SIZE_STATUS_REPLY); - this->insertInCommandAndReplyMap(IMTQ::POS_Y_SELF_TEST, 1, nullptr, - IMTQ::SIZE_STATUS_REPLY); - this->insertInCommandAndReplyMap(IMTQ::NEG_Y_SELF_TEST, 1, nullptr, - IMTQ::SIZE_STATUS_REPLY); - this->insertInCommandAndReplyMap(IMTQ::POS_Z_SELF_TEST, 1, nullptr, - IMTQ::SIZE_STATUS_REPLY); - this->insertInCommandAndReplyMap(IMTQ::NEG_Z_SELF_TEST, 1, nullptr, - IMTQ::SIZE_STATUS_REPLY); + this->insertInCommandAndReplyMap(IMTQ::POS_X_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY); + this->insertInCommandAndReplyMap(IMTQ::NEG_X_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY); + this->insertInCommandAndReplyMap(IMTQ::POS_Y_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY); + this->insertInCommandAndReplyMap(IMTQ::NEG_Y_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY); + this->insertInCommandAndReplyMap(IMTQ::POS_Z_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY); + this->insertInCommandAndReplyMap(IMTQ::NEG_Z_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY); this->insertInCommandAndReplyMap(IMTQ::GET_SELF_TEST_RESULT, 1, nullptr, IMTQ::SIZE_SELF_TEST_RESULTS); this->insertInCommandAndReplyMap(IMTQ::START_ACTUATION_DIPOLE, 1, nullptr, @@ -159,55 +185,54 @@ void IMTQHandler::fillCommandAndReplyMap() { IMTQ::SIZE_GET_RAW_MTM_MEASUREMENT); } -ReturnValue_t IMTQHandler::scanForReply(const uint8_t *start, - size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) { +ReturnValue_t IMTQHandler::scanForReply(const uint8_t *start, size_t remainingSize, + DeviceCommandId_t *foundId, size_t *foundLen) { ReturnValue_t result = RETURN_OK; - switch(*start) { - case(IMTQ::CC::START_ACTUATION_DIPOLE): + switch (*start) { + case (IMTQ::CC::START_ACTUATION_DIPOLE): *foundLen = IMTQ::SIZE_STATUS_REPLY; *foundId = IMTQ::START_ACTUATION_DIPOLE; - break; - case(IMTQ::CC::START_MTM_MEASUREMENT): + break; + case (IMTQ::CC::START_MTM_MEASUREMENT): *foundLen = IMTQ::SIZE_STATUS_REPLY; *foundId = IMTQ::START_MTM_MEASUREMENT; - break; - case(IMTQ::CC::GET_ENG_HK_DATA): + break; + case (IMTQ::CC::GET_ENG_HK_DATA): *foundLen = IMTQ::SIZE_ENG_HK_DATA_REPLY; *foundId = IMTQ::GET_ENG_HK_DATA; - break; - case(IMTQ::CC::GET_COMMANDED_DIPOLE): + break; + case (IMTQ::CC::GET_COMMANDED_DIPOLE): *foundLen = IMTQ::SIZE_GET_COMMANDED_DIPOLE_REPLY; *foundId = IMTQ::GET_COMMANDED_DIPOLE; - break; - case(IMTQ::CC::GET_CAL_MTM_MEASUREMENT): + break; + case (IMTQ::CC::GET_CAL_MTM_MEASUREMENT): *foundLen = IMTQ::SIZE_GET_CAL_MTM_MEASUREMENT; *foundId = IMTQ::GET_CAL_MTM_MEASUREMENT; - break; - case(IMTQ::CC::GET_RAW_MTM_MEASUREMENT): + break; + case (IMTQ::CC::GET_RAW_MTM_MEASUREMENT): *foundLen = IMTQ::SIZE_GET_RAW_MTM_MEASUREMENT; *foundId = IMTQ::GET_RAW_MTM_MEASUREMENT; - break; - case(IMTQ::CC::SELF_TEST_CMD): + break; + case (IMTQ::CC::SELF_TEST_CMD): *foundLen = IMTQ::SIZE_STATUS_REPLY; - result = getSelfTestCommandId(foundId); - break; - case(IMTQ::CC::GET_SELF_TEST_RESULT): + result = getSelfTestCommandId(foundId); + break; + case (IMTQ::CC::GET_SELF_TEST_RESULT): *foundLen = IMTQ::SIZE_SELF_TEST_RESULTS; *foundId = IMTQ::GET_SELF_TEST_RESULT; - break; - default: + break; + default: sif::debug << "IMTQHandler::scanForReply: Reply contains invalid command code" << std::endl; result = IGNORE_REPLY_DATA; - break; - } + break; + } return result; } -ReturnValue_t IMTQHandler::interpretDeviceReply(DeviceCommandId_t id, - const uint8_t *packet) { +ReturnValue_t IMTQHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) { ReturnValue_t result = RETURN_OK; @@ -245,37 +270,43 @@ ReturnValue_t IMTQHandler::interpretDeviceReply(DeviceCommandId_t id, break; default: { sif::debug << "IMTQHandler::interpretDeviceReply: Unknown device reply id" << std::endl; - return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY; - } - } + return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY; + } + } - return RETURN_OK; + return RETURN_OK; } -void IMTQHandler::setNormalDatapoolEntriesInvalid(){ +void IMTQHandler::setNormalDatapoolEntriesInvalid() { } LocalPoolDataSetBase* IMTQHandler::getDataSetHandle(sid_t sid) { if (sid == engHkDataset.getSid()) { return &engHkDataset; - } - else if (sid== calMtmMeasurementSet.getSid()) { + } else if (sid == calMtmMeasurementSet.getSid()) { return &calMtmMeasurementSet; - } - else if (sid== rawMtmMeasurementSet.getSid()) { + } else if (sid == rawMtmMeasurementSet.getSid()) { return &rawMtmMeasurementSet; - } - else if (sid== posXselfTestDataset.getSid()) { + } else if (sid == posXselfTestDataset.getSid()) { return &posXselfTestDataset; - } - else { + } else if (sid == negXselfTestDataset.getSid()) { + return &negXselfTestDataset; + } else if (sid == posYselfTestDataset.getSid()) { + return &posYselfTestDataset; + } else if (sid == negYselfTestDataset.getSid()) { + return &negYselfTestDataset; + } else if (sid == posZselfTestDataset.getSid()) { + return &posZselfTestDataset; + } else if (sid == negZselfTestDataset.getSid()) { + return &negZselfTestDataset; + } else { sif::error << "IMTQHandler::getDataSetHandle: Invalid sid" << std::endl; return nullptr; } } -uint32_t IMTQHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){ +uint32_t IMTQHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; } @@ -307,7 +338,7 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat localDataPoolMap.emplace(IMTQ::MTM_RAW_Z, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::ACTUATION_RAW_STATUS, new PoolEntry( { 0 })); - /** Entries of dataset for self test results of positive X axis test */ + /** INIT measurements for positive X axis test */ localDataPoolMap.emplace(IMTQ::INIT_POS_X_ERR, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::INIT_POS_X_RAW_MAG_X, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::INIT_POS_X_RAW_MAG_Y, new PoolEntry( { 0 })); @@ -322,6 +353,81 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + /** INIT measurements for negative X axis test */ + localDataPoolMap.emplace(IMTQ::INIT_NEG_X_ERR, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_X_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_X_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_X_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_X_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_X_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_X_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_X_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_X_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_X_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_X_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_X_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_X_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + + /** INIT measurements for positive Y axis test */ + localDataPoolMap.emplace(IMTQ::INIT_POS_Y_ERR, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Y_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Y_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Y_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Y_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Y_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Y_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Y_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Y_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Y_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Y_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Y_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Y_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + + /** INIT measurements for negative Y axis test */ + localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_ERR, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + + /** INIT measurements for positive Z axis test */ + localDataPoolMap.emplace(IMTQ::INIT_POS_Z_ERR, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Z_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Z_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Z_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Z_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Z_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Z_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Z_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Z_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Z_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Z_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Z_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_POS_Z_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + + /** INIT measurements for negative Z axis test */ + localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_ERR, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::POS_X_ERR, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::POS_X_RAW_MAG_X, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::POS_X_RAW_MAG_Y, new PoolEntry( { 0 })); @@ -336,20 +442,6 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat localDataPoolMap.emplace(IMTQ::POS_X_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::POS_X_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_POS_X_ERR, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_X, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_Y, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_Z, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_X, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_Y, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_Z, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_X_CURRENT, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Y_CURRENT, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Z_CURRENT, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); - localDataPoolMap.emplace(IMTQ::NEG_X_ERR, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::NEG_X_RAW_MAG_X, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::NEG_X_RAW_MAG_Y, new PoolEntry( { 0 })); @@ -420,31 +512,121 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + /** FINA measurements for positive X axis test */ + localDataPoolMap.emplace(IMTQ::FINA_POS_X_ERR, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + + /** FINA measurements for negative X axis test */ + localDataPoolMap.emplace(IMTQ::FINA_NEG_X_ERR, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_X_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_X_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_X_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_X_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_X_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_X_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_X_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_X_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_X_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_X_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_X_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_X_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + + /** FINA measurements for positive Y axis test */ + localDataPoolMap.emplace(IMTQ::FINA_POS_Y_ERR, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Y_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Y_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Y_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Y_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Y_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Y_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Y_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Y_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Y_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Y_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Y_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Y_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + + /** FINA measurements for negative Y axis test */ + localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_ERR, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + + /** FINA measurements for positive Z axis test */ + localDataPoolMap.emplace(IMTQ::FINA_POS_Z_ERR, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Z_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Z_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Z_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Z_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Z_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Z_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Z_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Z_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Z_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Z_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Z_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_POS_Z_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + + /** FINA measurements for negative Z axis test */ + localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_ERR, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_RAW_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_RAW_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_RAW_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_CAL_MAG_X, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_CAL_MAG_Y, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_CAL_MAG_Z, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_COIL_X_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_COIL_Y_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_COIL_Z_CURRENT, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_COIL_X_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_COIL_Y_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_COIL_Z_TEMPERATURE, new PoolEntry( { 0 })); + return HasReturnvaluesIF::RETURN_OK; } ReturnValue_t IMTQHandler::getSelfTestCommandId(DeviceCommandId_t* id) { DeviceCommandId_t commandId = getPendingCommand(); - switch(commandId) { - case IMTQ::POS_X_SELF_TEST: - case IMTQ::NEG_X_SELF_TEST: - case IMTQ::POS_Y_SELF_TEST: - case IMTQ::NEG_Y_SELF_TEST: - case IMTQ::POS_Z_SELF_TEST: - case IMTQ::NEG_Z_SELF_TEST: - *id = commandId; - break; - default: - sif::error << "IMTQHandler::getSelfTestCommandId: Reply does not match to pending " + switch (commandId) { + case IMTQ::POS_X_SELF_TEST: + case IMTQ::NEG_X_SELF_TEST: + case IMTQ::POS_Y_SELF_TEST: + case IMTQ::NEG_Y_SELF_TEST: + case IMTQ::POS_Z_SELF_TEST: + case IMTQ::NEG_Z_SELF_TEST: + *id = commandId; + break; + default: + sif::error << "IMTQHandler::getSelfTestCommandId: Reply does not match to pending " << "command" << std::endl; - return UNEXPECTED_SELF_TEST_REPLY; + return UNEXPECTED_SELF_TEST_REPLY; } return RETURN_OK; } ReturnValue_t IMTQHandler::parseStatusByte(const uint8_t* packet) { uint8_t cmdErrorField = *(packet + 1) & 0xF; - switch (cmdErrorField) { + switch (cmdErrorField) { case 0: return RETURN_OK; case 1: @@ -468,7 +650,7 @@ ReturnValue_t IMTQHandler::parseStatusByte(const uint8_t* packet) { return INTERNAL_PROCESSING_ERROR; default: sif::error << "IMTQHandler::parseStatusByte: CMD Error field contains unknown error code " - << cmdErrorField << std::endl; + << cmdErrorField << std::endl; return CMD_ERR_UNKNOWN; } } @@ -484,11 +666,14 @@ void IMTQHandler::fillEngHkDataset(const uint8_t* packet) { offset += 2; engHkDataset.analogCurrentmA = (*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1; offset += 2; - engHkDataset.coilXCurrentmA = (*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1; + engHkDataset.coilXCurrentmA = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; offset += 2; - engHkDataset.coilYCurrentmA = (*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1; + engHkDataset.coilYCurrentmA = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; offset += 2; - engHkDataset.coilZCurrentmA = (*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1; + engHkDataset.coilZCurrentmA = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; offset += 2; engHkDataset.coilXTemperature = (*(packet + offset + 1) << 8 | *(packet + offset)); offset += 2; @@ -614,11 +799,31 @@ void IMTQHandler::handleSelfTestReply(const uint8_t* packet) { uint16_t offset = 2; checkErrorByte(*(packet + offset), *(packet + offset + 1)); - switch(*(packet + IMTQ::MAIN_STEP_OFFSET)) { + switch (*(packet + IMTQ::MAIN_STEP_OFFSET)) { case IMTQ::SELF_TEST_STEPS::X_POSITIVE: { handlePositiveXSelfTestReply(packet); break; } + case IMTQ::SELF_TEST_STEPS::X_NEGATIVE: { + handleNegativeXSelfTestReply(packet); + break; + } + case IMTQ::SELF_TEST_STEPS::Y_POSITIVE: { + handlePositiveYSelfTestReply(packet); + break; + } + case IMTQ::SELF_TEST_STEPS::Y_NEGATIVE: { + handleNegativeYSelfTestReply(packet); + break; + } + case IMTQ::SELF_TEST_STEPS::Z_POSITIVE: { + handlePositiveZSelfTestReply(packet); + break; + } + case IMTQ::SELF_TEST_STEPS::Z_NEGATIVE: { + handleNegativeZSelfTestReply(packet); + break; + } default: break; } @@ -649,14 +854,14 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) { posXselfTestDataset.initCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - posXselfTestDataset.initCoilXCurrent = (*(packet + offset + 1) << 8 | *(packet + offset)) - * 0.1; + posXselfTestDataset.initCoilXCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; offset += 2; - posXselfTestDataset.initCoilYCurrent = (*(packet + offset + 1) << 8 | *(packet + offset)) - * 0.1; + posXselfTestDataset.initCoilYCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; offset += 2; - posXselfTestDataset.initCoilZCurrent = (*(packet + offset + 1) << 8 | *(packet + offset)) - * 0.1; + posXselfTestDataset.initCoilZCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; offset += 2; posXselfTestDataset.initCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); offset += 2; @@ -687,14 +892,14 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) { posXselfTestDataset.calMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - posXselfTestDataset.coilXCurrent = (*(packet + offset + 1) << 8 | *(packet + offset)) - * 0.1; + posXselfTestDataset.coilXCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; offset += 2; - posXselfTestDataset.coilYCurrent = (*(packet + offset + 1) << 8 | *(packet + offset)) - * 0.1; + posXselfTestDataset.coilYCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; offset += 2; - posXselfTestDataset.coilZCurrent = (*(packet + offset + 1) << 8 | *(packet + offset)) - * 0.1; + posXselfTestDataset.coilZCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; offset += 2; posXselfTestDataset.coilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); offset += 2; @@ -725,14 +930,14 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) { posXselfTestDataset.finaCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; - posXselfTestDataset.finaCoilXCurrent = (*(packet + offset + 1) << 8 | *(packet + offset)) - * 0.1; + posXselfTestDataset.finaCoilXCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; offset += 2; - posXselfTestDataset.finaCoilYCurrent = (*(packet + offset + 1) << 8 | *(packet + offset)) - * 0.1; + posXselfTestDataset.finaCoilYCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; offset += 2; - posXselfTestDataset.finaCoilZCurrent = (*(packet + offset + 1) << 8 | *(packet + offset)) - * 0.1; + posXselfTestDataset.finaCoilZCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; offset += 2; posXselfTestDataset.finaCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); offset += 2; @@ -743,19 +948,19 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) { #if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1 sif::info << "IMTQ self test (INIT) err: " - << static_cast(posXselfTestDataset.initErr.value) << std::endl; + << static_cast(posXselfTestDataset.initErr.value) << std::endl; sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posXselfTestDataset.initRawMagX << " nT" << std::endl; sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << posXselfTestDataset.initRawMagY << " nT" << std::endl; sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << posXselfTestDataset.initRawMagZ << " nT" << std::endl; - sif::info << "IMTQ self test (INIT) calibrated magnetic field X: " << posXselfTestDataset.initCalMagX - << " nT" << std::endl; - sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: " << posXselfTestDataset.initCalMagY - << " nT" << std::endl; - sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: " << posXselfTestDataset.initCalMagZ - << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) calibrated magnetic field X: " + << posXselfTestDataset.initCalMagX << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: " + << posXselfTestDataset.initCalMagY << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: " + << posXselfTestDataset.initCalMagZ << " nT" << std::endl; sif::info << "IMTQ self test (INIT) coil X current: " << posXselfTestDataset.initCoilXCurrent << " mA" << std::endl; sif::info << "IMTQ self test (INIT) coil Y current: " << posXselfTestDataset.initCoilYCurrent @@ -769,8 +974,8 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) { sif::info << "IMTQ self test (INIT) coil Z temperature: " << posXselfTestDataset.initCoilZTemperature << " °C" << std::endl; - sif::info << "IMTQ self test (+X) err: " << - static_cast(posXselfTestDataset.err.value) << std::endl; + sif::info << "IMTQ self test (+X) err: " + << static_cast(posXselfTestDataset.err.value) << std::endl; sif::info << "IMTQ self test (+X) raw magnetic field X: " << posXselfTestDataset.rawMagX << " nT" << std::endl; sif::info << "IMTQ self test (+X) raw magnetic field Y: " << posXselfTestDataset.rawMagY @@ -783,18 +988,18 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) { << " nT" << std::endl; sif::info << "IMTQ self test (+X) calibrated magnetic field Z: " << posXselfTestDataset.calMagZ << " nT" << std::endl; - sif::info << "IMTQ self test (+X) coil X current: " << posXselfTestDataset.coilXCurrent - << " mA" << std::endl; - sif::info << "IMTQ self test (+X) coil Y current: " << posXselfTestDataset.coilYCurrent - << " mA" << std::endl; - sif::info << "IMTQ self test (+X) coil Z current: " << posXselfTestDataset.coilZCurrent - << " mA" << std::endl; - sif::info << "IMTQ self test (+X) coil X temperature: " - << posXselfTestDataset.coilXTemperature << " °C" << std::endl; - sif::info << "IMTQ self test (+X) coil Y temperature: " - << posXselfTestDataset.coilYTemperature << " °C" << std::endl; - sif::info << "IMTQ self test (+X) coil Z temperature: " - << posXselfTestDataset.coilZTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (+X) coil X current: " << posXselfTestDataset.coilXCurrent << " mA" + << std::endl; + sif::info << "IMTQ self test (+X) coil Y current: " << posXselfTestDataset.coilYCurrent << " mA" + << std::endl; + sif::info << "IMTQ self test (+X) coil Z current: " << posXselfTestDataset.coilZCurrent << " mA" + << std::endl; + sif::info << "IMTQ self test (+X) coil X temperature: " << posXselfTestDataset.coilXTemperature + << " °C" << std::endl; + sif::info << "IMTQ self test (+X) coil Y temperature: " << posXselfTestDataset.coilYTemperature + << " °C" << std::endl; + sif::info << "IMTQ self test (+X) coil Z temperature: " << posXselfTestDataset.coilZTemperature + << " °C" << std::endl; sif::info << "IMTQ self test (FINA) err: " << static_cast(posXselfTestDataset.finaErr.value) << std::endl; @@ -804,12 +1009,12 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) { << " nT" << std::endl; sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << posXselfTestDataset.finaRawMagZ << " nT" << std::endl; - sif::info << "IMTQ self test (FINA) calibrated magnetic field X: " << posXselfTestDataset.finaCalMagX - << " nT" << std::endl; - sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: " << posXselfTestDataset.finaCalMagY - << " nT" << std::endl; - sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: " << posXselfTestDataset.finaCalMagZ - << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) calibrated magnetic field X: " + << posXselfTestDataset.finaCalMagX << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: " + << posXselfTestDataset.finaCalMagY << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: " + << posXselfTestDataset.finaCalMagZ << " nT" << std::endl; sif::info << "IMTQ self test (FINA) coil X current: " << posXselfTestDataset.finaCoilXCurrent << " mA" << std::endl; sif::info << "IMTQ self test (FINA) coil Y current: " << posXselfTestDataset.finaCoilYCurrent @@ -825,12 +1030,1016 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) { #endif } +void IMTQHandler::handleNegativeXSelfTestReply(const uint8_t* packet) { + PoolReadGuard rg(&posXselfTestDataset); + + uint16_t offset = 2; + /** Init measurements */ + negXselfTestDataset.initErr = *(packet + offset); + offset += 2; // STEP byte will not be stored + negXselfTestDataset.initRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negXselfTestDataset.initRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negXselfTestDataset.initRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negXselfTestDataset.initCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negXselfTestDataset.initCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negXselfTestDataset.initCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negXselfTestDataset.initCoilXCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negXselfTestDataset.initCoilYCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negXselfTestDataset.initCoilZCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negXselfTestDataset.initCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + negXselfTestDataset.initCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + negXselfTestDataset.initCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + + /** +X measurements */ + checkErrorByte(*(packet + offset), *(packet + offset + 1)); + negXselfTestDataset.err = *(packet + offset); + offset += 2; // STEP byte will not be stored + negXselfTestDataset.rawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negXselfTestDataset.rawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negXselfTestDataset.rawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negXselfTestDataset.calMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negXselfTestDataset.calMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negXselfTestDataset.calMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negXselfTestDataset.coilXCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negXselfTestDataset.coilYCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negXselfTestDataset.coilZCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negXselfTestDataset.coilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + negXselfTestDataset.coilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + negXselfTestDataset.coilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + + /** FINA measurements */ + checkErrorByte(*(packet + offset), *(packet + offset + 1)); + negXselfTestDataset.finaErr = *(packet + offset); + offset += 2; // STEP byte will not be stored + negXselfTestDataset.finaRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negXselfTestDataset.finaRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negXselfTestDataset.finaRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negXselfTestDataset.finaCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negXselfTestDataset.finaCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negXselfTestDataset.finaCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negXselfTestDataset.finaCoilXCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negXselfTestDataset.finaCoilYCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negXselfTestDataset.finaCoilZCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negXselfTestDataset.finaCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + negXselfTestDataset.finaCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + negXselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + +#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1 + sif::info << "IMTQ self test (INIT) err: " + << static_cast(negXselfTestDataset.initErr.value) << std::endl; + sif::info << "IMTQ self test (INIT) raw magnetic field X: " << negXselfTestDataset.initRawMagX + << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << negXselfTestDataset.initRawMagY + << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << negXselfTestDataset.initRawMagZ + << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) calibrated magnetic field X: " + << negXselfTestDataset.initCalMagX << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: " + << negXselfTestDataset.initCalMagY << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: " + << negXselfTestDataset.initCalMagZ << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) coil X current: " << negXselfTestDataset.initCoilXCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (INIT) coil Y current: " << negXselfTestDataset.initCoilYCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (INIT) coil Z current: " << negXselfTestDataset.initCoilZCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (INIT) coil X temperature: " + << negXselfTestDataset.initCoilXTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (INIT) coil Y temperature: " + << negXselfTestDataset.initCoilYTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (INIT) coil Z temperature: " + << negXselfTestDataset.initCoilZTemperature << " °C" << std::endl; + + sif::info << "IMTQ self test (-X) err: " + << static_cast(negXselfTestDataset.err.value) << std::endl; + sif::info << "IMTQ self test (-X) raw magnetic field X: " << negXselfTestDataset.rawMagX + << " nT" << std::endl; + sif::info << "IMTQ self test (-X) raw magnetic field Y: " << negXselfTestDataset.rawMagY + << " nT" << std::endl; + sif::info << "IMTQ self test (-X) raw magnetic field Z: " << negXselfTestDataset.rawMagZ + << " nT" << std::endl; + sif::info << "IMTQ self test (-X) calibrated magnetic field X: " << negXselfTestDataset.calMagX + << " nT" << std::endl; + sif::info << "IMTQ self test (-X) calibrated magnetic field Y: " << negXselfTestDataset.calMagY + << " nT" << std::endl; + sif::info << "IMTQ self test (-X) calibrated magnetic field Z: " << negXselfTestDataset.calMagZ + << " nT" << std::endl; + sif::info << "IMTQ self test (-X) coil X current: " << negXselfTestDataset.coilXCurrent << " mA" + << std::endl; + sif::info << "IMTQ self test (-X) coil Y current: " << negXselfTestDataset.coilYCurrent << " mA" + << std::endl; + sif::info << "IMTQ self test (-X) coil Z current: " << negXselfTestDataset.coilZCurrent << " mA" + << std::endl; + sif::info << "IMTQ self test (-X) coil X temperature: " << negXselfTestDataset.coilXTemperature + << " °C" << std::endl; + sif::info << "IMTQ self test (-X) coil Y temperature: " << negXselfTestDataset.coilYTemperature + << " °C" << std::endl; + sif::info << "IMTQ self test (-X) coil Z temperature: " << negXselfTestDataset.coilZTemperature + << " °C" << std::endl; + + sif::info << "IMTQ self test (FINA) err: " + << static_cast(negXselfTestDataset.finaErr.value) << std::endl; + sif::info << "IMTQ self test (FINA) raw magnetic field X: " << negXselfTestDataset.finaRawMagX + << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << negXselfTestDataset.finaRawMagY + << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << negXselfTestDataset.finaRawMagZ + << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) calibrated magnetic field X: " + << negXselfTestDataset.finaCalMagX << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: " + << negXselfTestDataset.finaCalMagY << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: " + << negXselfTestDataset.finaCalMagZ << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) coil X current: " << negXselfTestDataset.finaCoilXCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (FINA) coil Y current: " << negXselfTestDataset.finaCoilYCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (FINA) coil Z current: " << negXselfTestDataset.finaCoilZCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (FINA) coil X temperature: " + << negXselfTestDataset.finaCoilXTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (FINA) coil Y temperature: " + << negXselfTestDataset.finaCoilYTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (FINA) coil Z temperature: " + << negXselfTestDataset.finaCoilZTemperature << " °C" << std::endl; +#endif +} + +void IMTQHandler::handlePositiveYSelfTestReply(const uint8_t* packet) { + PoolReadGuard rg(&posXselfTestDataset); + + uint16_t offset = 2; + /** Init measurements */ + posYselfTestDataset.initErr = *(packet + offset); + offset += 2; // STEP byte will not be stored + posYselfTestDataset.initRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + posYselfTestDataset.initRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + posYselfTestDataset.initRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + posYselfTestDataset.initCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + posYselfTestDataset.initCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + posYselfTestDataset.initCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + posYselfTestDataset.initCoilXCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + posYselfTestDataset.initCoilYCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + posYselfTestDataset.initCoilZCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + posYselfTestDataset.initCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + posYselfTestDataset.initCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + posYselfTestDataset.initCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + + /** +X measurements */ + checkErrorByte(*(packet + offset), *(packet + offset + 1)); + posYselfTestDataset.err = *(packet + offset); + offset += 2; // STEP byte will not be stored + posYselfTestDataset.rawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + posYselfTestDataset.rawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + posYselfTestDataset.rawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + posYselfTestDataset.calMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + posYselfTestDataset.calMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + posYselfTestDataset.calMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + posYselfTestDataset.coilXCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + posYselfTestDataset.coilYCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + posYselfTestDataset.coilZCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + posYselfTestDataset.coilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + posYselfTestDataset.coilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + posYselfTestDataset.coilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + + /** FINA measurements */ + checkErrorByte(*(packet + offset), *(packet + offset + 1)); + posYselfTestDataset.finaErr = *(packet + offset); + offset += 2; // STEP byte will not be stored + posYselfTestDataset.finaRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + posYselfTestDataset.finaRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + posYselfTestDataset.finaRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + posYselfTestDataset.finaCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + posYselfTestDataset.finaCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + posYselfTestDataset.finaCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + posYselfTestDataset.finaCoilXCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + posYselfTestDataset.finaCoilYCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + posYselfTestDataset.finaCoilZCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + posYselfTestDataset.finaCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + posYselfTestDataset.finaCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + posYselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + +#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1 + sif::info << "IMTQ self test (INIT) err: " + << static_cast(posYselfTestDataset.initErr.value) << std::endl; + sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posYselfTestDataset.initRawMagX + << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << posYselfTestDataset.initRawMagY + << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << posYselfTestDataset.initRawMagZ + << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) calibrated magnetic field X: " + << posYselfTestDataset.initCalMagX << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: " + << posYselfTestDataset.initCalMagY << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: " + << posYselfTestDataset.initCalMagZ << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) coil X current: " << posYselfTestDataset.initCoilXCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (INIT) coil Y current: " << posYselfTestDataset.initCoilYCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (INIT) coil Z current: " << posYselfTestDataset.initCoilZCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (INIT) coil X temperature: " + << posYselfTestDataset.initCoilXTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (INIT) coil Y temperature: " + << posYselfTestDataset.initCoilYTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (INIT) coil Z temperature: " + << posYselfTestDataset.initCoilZTemperature << " °C" << std::endl; + + sif::info << "IMTQ self test (+Y) err: " + << static_cast(posYselfTestDataset.err.value) << std::endl; + sif::info << "IMTQ self test (+Y) raw magnetic field X: " << posYselfTestDataset.rawMagX + << " nT" << std::endl; + sif::info << "IMTQ self test (+Y) raw magnetic field Y: " << posYselfTestDataset.rawMagY + << " nT" << std::endl; + sif::info << "IMTQ self test (+Y) raw magnetic field Z: " << posYselfTestDataset.rawMagZ + << " nT" << std::endl; + sif::info << "IMTQ self test (+Y) calibrated magnetic field X: " << posYselfTestDataset.calMagX + << " nT" << std::endl; + sif::info << "IMTQ self test (+Y) calibrated magnetic field Y: " << posYselfTestDataset.calMagY + << " nT" << std::endl; + sif::info << "IMTQ self test (+Y) calibrated magnetic field Z: " << posYselfTestDataset.calMagZ + << " nT" << std::endl; + sif::info << "IMTQ self test (+Y) coil X current: " << posYselfTestDataset.coilXCurrent << " mA" + << std::endl; + sif::info << "IMTQ self test (+Y) coil Y current: " << posYselfTestDataset.coilYCurrent << " mA" + << std::endl; + sif::info << "IMTQ self test (+Y) coil Z current: " << posYselfTestDataset.coilZCurrent << " mA" + << std::endl; + sif::info << "IMTQ self test (+Y) coil X temperature: " << posYselfTestDataset.coilXTemperature + << " °C" << std::endl; + sif::info << "IMTQ self test (+Y) coil Y temperature: " << posYselfTestDataset.coilYTemperature + << " °C" << std::endl; + sif::info << "IMTQ self test (+Y) coil Z temperature: " << posYselfTestDataset.coilZTemperature + << " °C" << std::endl; + + sif::info << "IMTQ self test (FINA) err: " + << static_cast(posYselfTestDataset.finaErr.value) << std::endl; + sif::info << "IMTQ self test (FINA) raw magnetic field X: " << posYselfTestDataset.finaRawMagX + << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << posYselfTestDataset.finaRawMagY + << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << posYselfTestDataset.finaRawMagZ + << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) calibrated magnetic field X: " + << posYselfTestDataset.finaCalMagX << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: " + << posYselfTestDataset.finaCalMagY << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: " + << posYselfTestDataset.finaCalMagZ << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) coil X current: " << posYselfTestDataset.finaCoilXCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (FINA) coil Y current: " << posYselfTestDataset.finaCoilYCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (FINA) coil Z current: " << posYselfTestDataset.finaCoilZCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (FINA) coil X temperature: " + << posYselfTestDataset.finaCoilXTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (FINA) coil Y temperature: " + << posYselfTestDataset.finaCoilYTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (FINA) coil Z temperature: " + << posYselfTestDataset.finaCoilZTemperature << " °C" << std::endl; +#endif +} + +void IMTQHandler::handleNegativeYSelfTestReply(const uint8_t* packet) { + PoolReadGuard rg(&posXselfTestDataset); + + uint16_t offset = 2; + /** Init measurements */ + posZselfTestDataset.initErr = *(packet + offset); + offset += 2; // STEP byte will not be stored + negYselfTestDataset.initRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negYselfTestDataset.initRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negYselfTestDataset.initRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negYselfTestDataset.initCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negYselfTestDataset.initCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negYselfTestDataset.initCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negYselfTestDataset.initCoilXCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negYselfTestDataset.initCoilYCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negYselfTestDataset.initCoilZCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negYselfTestDataset.initCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + negYselfTestDataset.initCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + negYselfTestDataset.initCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + + /** +X measurements */ + checkErrorByte(*(packet + offset), *(packet + offset + 1)); + negYselfTestDataset.err = *(packet + offset); + offset += 2; // STEP byte will not be stored + negYselfTestDataset.rawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negYselfTestDataset.rawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negYselfTestDataset.rawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negYselfTestDataset.calMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negYselfTestDataset.calMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negYselfTestDataset.calMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negYselfTestDataset.coilXCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negYselfTestDataset.coilYCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negYselfTestDataset.coilZCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negYselfTestDataset.coilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + negYselfTestDataset.coilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + negYselfTestDataset.coilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + + /** FINA measurements */ + checkErrorByte(*(packet + offset), *(packet + offset + 1)); + negYselfTestDataset.finaErr = *(packet + offset); + offset += 2; // STEP byte will not be stored + negYselfTestDataset.finaRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negYselfTestDataset.finaRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negYselfTestDataset.finaRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negYselfTestDataset.finaCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negYselfTestDataset.finaCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negYselfTestDataset.finaCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negYselfTestDataset.finaCoilXCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negYselfTestDataset.finaCoilYCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negYselfTestDataset.finaCoilZCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negYselfTestDataset.finaCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + negYselfTestDataset.finaCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + negYselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + +#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1 + sif::info << "IMTQ self test (INIT) err: " + << static_cast(negYselfTestDataset.initErr.value) << std::endl; + sif::info << "IMTQ self test (INIT) raw magnetic field X: " << negYselfTestDataset.initRawMagX + << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << negYselfTestDataset.initRawMagY + << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << negYselfTestDataset.initRawMagZ + << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) calibrated magnetic field X: " + << negYselfTestDataset.initCalMagX << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: " + << negYselfTestDataset.initCalMagY << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: " + << negYselfTestDataset.initCalMagZ << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) coil X current: " << negYselfTestDataset.initCoilXCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (INIT) coil Y current: " << negYselfTestDataset.initCoilYCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (INIT) coil Z current: " << negYselfTestDataset.initCoilZCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (INIT) coil X temperature: " + << negYselfTestDataset.initCoilXTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (INIT) coil Y temperature: " + << negYselfTestDataset.initCoilYTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (INIT) coil Z temperature: " + << negYselfTestDataset.initCoilZTemperature << " °C" << std::endl; + + sif::info << "IMTQ self test (-Y) err: " + << static_cast(negYselfTestDataset.err.value) << std::endl; + sif::info << "IMTQ self test (-Y) raw magnetic field X: " << negYselfTestDataset.rawMagX + << " nT" << std::endl; + sif::info << "IMTQ self test (-Y) raw magnetic field Y: " << negYselfTestDataset.rawMagY + << " nT" << std::endl; + sif::info << "IMTQ self test (-Y) raw magnetic field Z: " << negYselfTestDataset.rawMagZ + << " nT" << std::endl; + sif::info << "IMTQ self test (-Y) calibrated magnetic field X: " << negYselfTestDataset.calMagX + << " nT" << std::endl; + sif::info << "IMTQ self test (-Y) calibrated magnetic field Y: " << negYselfTestDataset.calMagY + << " nT" << std::endl; + sif::info << "IMTQ self test (-Y) calibrated magnetic field Z: " << negYselfTestDataset.calMagZ + << " nT" << std::endl; + sif::info << "IMTQ self test (-Y) coil X current: " << negYselfTestDataset.coilXCurrent << " mA" + << std::endl; + sif::info << "IMTQ self test (-Y) coil Y current: " << negYselfTestDataset.coilYCurrent << " mA" + << std::endl; + sif::info << "IMTQ self test (-Y) coil Z current: " << negYselfTestDataset.coilZCurrent << " mA" + << std::endl; + sif::info << "IMTQ self test (-Y) coil X temperature: " << negYselfTestDataset.coilXTemperature + << " °C" << std::endl; + sif::info << "IMTQ self test (-Y) coil Y temperature: " << negYselfTestDataset.coilYTemperature + << " °C" << std::endl; + sif::info << "IMTQ self test (-Y) coil Z temperature: " << negYselfTestDataset.coilZTemperature + << " °C" << std::endl; + + sif::info << "IMTQ self test (FINA) err: " + << static_cast(negYselfTestDataset.finaErr.value) << std::endl; + sif::info << "IMTQ self test (FINA) raw magnetic field X: " << negYselfTestDataset.finaRawMagX + << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << negYselfTestDataset.finaRawMagY + << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << negYselfTestDataset.finaRawMagZ + << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) calibrated magnetic field X: " + << negYselfTestDataset.finaCalMagX << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: " + << negYselfTestDataset.finaCalMagY << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: " + << negYselfTestDataset.finaCalMagZ << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) coil X current: " << negYselfTestDataset.finaCoilXCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (FINA) coil Y current: " << negYselfTestDataset.finaCoilYCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (FINA) coil Z current: " << negYselfTestDataset.finaCoilZCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (FINA) coil X temperature: " + << negYselfTestDataset.finaCoilXTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (FINA) coil Y temperature: " + << negYselfTestDataset.finaCoilYTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (FINA) coil Z temperature: " + << negYselfTestDataset.finaCoilZTemperature << " °C" << std::endl; +#endif +} + +void IMTQHandler::handlePositiveZSelfTestReply(const uint8_t* packet) { + PoolReadGuard rg(&posXselfTestDataset); + + uint16_t offset = 2; + /** Init measurements */ + posZselfTestDataset.initErr = *(packet + offset); + offset += 2; // STEP byte will not be stored + posZselfTestDataset.initRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + posZselfTestDataset.initRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + posZselfTestDataset.initRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + posZselfTestDataset.initCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + posZselfTestDataset.initCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + posZselfTestDataset.initCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + posZselfTestDataset.initCoilXCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + posZselfTestDataset.initCoilYCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + posZselfTestDataset.initCoilZCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + posZselfTestDataset.initCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + posZselfTestDataset.initCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + posZselfTestDataset.initCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + + /** +X measurements */ + checkErrorByte(*(packet + offset), *(packet + offset + 1)); + posZselfTestDataset.err = *(packet + offset); + offset += 2; // STEP byte will not be stored + posZselfTestDataset.rawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + posZselfTestDataset.rawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + posZselfTestDataset.rawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + posZselfTestDataset.calMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + posZselfTestDataset.calMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + posZselfTestDataset.calMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + posZselfTestDataset.coilXCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + posZselfTestDataset.coilYCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + posZselfTestDataset.coilZCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + posZselfTestDataset.coilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + posZselfTestDataset.coilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + posZselfTestDataset.coilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + + /** FINA measurements */ + checkErrorByte(*(packet + offset), *(packet + offset + 1)); + posZselfTestDataset.finaErr = *(packet + offset); + offset += 2; // STEP byte will not be stored + posZselfTestDataset.finaRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + posZselfTestDataset.finaRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + posZselfTestDataset.finaRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + posZselfTestDataset.finaCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + posZselfTestDataset.finaCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + posZselfTestDataset.finaCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + posZselfTestDataset.finaCoilXCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + posZselfTestDataset.finaCoilYCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + posZselfTestDataset.finaCoilZCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + posZselfTestDataset.finaCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + posZselfTestDataset.finaCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + posZselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + +#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1 + sif::info << "IMTQ self test (INIT) err: " + << static_cast(posZselfTestDataset.initErr.value) << std::endl; + sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posZselfTestDataset.initRawMagX + << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << posZselfTestDataset.initRawMagY + << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << posZselfTestDataset.initRawMagZ + << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) calibrated magnetic field X: " + << posZselfTestDataset.initCalMagX << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: " + << posZselfTestDataset.initCalMagY << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: " + << posZselfTestDataset.initCalMagZ << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) coil X current: " << posZselfTestDataset.initCoilXCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (INIT) coil Y current: " << posZselfTestDataset.initCoilYCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (INIT) coil Z current: " << posZselfTestDataset.initCoilZCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (INIT) coil X temperature: " + << posZselfTestDataset.initCoilXTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (INIT) coil Y temperature: " + << posZselfTestDataset.initCoilYTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (INIT) coil Z temperature: " + << posZselfTestDataset.initCoilZTemperature << " °C" << std::endl; + + sif::info << "IMTQ self test (+Z) err: " + << static_cast(posZselfTestDataset.err.value) << std::endl; + sif::info << "IMTQ self test (+Z) raw magnetic field X: " << posZselfTestDataset.rawMagX + << " nT" << std::endl; + sif::info << "IMTQ self test (+Z) raw magnetic field Y: " << posZselfTestDataset.rawMagY + << " nT" << std::endl; + sif::info << "IMTQ self test (+Z) raw magnetic field Z: " << posZselfTestDataset.rawMagZ + << " nT" << std::endl; + sif::info << "IMTQ self test (+Z) calibrated magnetic field X: " << posZselfTestDataset.calMagX + << " nT" << std::endl; + sif::info << "IMTQ self test (+Z) calibrated magnetic field Y: " << posZselfTestDataset.calMagY + << " nT" << std::endl; + sif::info << "IMTQ self test (+Z) calibrated magnetic field Z: " << posZselfTestDataset.calMagZ + << " nT" << std::endl; + sif::info << "IMTQ self test (+Z) coil X current: " << posZselfTestDataset.coilXCurrent << " mA" + << std::endl; + sif::info << "IMTQ self test (+Z) coil Y current: " << posZselfTestDataset.coilYCurrent << " mA" + << std::endl; + sif::info << "IMTQ self test (+Z) coil Z current: " << posZselfTestDataset.coilZCurrent << " mA" + << std::endl; + sif::info << "IMTQ self test (+Z) coil X temperature: " << posZselfTestDataset.coilXTemperature + << " °C" << std::endl; + sif::info << "IMTQ self test (+Z) coil Y temperature: " << posZselfTestDataset.coilYTemperature + << " °C" << std::endl; + sif::info << "IMTQ self test (+Z) coil Z temperature: " << negYselfTestDataset.coilZTemperature + << " °C" << std::endl; + + sif::info << "IMTQ self test (FINA) err: " + << static_cast(posZselfTestDataset.finaErr.value) << std::endl; + sif::info << "IMTQ self test (FINA) raw magnetic field X: " << posZselfTestDataset.finaRawMagX + << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << posZselfTestDataset.finaRawMagY + << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << posZselfTestDataset.finaRawMagZ + << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) calibrated magnetic field X: " + << posZselfTestDataset.finaCalMagX << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: " + << posZselfTestDataset.finaCalMagY << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: " + << posZselfTestDataset.finaCalMagZ << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) coil X current: " << posZselfTestDataset.finaCoilXCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (FINA) coil Y current: " << posZselfTestDataset.finaCoilYCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (FINA) coil Z current: " << posZselfTestDataset.finaCoilZCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (FINA) coil X temperature: " + << posZselfTestDataset.finaCoilXTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (FINA) coil Y temperature: " + << posZselfTestDataset.finaCoilYTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (FINA) coil Z temperature: " + << posZselfTestDataset.finaCoilZTemperature << " °C" << std::endl; +#endif +} + +void IMTQHandler::handleNegativeZSelfTestReply(const uint8_t* packet) { + PoolReadGuard rg(&posXselfTestDataset); + + uint16_t offset = 2; + /** Init measurements */ + negZselfTestDataset.initErr = *(packet + offset); + offset += 2; // STEP byte will not be stored + negZselfTestDataset.initRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negZselfTestDataset.initRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negZselfTestDataset.initRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negZselfTestDataset.initCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negZselfTestDataset.initCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negZselfTestDataset.initCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negZselfTestDataset.initCoilXCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negZselfTestDataset.initCoilYCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negZselfTestDataset.initCoilZCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negZselfTestDataset.initCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + negZselfTestDataset.initCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + negZselfTestDataset.initCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + + /** +X measurements */ + checkErrorByte(*(packet + offset), *(packet + offset + 1)); + negZselfTestDataset.err = *(packet + offset); + offset += 2; // STEP byte will not be stored + negZselfTestDataset.rawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negZselfTestDataset.rawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negZselfTestDataset.rawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negZselfTestDataset.calMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negZselfTestDataset.calMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negZselfTestDataset.calMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negZselfTestDataset.coilXCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negZselfTestDataset.coilYCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negZselfTestDataset.coilZCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negZselfTestDataset.coilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + negZselfTestDataset.coilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + negZselfTestDataset.coilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + + /** FINA measurements */ + checkErrorByte(*(packet + offset), *(packet + offset + 1)); + negZselfTestDataset.finaErr = *(packet + offset); + offset += 2; // STEP byte will not be stored + negZselfTestDataset.finaRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negZselfTestDataset.finaRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negZselfTestDataset.finaRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5; + offset += 4; + negZselfTestDataset.finaCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negZselfTestDataset.finaCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negZselfTestDataset.finaCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + negZselfTestDataset.finaCoilXCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negZselfTestDataset.finaCoilYCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negZselfTestDataset.finaCoilZCurrent = static_cast(*(packet + offset + 1) << 8 + | *(packet + offset)) * 0.1; + offset += 2; + negZselfTestDataset.finaCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + negZselfTestDataset.finaCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 2; + negZselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + +#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1 + sif::info << "IMTQ self test (INIT) err: " + << static_cast(negZselfTestDataset.initErr.value) << std::endl; + sif::info << "IMTQ self test (INIT) raw magnetic field X: " << negZselfTestDataset.initRawMagX + << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << negZselfTestDataset.initRawMagY + << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << negZselfTestDataset.initRawMagZ + << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) calibrated magnetic field X: " + << negZselfTestDataset.initCalMagX << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: " + << negZselfTestDataset.initCalMagY << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: " + << negZselfTestDataset.initCalMagZ << " nT" << std::endl; + sif::info << "IMTQ self test (INIT) coil X current: " << negZselfTestDataset.initCoilXCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (INIT) coil Y current: " << negZselfTestDataset.initCoilYCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (INIT) coil Z current: " << negZselfTestDataset.initCoilZCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (INIT) coil X temperature: " + << negZselfTestDataset.initCoilXTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (INIT) coil Y temperature: " + << negZselfTestDataset.initCoilYTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (INIT) coil Z temperature: " + << negZselfTestDataset.initCoilZTemperature << " °C" << std::endl; + + sif::info << "IMTQ self test (-Z) err: " + << static_cast(negZselfTestDataset.err.value) << std::endl; + sif::info << "IMTQ self test (-Z) raw magnetic field X: " << negZselfTestDataset.rawMagX + << " nT" << std::endl; + sif::info << "IMTQ self test (-Z) raw magnetic field Y: " << negZselfTestDataset.rawMagY + << " nT" << std::endl; + sif::info << "IMTQ self test (-Z) raw magnetic field Z: " << negZselfTestDataset.rawMagZ + << " nT" << std::endl; + sif::info << "IMTQ self test (-Z) calibrated magnetic field X: " << negZselfTestDataset.calMagX + << " nT" << std::endl; + sif::info << "IMTQ self test (-Z) calibrated magnetic field Y: " << negZselfTestDataset.calMagY + << " nT" << std::endl; + sif::info << "IMTQ self test (-Z) calibrated magnetic field Z: " << negZselfTestDataset.calMagZ + << " nT" << std::endl; + sif::info << "IMTQ self test (-Z) coil X current: " << negZselfTestDataset.coilXCurrent << " mA" + << std::endl; + sif::info << "IMTQ self test (-Z) coil Y current: " << negZselfTestDataset.coilYCurrent << " mA" + << std::endl; + sif::info << "IMTQ self test (-Z) coil Z current: " << negZselfTestDataset.coilZCurrent << " mA" + << std::endl; + sif::info << "IMTQ self test (-Z) coil X temperature: " << negZselfTestDataset.coilXTemperature + << " °C" << std::endl; + sif::info << "IMTQ self test (-Z) coil Y temperature: " << negZselfTestDataset.coilYTemperature + << " °C" << std::endl; + sif::info << "IMTQ self test (-Z) coil Z temperature: " << negYselfTestDataset.coilZTemperature + << " °C" << std::endl; + + sif::info << "IMTQ self test (FINA) err: " + << static_cast(negZselfTestDataset.finaErr.value) << std::endl; + sif::info << "IMTQ self test (FINA) raw magnetic field X: " << negZselfTestDataset.finaRawMagX + << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << negZselfTestDataset.finaRawMagY + << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << negZselfTestDataset.finaRawMagZ + << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) calibrated magnetic field X: " + << negZselfTestDataset.finaCalMagX << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: " + << negZselfTestDataset.finaCalMagY << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: " + << negZselfTestDataset.finaCalMagZ << " nT" << std::endl; + sif::info << "IMTQ self test (FINA) coil X current: " << negZselfTestDataset.finaCoilXCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (FINA) coil Y current: " << negZselfTestDataset.finaCoilYCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (FINA) coil Z current: " << negZselfTestDataset.finaCoilZCurrent + << " mA" << std::endl; + sif::info << "IMTQ self test (FINA) coil X temperature: " + << negZselfTestDataset.finaCoilXTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (FINA) coil Y temperature: " + << negZselfTestDataset.finaCoilYTemperature << " °C" << std::endl; + sif::info << "IMTQ self test (FINA) coil Z temperature: " + << negZselfTestDataset.finaCoilZTemperature << " °C" << std::endl; +#endif +} + void IMTQHandler::checkErrorByte(const uint8_t errorByte, const uint8_t step) { std::string stepString(""); if (step < 8) { stepString = makeStepString(step); - } - else { + } else { /** This should normally never happen */ sif::debug << "IMTQHandler::checkErrorByte: Invalid step" << std::endl; return; @@ -912,7 +2121,7 @@ std::string IMTQHandler::makeStepString(const uint8_t step) { break; default: sif::error << "IMTQHandler::checkErrorByte: Received packet with invalid step information" - << std::endl; + << std::endl; break; } return stepString; diff --git a/mission/devices/IMTQHandler.h b/mission/devices/IMTQHandler.h index 92d24a46..ce9e45e0 100644 --- a/mission/devices/IMTQHandler.h +++ b/mission/devices/IMTQHandler.h @@ -82,7 +82,12 @@ private: IMTQ::EngHkDataset engHkDataset; IMTQ::CalibratedMtmMeasurementSet calMtmMeasurementSet; IMTQ::RawMtmMeasurementSet rawMtmMeasurementSet; - IMTQ::PosXselfTestSet posXselfTestDataset; + IMTQ::PosXSelfTestSet posXselfTestDataset; + IMTQ::NegXSelfTestSet negXselfTestDataset; + IMTQ::PosYSelfTestSet posYselfTestDataset; + IMTQ::NegYSelfTestSet negYselfTestDataset; + IMTQ::PosZSelfTestSet posZselfTestDataset; + IMTQ::NegZSelfTestSet negZselfTestDataset; uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE]; @@ -170,6 +175,11 @@ private: * @param packet Pointer to the reply data holding the self test result. */ void handlePositiveXSelfTestReply(const uint8_t* packet); + void handleNegativeXSelfTestReply(const uint8_t* packet); + void handlePositiveYSelfTestReply(const uint8_t* packet); + void handleNegativeYSelfTestReply(const uint8_t* packet); + void handlePositiveZSelfTestReply(const uint8_t* packet); + void handleNegativeZSelfTestReply(const uint8_t* packet); /** * @brief This function checks the error byte of a self test measurement. diff --git a/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h b/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h index d90a41b0..e95bd42e 100644 --- a/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h +++ b/mission/devices/devicedefinitions/IMTQHandlerDefinitions.h @@ -29,12 +29,13 @@ namespace IMTQ { static const uint32_t ENG_HK_DATA_SET_ID = 1; static const uint32_t CAL_MTM_SET = 2; - static const uint32_t POS_X_TEST_DATASET = 3; - static const uint32_t NEG_X_TEST_DATASET = 4; - static const uint32_t POS_Y_TEST_DATASET = 5; - static const uint32_t NEG_Y_TEST_DATASET = 6; - static const uint32_t POS_Z_TEST_DATASET = 7; - static const uint32_t NEG_Z_TEST_DATASET = 8; + static const uint32_t RAW_MTM_SET = 3; + static const uint32_t POS_X_TEST_DATASET = 4; + static const uint32_t NEG_X_TEST_DATASET = 5; + static const uint32_t POS_Y_TEST_DATASET = 6; + static const uint32_t NEG_Y_TEST_DATASET = 7; + static const uint32_t POS_Z_TEST_DATASET = 8; + static const uint32_t NEG_Z_TEST_DATASET = 9; static const uint8_t SIZE_ENG_HK_COMMAND = 1; static const uint8_t SIZE_STATUS_REPLY = 2; @@ -405,7 +406,7 @@ public: }; /** - * @brief This dataset holds the raw MTM measurements. + * @brief This dataset holds the last calibrated MTM measurement. */ class CalibratedMtmMeasurementSet: public StaticLocalDataSet { public: @@ -428,17 +429,17 @@ public: }; /** - * @brief This dataset holds the last calibrated MTM measurement. + * @brief This dataset holds the raw MTM measurements. */ class RawMtmMeasurementSet: public StaticLocalDataSet { public: RawMtmMeasurementSet(HasLocalDataPoolIF* owner) : - StaticLocalDataSet(owner, CAL_MTM_SET) { + StaticLocalDataSet(owner, RAW_MTM_SET) { } RawMtmMeasurementSet(object_id_t objectId) : - StaticLocalDataSet(sid_t(objectId, CAL_MTM_SET)) { + StaticLocalDataSet(sid_t(objectId, RAW_MTM_SET)) { } /** The unit of all measurements is nT */ @@ -450,29 +451,71 @@ public: this); }; + /** - * @brief This dataset can be used to store the self test results of the positve X axis test. + * @brief This class can be used to ease the generation of an action message commanding the + * IMTQHandler to configure the magnettorquer with the desired dipoles. + * + * @details Deserialize the packet, write the deserialized data to the ipc store and store the + * the ipc store address in the action message. + */ +class CommandDipolePacket : public SerialLinkedListAdapter { +public: + + CommandDipolePacket() { + setLinks(); + } + +private: + + /** + * @brief Constructor + * + * @param xDipole The dipole of the x coil in 10 ^ -4 * Am^2 + * @param yDipole The dipole of the y coil in 10 ^ -4 * Am^2 + * @param zDipole The dipole of the z coil in 10 ^ -4 * Am^2 + * @param duration The duration in milliseconds the dipole will be generated by the coils. + * When set to 0, the dipole will be generated until a new dipole actuation + * command is sent. + */ + CommandDipolePacket(uint16_t xDipole, uint16_t yDipole, uint16_t zDipole, uint16_t duration) : + xDipole(xDipole), yDipole(yDipole), zDipole(zDipole), duration(duration) { + } + void setLinks() { + setStart(&xDipole); + xDipole.setNext(&yDipole); + yDipole.setNext(&zDipole); + zDipole.setNext(&duration); + } + SerializeElement xDipole; + SerializeElement yDipole; + SerializeElement zDipole; + SerializeElement duration; +}; + +/** + * @brief This dataset can be used to store the self test results of the +X self test. * * @details Units of measurements: * Raw magnetic field: [nT] * Calibrated magnetic field: [nT] * Coil currents: [mA] * Temperature: [°C] - * The self test generates for each axis the positive and negative dipole and measures - * the magnetic field with the built-in MTM. The procedure of the test is as follows: + * The +X self test generates a positive dipole in X direction and measures the magnetic + * field with the built-in MTM. The procedure of the test is as follows: * 1. All coils off (INIT step) - * 2. +X (apply current to generate dipole in positive X direction) + * 2. +X actuation * 3. All coils off (FINA step) */ -class PosXselfTestSet: public StaticLocalDataSet { +class PosXSelfTestSet: public StaticLocalDataSet { public: - PosXselfTestSet(HasLocalDataPoolIF* owner) : - StaticLocalDataSet(owner, POS_X_TEST_DATASET) { + PosXSelfTestSet(HasLocalDataPoolIF* owner) : + StaticLocalDataSet(owner, IMTQ::POS_X_TEST_DATASET) { } - PosXselfTestSet(object_id_t objectId) : - StaticLocalDataSet(sid_t(objectId, POS_X_TEST_DATASET)) { + PosXSelfTestSet(object_id_t objectId) : + StaticLocalDataSet(sid_t(objectId, IMTQ::POS_X_TEST_DATASET)) { } /** INIT block */ @@ -540,45 +583,451 @@ public: }; /** - * @brief This class can be used to ease the generation of an action message commanding the - * IMTQHandler to configure the magnettorquer with the desired dipoles. + * @brief This dataset can be used to store the self test results of the -X self test. * - * @details Deserialize the packet, write the deserialized data to the ipc store and store the - * the ipc store address in the action message. + * @details Units of measurements: + * Raw magnetic field: [nT] + * Calibrated magnetic field: [nT] + * Coil currents: [mA] + * Temperature: [°C] + * The -X self test generates a negative dipole in X direction and measures the magnetic + * field with the built-in MTM. The procedure of the test is as follows: + * 1. All coils off (INIT step) + * 2. -X actuation + * 3. All coils off (FINA step) */ -class CommandDipolePacket : public SerialLinkedListAdapter { +class NegXSelfTestSet: public StaticLocalDataSet { public: - CommandDipolePacket() { - setLinks(); + NegXSelfTestSet(HasLocalDataPoolIF* owner) : + StaticLocalDataSet(owner, IMTQ::NEG_X_TEST_DATASET) { } -private: + NegXSelfTestSet(object_id_t objectId) : + StaticLocalDataSet(sid_t(objectId, IMTQ::NEG_X_TEST_DATASET)) { + } - /** - * @brief Constructor - * - * @param xDipole The dipole of the x coil in 10 ^ -4 * Am^2 - * @param yDipole The dipole of the y coil in 10 ^ -4 * Am^2 - * @param zDipole The dipole of the z coil in 10 ^ -4 * Am^2 - * @param duration The duration in milliseconds the dipole will be generated by the coils. - * When set to 0, the dipole will be generated until a new dipole actuation - * command is sent. - */ - CommandDipolePacket(uint16_t xDipole, uint16_t yDipole, uint16_t zDipole, uint16_t duration) : - xDipole(xDipole), yDipole(yDipole), zDipole(zDipole), duration(duration) { - } - void setLinks() { - setStart(&xDipole); - xDipole.setNext(&yDipole); - yDipole.setNext(&zDipole); - zDipole.setNext(&duration); - } - SerializeElement xDipole; - SerializeElement yDipole; - SerializeElement zDipole; - SerializeElement duration; + /** INIT block */ + lp_var_t initErr = lp_var_t(sid.objectId, INIT_NEG_X_ERR, this); + lp_var_t initRawMagX = lp_var_t(sid.objectId, INIT_NEG_X_RAW_MAG_X, this); + lp_var_t initRawMagY = lp_var_t(sid.objectId, INIT_NEG_X_RAW_MAG_Y, this); + lp_var_t initRawMagZ = lp_var_t(sid.objectId, INIT_NEG_X_RAW_MAG_Z, this); + lp_var_t initCalMagX = lp_var_t(sid.objectId, INIT_NEG_X_CAL_MAG_X, this); + lp_var_t initCalMagY = lp_var_t(sid.objectId, INIT_NEG_X_CAL_MAG_Y, this); + lp_var_t initCalMagZ = lp_var_t(sid.objectId, INIT_NEG_X_CAL_MAG_Z, this); + lp_var_t initCoilXCurrent = lp_var_t(sid.objectId, INIT_NEG_X_COIL_X_CURRENT, + this); + lp_var_t initCoilYCurrent = lp_var_t(sid.objectId, INIT_NEG_X_COIL_Y_CURRENT, + this); + lp_var_t initCoilZCurrent = lp_var_t(sid.objectId, INIT_NEG_X_COIL_Z_CURRENT, + this); + lp_var_t initCoilXTemperature = lp_var_t(sid.objectId, + INIT_NEG_X_COIL_X_TEMPERATURE, this); + lp_var_t initCoilYTemperature = lp_var_t(sid.objectId, + INIT_NEG_X_COIL_Y_TEMPERATURE, this); + lp_var_t initCoilZTemperature = lp_var_t(sid.objectId, + INIT_NEG_X_COIL_Z_TEMPERATURE, this); + + /** -X block */ + lp_var_t err = lp_var_t(sid.objectId, NEG_X_ERR, this); + lp_var_t rawMagX = lp_var_t(sid.objectId, NEG_X_RAW_MAG_X, this); + lp_var_t rawMagY = lp_var_t(sid.objectId, NEG_X_RAW_MAG_Y, this); + lp_var_t rawMagZ = lp_var_t(sid.objectId, NEG_X_RAW_MAG_Z, this); + lp_var_t calMagX = lp_var_t(sid.objectId, NEG_X_CAL_MAG_X, this); + lp_var_t calMagY = lp_var_t(sid.objectId, NEG_X_CAL_MAG_Y, this); + lp_var_t calMagZ = lp_var_t(sid.objectId, NEG_X_CAL_MAG_Z, this); + lp_var_t coilXCurrent = lp_var_t(sid.objectId, NEG_X_COIL_X_CURRENT, + this); + lp_var_t coilYCurrent = lp_var_t(sid.objectId, NEG_X_COIL_Y_CURRENT, + this); + lp_var_t coilZCurrent = lp_var_t(sid.objectId, NEG_X_COIL_Z_CURRENT, + this); + lp_var_t coilXTemperature = lp_var_t(sid.objectId, + NEG_X_COIL_X_TEMPERATURE, this); + lp_var_t coilYTemperature = lp_var_t(sid.objectId, + NEG_X_COIL_Y_TEMPERATURE, this); + lp_var_t coilZTemperature = lp_var_t(sid.objectId, + NEG_X_COIL_Z_TEMPERATURE, this); + + /** FINA block */ + lp_var_t finaErr = lp_var_t(sid.objectId, FINA_NEG_X_ERR, this); + lp_var_t finaRawMagX = lp_var_t(sid.objectId, FINA_NEG_X_RAW_MAG_X, this); + lp_var_t finaRawMagY = lp_var_t(sid.objectId, FINA_NEG_X_RAW_MAG_Y, this); + lp_var_t finaRawMagZ = lp_var_t(sid.objectId, FINA_NEG_X_RAW_MAG_Z, this); + lp_var_t finaCalMagX = lp_var_t(sid.objectId, FINA_NEG_X_CAL_MAG_X, this); + lp_var_t finaCalMagY = lp_var_t(sid.objectId, FINA_NEG_X_CAL_MAG_Y, this); + lp_var_t finaCalMagZ = lp_var_t(sid.objectId, FINA_NEG_X_CAL_MAG_Z, this); + lp_var_t finaCoilXCurrent = lp_var_t(sid.objectId, FINA_NEG_X_COIL_X_CURRENT, + this); + lp_var_t finaCoilYCurrent = lp_var_t(sid.objectId, FINA_NEG_X_COIL_Y_CURRENT, + this); + lp_var_t finaCoilZCurrent = lp_var_t(sid.objectId, FINA_NEG_X_COIL_Z_CURRENT, + this); + lp_var_t finaCoilXTemperature = lp_var_t(sid.objectId, + FINA_NEG_X_COIL_X_TEMPERATURE, this); + lp_var_t finaCoilYTemperature = lp_var_t(sid.objectId, + FINA_NEG_X_COIL_Y_TEMPERATURE, this); + lp_var_t finaCoilZTemperature = lp_var_t(sid.objectId, + FINA_NEG_X_COIL_Z_TEMPERATURE, this); }; + + +/** + * @brief This dataset can be used to store the self test results of the +Y self test. + * + * @details Units of measurements: + * Raw magnetic field: [nT] + * Calibrated magnetic field: [nT] + * Coil currents: [mA] + * Temperature: [°C] + * The +Y self test generates a positive dipole in y direction and measures the magnetic + * field with the built-in MTM. The procedure of the test is as follows: + * 1. All coils off (INIT step) + * 2. +Y actuation + * 3. All coils off (FINA step) + */ +class PosYSelfTestSet: public StaticLocalDataSet { +public: + + PosYSelfTestSet(HasLocalDataPoolIF* owner) : + StaticLocalDataSet(owner, IMTQ::POS_Y_TEST_DATASET) { + } + + PosYSelfTestSet(object_id_t objectId) : + StaticLocalDataSet(sid_t(objectId, IMTQ::POS_Y_TEST_DATASET)) { + } + + /** INIT block */ + lp_var_t initErr = lp_var_t(sid.objectId, INIT_POS_Y_ERR, this); + lp_var_t initRawMagX = lp_var_t(sid.objectId, INIT_POS_Y_RAW_MAG_X, this); + lp_var_t initRawMagY = lp_var_t(sid.objectId, INIT_POS_Y_RAW_MAG_Y, this); + lp_var_t initRawMagZ = lp_var_t(sid.objectId, INIT_POS_Y_RAW_MAG_Z, this); + lp_var_t initCalMagX = lp_var_t(sid.objectId, INIT_POS_Y_CAL_MAG_X, this); + lp_var_t initCalMagY = lp_var_t(sid.objectId, INIT_POS_Y_CAL_MAG_Y, this); + lp_var_t initCalMagZ = lp_var_t(sid.objectId, INIT_POS_Y_CAL_MAG_Z, this); + lp_var_t initCoilXCurrent = lp_var_t(sid.objectId, INIT_POS_Y_COIL_X_CURRENT, + this); + lp_var_t initCoilYCurrent = lp_var_t(sid.objectId, INIT_POS_Y_COIL_Y_CURRENT, + this); + lp_var_t initCoilZCurrent = lp_var_t(sid.objectId, INIT_POS_Y_COIL_Z_CURRENT, + this); + lp_var_t initCoilXTemperature = lp_var_t(sid.objectId, + INIT_POS_Y_COIL_X_TEMPERATURE, this); + lp_var_t initCoilYTemperature = lp_var_t(sid.objectId, + INIT_POS_Y_COIL_Y_TEMPERATURE, this); + lp_var_t initCoilZTemperature = lp_var_t(sid.objectId, + INIT_POS_Y_COIL_Z_TEMPERATURE, this); + + /** +Y block */ + lp_var_t err = lp_var_t(sid.objectId, POS_Y_ERR, this); + lp_var_t rawMagX = lp_var_t(sid.objectId, POS_Y_RAW_MAG_X, this); + lp_var_t rawMagY = lp_var_t(sid.objectId, POS_Y_RAW_MAG_Y, this); + lp_var_t rawMagZ = lp_var_t(sid.objectId, POS_Y_RAW_MAG_Z, this); + lp_var_t calMagX = lp_var_t(sid.objectId, POS_Y_CAL_MAG_X, this); + lp_var_t calMagY = lp_var_t(sid.objectId, POS_Y_CAL_MAG_Y, this); + lp_var_t calMagZ = lp_var_t(sid.objectId, POS_Y_CAL_MAG_Z, this); + lp_var_t coilXCurrent = lp_var_t(sid.objectId, POS_Y_COIL_X_CURRENT, + this); + lp_var_t coilYCurrent = lp_var_t(sid.objectId, POS_Y_COIL_Y_CURRENT, + this); + lp_var_t coilZCurrent = lp_var_t(sid.objectId, POS_Y_COIL_Z_CURRENT, + this); + lp_var_t coilXTemperature = lp_var_t(sid.objectId, + POS_Y_COIL_X_TEMPERATURE, this); + lp_var_t coilYTemperature = lp_var_t(sid.objectId, + POS_Y_COIL_Y_TEMPERATURE, this); + lp_var_t coilZTemperature = lp_var_t(sid.objectId, + POS_Y_COIL_Z_TEMPERATURE, this); + + /** FINA block */ + lp_var_t finaErr = lp_var_t(sid.objectId, FINA_POS_Y_ERR, this); + lp_var_t finaRawMagX = lp_var_t(sid.objectId, FINA_POS_Y_RAW_MAG_X, this); + lp_var_t finaRawMagY = lp_var_t(sid.objectId, FINA_POS_Y_RAW_MAG_Y, this); + lp_var_t finaRawMagZ = lp_var_t(sid.objectId, FINA_POS_Y_RAW_MAG_Z, this); + lp_var_t finaCalMagX = lp_var_t(sid.objectId, FINA_POS_Y_CAL_MAG_X, this); + lp_var_t finaCalMagY = lp_var_t(sid.objectId, FINA_POS_Y_CAL_MAG_Y, this); + lp_var_t finaCalMagZ = lp_var_t(sid.objectId, FINA_POS_Y_CAL_MAG_Z, this); + lp_var_t finaCoilXCurrent = lp_var_t(sid.objectId, FINA_POS_Y_COIL_X_CURRENT, + this); + lp_var_t finaCoilYCurrent = lp_var_t(sid.objectId, FINA_POS_Y_COIL_Y_CURRENT, + this); + lp_var_t finaCoilZCurrent = lp_var_t(sid.objectId, FINA_POS_Y_COIL_Z_CURRENT, + this); + lp_var_t finaCoilXTemperature = lp_var_t(sid.objectId, + FINA_POS_Y_COIL_X_TEMPERATURE, this); + lp_var_t finaCoilYTemperature = lp_var_t(sid.objectId, + FINA_POS_Y_COIL_Y_TEMPERATURE, this); + lp_var_t finaCoilZTemperature = lp_var_t(sid.objectId, + FINA_POS_Y_COIL_Z_TEMPERATURE, this); +}; + +/** + * @brief This dataset can be used to store the self test results of the -Y self test. + * + * @details Units of measurements: + * Raw magnetic field: [nT] + * Calibrated magnetic field: [nT] + * Coil currents: [mA] + * Temperature: [°C] + * The -Y self test generates a negative dipole in y direction and measures the magnetic + * field with the built-in MTM. The procedure of the test is as follows: + * 1. All coils off (INIT step) + * 2. -Y actuation + * 3. All coils off (FINA step) + */ +class NegYSelfTestSet: public StaticLocalDataSet { +public: + + NegYSelfTestSet(HasLocalDataPoolIF* owner) : + StaticLocalDataSet(owner, IMTQ::NEG_Y_TEST_DATASET) { + } + + NegYSelfTestSet(object_id_t objectId) : + StaticLocalDataSet(sid_t(objectId, IMTQ::NEG_Y_TEST_DATASET)) { + } + + /** INIT block */ + lp_var_t initErr = lp_var_t(sid.objectId, INIT_NEG_Y_ERR, this); + lp_var_t initRawMagX = lp_var_t(sid.objectId, INIT_NEG_Y_RAW_MAG_X, this); + lp_var_t initRawMagY = lp_var_t(sid.objectId, INIT_NEG_Y_RAW_MAG_Y, this); + lp_var_t initRawMagZ = lp_var_t(sid.objectId, INIT_NEG_Y_RAW_MAG_Z, this); + lp_var_t initCalMagX = lp_var_t(sid.objectId, INIT_NEG_Y_CAL_MAG_X, this); + lp_var_t initCalMagY = lp_var_t(sid.objectId, INIT_NEG_Y_CAL_MAG_Y, this); + lp_var_t initCalMagZ = lp_var_t(sid.objectId, INIT_NEG_Y_CAL_MAG_Z, this); + lp_var_t initCoilXCurrent = lp_var_t(sid.objectId, INIT_NEG_Y_COIL_X_CURRENT, + this); + lp_var_t initCoilYCurrent = lp_var_t(sid.objectId, INIT_NEG_Y_COIL_Y_CURRENT, + this); + lp_var_t initCoilZCurrent = lp_var_t(sid.objectId, INIT_NEG_Y_COIL_Z_CURRENT, + this); + lp_var_t initCoilXTemperature = lp_var_t(sid.objectId, + INIT_NEG_Y_COIL_X_TEMPERATURE, this); + lp_var_t initCoilYTemperature = lp_var_t(sid.objectId, + INIT_NEG_Y_COIL_Y_TEMPERATURE, this); + lp_var_t initCoilZTemperature = lp_var_t(sid.objectId, + INIT_NEG_Y_COIL_Z_TEMPERATURE, this); + + /** -Y block */ + lp_var_t err = lp_var_t(sid.objectId, NEG_Y_ERR, this); + lp_var_t rawMagX = lp_var_t(sid.objectId, NEG_Y_RAW_MAG_X, this); + lp_var_t rawMagY = lp_var_t(sid.objectId, NEG_Y_RAW_MAG_Y, this); + lp_var_t rawMagZ = lp_var_t(sid.objectId, NEG_Y_RAW_MAG_Z, this); + lp_var_t calMagX = lp_var_t(sid.objectId, NEG_Y_CAL_MAG_X, this); + lp_var_t calMagY = lp_var_t(sid.objectId, NEG_Y_CAL_MAG_Y, this); + lp_var_t calMagZ = lp_var_t(sid.objectId, NEG_Y_CAL_MAG_Z, this); + lp_var_t coilXCurrent = lp_var_t(sid.objectId, NEG_Y_COIL_X_CURRENT, + this); + lp_var_t coilYCurrent = lp_var_t(sid.objectId, NEG_Y_COIL_Y_CURRENT, + this); + lp_var_t coilZCurrent = lp_var_t(sid.objectId, NEG_Y_COIL_Z_CURRENT, + this); + lp_var_t coilXTemperature = lp_var_t(sid.objectId, + NEG_Y_COIL_X_TEMPERATURE, this); + lp_var_t coilYTemperature = lp_var_t(sid.objectId, + NEG_Y_COIL_Y_TEMPERATURE, this); + lp_var_t coilZTemperature = lp_var_t(sid.objectId, + NEG_Y_COIL_Z_TEMPERATURE, this); + + /** FINA block */ + lp_var_t finaErr = lp_var_t(sid.objectId, FINA_NEG_Y_ERR, this); + lp_var_t finaRawMagX = lp_var_t(sid.objectId, FINA_NEG_Y_RAW_MAG_X, this); + lp_var_t finaRawMagY = lp_var_t(sid.objectId, FINA_NEG_Y_RAW_MAG_Y, this); + lp_var_t finaRawMagZ = lp_var_t(sid.objectId, FINA_NEG_Y_RAW_MAG_Z, this); + lp_var_t finaCalMagX = lp_var_t(sid.objectId, FINA_NEG_Y_CAL_MAG_X, this); + lp_var_t finaCalMagY = lp_var_t(sid.objectId, FINA_NEG_Y_CAL_MAG_Y, this); + lp_var_t finaCalMagZ = lp_var_t(sid.objectId, FINA_NEG_Y_CAL_MAG_Z, this); + lp_var_t finaCoilXCurrent = lp_var_t(sid.objectId, FINA_NEG_Y_COIL_X_CURRENT, + this); + lp_var_t finaCoilYCurrent = lp_var_t(sid.objectId, FINA_NEG_Y_COIL_Y_CURRENT, + this); + lp_var_t finaCoilZCurrent = lp_var_t(sid.objectId, FINA_NEG_Y_COIL_Z_CURRENT, + this); + lp_var_t finaCoilXTemperature = lp_var_t(sid.objectId, + FINA_NEG_Y_COIL_X_TEMPERATURE, this); + lp_var_t finaCoilYTemperature = lp_var_t(sid.objectId, + FINA_NEG_Y_COIL_Y_TEMPERATURE, this); + lp_var_t finaCoilZTemperature = lp_var_t(sid.objectId, + FINA_NEG_Y_COIL_Z_TEMPERATURE, this); +}; + +/** + * @brief This dataset can be used to store the self test results of the +Z self test. + * + * @details Units of measurements: + * Raw magnetic field: [nT] + * Calibrated magnetic field: [nT] + * Coil currents: [mA] + * Temperature: [°C] + * The +Z self test generates a positive dipole in z direction and measures the magnetic + * field with the built-in MTM. The procedure of the test is as follows: + * 1. All coils off (INIT step) + * 2. +Z actuation + * 3. All coils off (FINA step) + */ +class PosZSelfTestSet: public StaticLocalDataSet { +public: + + PosZSelfTestSet(HasLocalDataPoolIF* owner) : + StaticLocalDataSet(owner, IMTQ::POS_Z_TEST_DATASET) { + } + + PosZSelfTestSet(object_id_t objectId) : + StaticLocalDataSet(sid_t(objectId, IMTQ::POS_Z_TEST_DATASET)) { + } + + /** INIT block */ + lp_var_t initErr = lp_var_t(sid.objectId, INIT_POS_Z_ERR, this); + lp_var_t initRawMagX = lp_var_t(sid.objectId, INIT_POS_Z_RAW_MAG_X, this); + lp_var_t initRawMagY = lp_var_t(sid.objectId, INIT_POS_Z_RAW_MAG_Y, this); + lp_var_t initRawMagZ = lp_var_t(sid.objectId, INIT_POS_Z_RAW_MAG_Z, this); + lp_var_t initCalMagX = lp_var_t(sid.objectId, INIT_POS_Z_CAL_MAG_X, this); + lp_var_t initCalMagY = lp_var_t(sid.objectId, INIT_POS_Z_CAL_MAG_Y, this); + lp_var_t initCalMagZ = lp_var_t(sid.objectId, INIT_POS_Z_CAL_MAG_Z, this); + lp_var_t initCoilXCurrent = lp_var_t(sid.objectId, INIT_POS_Z_COIL_X_CURRENT, + this); + lp_var_t initCoilYCurrent = lp_var_t(sid.objectId, INIT_POS_Z_COIL_Y_CURRENT, + this); + lp_var_t initCoilZCurrent = lp_var_t(sid.objectId, INIT_POS_Z_COIL_Z_CURRENT, + this); + lp_var_t initCoilXTemperature = lp_var_t(sid.objectId, + INIT_POS_Z_COIL_X_TEMPERATURE, this); + lp_var_t initCoilYTemperature = lp_var_t(sid.objectId, + INIT_POS_Z_COIL_Y_TEMPERATURE, this); + lp_var_t initCoilZTemperature = lp_var_t(sid.objectId, + INIT_POS_Z_COIL_Z_TEMPERATURE, this); + + /** +Z block */ + lp_var_t err = lp_var_t(sid.objectId, POS_Z_ERR, this); + lp_var_t rawMagX = lp_var_t(sid.objectId, POS_Z_RAW_MAG_X, this); + lp_var_t rawMagY = lp_var_t(sid.objectId, POS_Z_RAW_MAG_Y, this); + lp_var_t rawMagZ = lp_var_t(sid.objectId, POS_Z_RAW_MAG_Z, this); + lp_var_t calMagX = lp_var_t(sid.objectId, POS_Z_CAL_MAG_X, this); + lp_var_t calMagY = lp_var_t(sid.objectId, POS_Z_CAL_MAG_Y, this); + lp_var_t calMagZ = lp_var_t(sid.objectId, POS_Z_CAL_MAG_Z, this); + lp_var_t coilXCurrent = lp_var_t(sid.objectId, POS_Z_COIL_X_CURRENT, + this); + lp_var_t coilYCurrent = lp_var_t(sid.objectId, POS_Z_COIL_Y_CURRENT, + this); + lp_var_t coilZCurrent = lp_var_t(sid.objectId, POS_Z_COIL_Z_CURRENT, + this); + lp_var_t coilXTemperature = lp_var_t(sid.objectId, + POS_Z_COIL_X_TEMPERATURE, this); + lp_var_t coilYTemperature = lp_var_t(sid.objectId, + POS_Z_COIL_Y_TEMPERATURE, this); + lp_var_t coilZTemperature = lp_var_t(sid.objectId, + POS_Z_COIL_Z_TEMPERATURE, this); + + /** FINA block */ + lp_var_t finaErr = lp_var_t(sid.objectId, FINA_POS_Z_ERR, this); + lp_var_t finaRawMagX = lp_var_t(sid.objectId, FINA_POS_Z_RAW_MAG_X, this); + lp_var_t finaRawMagY = lp_var_t(sid.objectId, FINA_POS_Z_RAW_MAG_Y, this); + lp_var_t finaRawMagZ = lp_var_t(sid.objectId, FINA_POS_Z_RAW_MAG_Z, this); + lp_var_t finaCalMagX = lp_var_t(sid.objectId, FINA_POS_Z_CAL_MAG_X, this); + lp_var_t finaCalMagY = lp_var_t(sid.objectId, FINA_POS_Z_CAL_MAG_Y, this); + lp_var_t finaCalMagZ = lp_var_t(sid.objectId, FINA_POS_Z_CAL_MAG_Z, this); + lp_var_t finaCoilXCurrent = lp_var_t(sid.objectId, FINA_POS_Z_COIL_X_CURRENT, + this); + lp_var_t finaCoilYCurrent = lp_var_t(sid.objectId, FINA_POS_Z_COIL_Y_CURRENT, + this); + lp_var_t finaCoilZCurrent = lp_var_t(sid.objectId, FINA_POS_Z_COIL_Z_CURRENT, + this); + lp_var_t finaCoilXTemperature = lp_var_t(sid.objectId, + FINA_POS_Z_COIL_X_TEMPERATURE, this); + lp_var_t finaCoilYTemperature = lp_var_t(sid.objectId, + FINA_POS_Z_COIL_Y_TEMPERATURE, this); + lp_var_t finaCoilZTemperature = lp_var_t(sid.objectId, + FINA_POS_Z_COIL_Z_TEMPERATURE, this); +}; + +/** + * @brief This dataset can be used to store the self test results of the -Z self test. + * + * @details Units of measurements: + * Raw magnetic field: [nT] + * Calibrated magnetic field: [nT] + * Coil currents: [mA] + * Temperature: [°C] + * The -Z self test generates a negative dipole in z direction and measures the magnetic + * field with the built-in MTM. The procedure of the test is as follows: + * 1. All coils off (INIT step) + * 2. -Z actuation + * 3. All coils off (FINA step) + */ +class NegZSelfTestSet: public StaticLocalDataSet { +public: + + NegZSelfTestSet(HasLocalDataPoolIF* owner) : + StaticLocalDataSet(owner, IMTQ::NEG_Z_TEST_DATASET) { + } + + NegZSelfTestSet(object_id_t objectId) : + StaticLocalDataSet(sid_t(objectId, IMTQ::NEG_Z_TEST_DATASET)) { + } + + /** INIT block */ + lp_var_t initErr = lp_var_t(sid.objectId, INIT_NEG_Z_ERR, this); + lp_var_t initRawMagX = lp_var_t(sid.objectId, INIT_NEG_Z_RAW_MAG_X, this); + lp_var_t initRawMagY = lp_var_t(sid.objectId, INIT_NEG_Z_RAW_MAG_Y, this); + lp_var_t initRawMagZ = lp_var_t(sid.objectId, INIT_NEG_Z_RAW_MAG_Z, this); + lp_var_t initCalMagX = lp_var_t(sid.objectId, INIT_NEG_Z_CAL_MAG_X, this); + lp_var_t initCalMagY = lp_var_t(sid.objectId, INIT_NEG_Z_CAL_MAG_Y, this); + lp_var_t initCalMagZ = lp_var_t(sid.objectId, INIT_NEG_Z_CAL_MAG_Z, this); + lp_var_t initCoilXCurrent = lp_var_t(sid.objectId, INIT_NEG_Z_COIL_X_CURRENT, + this); + lp_var_t initCoilYCurrent = lp_var_t(sid.objectId, INIT_NEG_Z_COIL_Y_CURRENT, + this); + lp_var_t initCoilZCurrent = lp_var_t(sid.objectId, INIT_NEG_Z_COIL_Z_CURRENT, + this); + lp_var_t initCoilXTemperature = lp_var_t(sid.objectId, + INIT_NEG_Z_COIL_X_TEMPERATURE, this); + lp_var_t initCoilYTemperature = lp_var_t(sid.objectId, + INIT_NEG_Z_COIL_Y_TEMPERATURE, this); + lp_var_t initCoilZTemperature = lp_var_t(sid.objectId, + INIT_NEG_Z_COIL_Z_TEMPERATURE, this); + + /** +Z block */ + lp_var_t err = lp_var_t(sid.objectId, NEG_Z_ERR, this); + lp_var_t rawMagX = lp_var_t(sid.objectId, NEG_Z_RAW_MAG_X, this); + lp_var_t rawMagY = lp_var_t(sid.objectId, NEG_Z_RAW_MAG_Y, this); + lp_var_t rawMagZ = lp_var_t(sid.objectId, NEG_Z_RAW_MAG_Z, this); + lp_var_t calMagX = lp_var_t(sid.objectId, NEG_Z_CAL_MAG_X, this); + lp_var_t calMagY = lp_var_t(sid.objectId, NEG_Z_CAL_MAG_Y, this); + lp_var_t calMagZ = lp_var_t(sid.objectId, NEG_Z_CAL_MAG_Z, this); + lp_var_t coilXCurrent = lp_var_t(sid.objectId, NEG_Z_COIL_X_CURRENT, + this); + lp_var_t coilYCurrent = lp_var_t(sid.objectId, NEG_Z_COIL_Y_CURRENT, + this); + lp_var_t coilZCurrent = lp_var_t(sid.objectId, NEG_Z_COIL_Z_CURRENT, + this); + lp_var_t coilXTemperature = lp_var_t(sid.objectId, + NEG_Z_COIL_X_TEMPERATURE, this); + lp_var_t coilYTemperature = lp_var_t(sid.objectId, + NEG_Z_COIL_Y_TEMPERATURE, this); + lp_var_t coilZTemperature = lp_var_t(sid.objectId, + NEG_Z_COIL_Z_TEMPERATURE, this); + + /** FINA block */ + lp_var_t finaErr = lp_var_t(sid.objectId, FINA_NEG_Z_ERR, this); + lp_var_t finaRawMagX = lp_var_t(sid.objectId, FINA_NEG_Z_RAW_MAG_X, this); + lp_var_t finaRawMagY = lp_var_t(sid.objectId, FINA_NEG_Z_RAW_MAG_Y, this); + lp_var_t finaRawMagZ = lp_var_t(sid.objectId, FINA_NEG_Z_RAW_MAG_Z, this); + lp_var_t finaCalMagX = lp_var_t(sid.objectId, FINA_NEG_Z_CAL_MAG_X, this); + lp_var_t finaCalMagY = lp_var_t(sid.objectId, FINA_NEG_Z_CAL_MAG_Y, this); + lp_var_t finaCalMagZ = lp_var_t(sid.objectId, FINA_NEG_Z_CAL_MAG_Z, this); + lp_var_t finaCoilXCurrent = lp_var_t(sid.objectId, FINA_NEG_Z_COIL_X_CURRENT, + this); + lp_var_t finaCoilYCurrent = lp_var_t(sid.objectId, FINA_NEG_Z_COIL_Y_CURRENT, + this); + lp_var_t finaCoilZCurrent = lp_var_t(sid.objectId, FINA_NEG_Z_COIL_Z_CURRENT, + this); + lp_var_t finaCoilXTemperature = lp_var_t(sid.objectId, + FINA_NEG_Z_COIL_X_TEMPERATURE, this); + lp_var_t finaCoilYTemperature = lp_var_t(sid.objectId, + FINA_NEG_Z_COIL_Y_TEMPERATURE, this); + lp_var_t finaCoilZTemperature = lp_var_t(sid.objectId, + FINA_NEG_Z_COIL_Z_TEMPERATURE, this); +}; + } From 70fcf153b2d599820564687e963b35213329f452 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 15 Jun 2021 17:12:23 +0200 Subject: [PATCH 17/20] removed _dep, _bin, _obj --- _bin/linux/devel/eiveobsw-linux.elf | Bin 13471180 -> 0 bytes _dep/linux/devel/bsp_q7s/InitMission.d | 118 --- _dep/linux/devel/bsp_q7s/ObjectFactory.d | 988 ------------------ _dep/linux/devel/bsp_q7s/boardconfig/print.d | 4 - 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-- .../devicehandlers/DeviceTmReportingWrapper.d | 138 --- .../devel/fsfw/devicehandlers/HealthDevice.d | 265 ----- _dep/linux/devel/fsfw/events/EventManager.d | 239 ----- _dep/linux/devel/fsfw/events/EventMessage.d | 61 -- .../eventmatching/EventIdRangeMatcher.d | 99 -- .../events/eventmatching/EventMatchTree.d | 138 --- .../eventmatching/ReporterRangeMatcher.d | 99 -- .../eventmatching/SeverityRangeMatcher.d | 102 -- _dep/linux/devel/fsfw/fdir/EventCorrelation.d | 35 - .../devel/fsfw/fdir/FailureIsolationBase.d | 277 ----- _dep/linux/devel/fsfw/fdir/FaultCounter.d | 70 -- .../fsfw/globalfunctions/AsciiConverter.d | 16 - _dep/linux/devel/fsfw/globalfunctions/CRC.d | 4 - .../devel/fsfw/globalfunctions/DleEncoder.d | 16 - .../PeriodicOperationDivider.d | 5 - _dep/linux/devel/fsfw/globalfunctions/Type.d | 33 - .../devel/fsfw/globalfunctions/arrayprinter.d | 25 - .../math/QuaternionOperations.d | 8 - .../fsfw/globalfunctions/timevalOperations.d | 5 - 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