eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 Wiki Activity

More buffer time
Some checks are pending
EIVE/eive-obsw/pipeline/head Build started...
Details
EIVE/eive-obsw/pipeline/pr-develop This commit looks good
Details

Browse Source
This commit is contained in:
Robin Müller
2023-03-06 09:17:03 +01:00
parent 1938addaa8
commit 6e10ccd2d6
6 changed files with 59 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files

47
mission/devices/devicedefinitions/imtqHelpers.h
View File

@ -10,18 +10,6 @@ class ImtqHandler;
namespace imtq {
enum ComStep : uint8_t {
DHB_OP = 0,
START_MEASURE_SEND = 1,
START_MEASURE_GET = 2,
READ_MEASURE_SEND = 3,
READ_MEASURE_GET = 4,
START_ACTUATE_SEND = 5,
START_ACTUATE_GET = 6,
READ_ACTUATE_SEND = 7,
READ_ACTUATE_GET = 8,
};
enum class RequestType : uint8_t { MEASURE_NO_ACTUATION, ACTUATE, DO_NOTHING };
enum class SpecialRequest : uint8_t {
@ -35,6 +23,26 @@ enum class SpecialRequest : uint8_t {
GET_SELF_TEST_RESULT = 7
};
struct Request {
imtq::RequestType request = imtq::RequestType::MEASURE_NO_ACTUATION;
imtq::SpecialRequest specialRequest = imtq::SpecialRequest::NONE;
uint8_t integrationTimeSel = 3;
int16_t dipoles[3]{};
uint16_t torqueDuration = 0;
};
enum ComStep : uint8_t {
DHB_OP = 0,
START_MEASURE_SEND = 1,
START_MEASURE_GET = 2,
READ_MEASURE_SEND = 3,
READ_MEASURE_GET = 4,
START_ACTUATE_SEND = 5,
START_ACTUATE_GET = 6,
READ_ACTUATE_SEND = 7,
READ_ACTUATE_GET = 8,
};
static const uint8_t INTERFACE_ID = CLASS_ID::IMTQ_HANDLER;
static constexpr ReturnValue_t INVALID_COMMAND_CODE = MAKE_RETURN_CODE(0);
@ -1124,25 +1132,21 @@ class NegZSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
} // namespace imtq
struct ImtqRequest {
imtq::RequestType request = imtq::RequestType::MEASURE_NO_ACTUATION;
imtq::SpecialRequest specialRequest = imtq::SpecialRequest::NONE;
int16_t dipoles[3]{};
uint16_t torqueDuration = 0;
};
struct ImtqRepliesDefault {
friend class ImtqPollingTask;
public:
static constexpr size_t BASE_LEN =
imtq::replySize::DEFAULT_MIN_LEN + 1 + imtq::replySize::SYSTEM_STATE + 1 +
1 + imtq::replySize::DEFAULT_MIN_LEN + 1 + imtq::replySize::SYSTEM_STATE + 1 +
+imtq::replySize::DEFAULT_MIN_LEN + 1 + imtq::replySize::RAW_MTM_MEASUREMENT + 1 +
imtq::replySize::ENG_HK_DATA_REPLY + 1 + imtq::replySize::CAL_MTM_MEASUREMENT + 1;
ImtqRepliesDefault(const uint8_t* rawData) : rawData(const_cast<uint8_t*>(rawData)) {
initPointers();
}
void setConfigured() { rawData[0] = true; }
bool devWasConfigured() const { return rawData[0]; }
uint8_t* getCalibMgmMeasurement() const { return calibMgmMeasurement + 1; }
bool wasCalibMgmMeasurementRead() const { return calibMgmMeasurement[0]; };
@ -1164,7 +1168,7 @@ struct ImtqRepliesDefault {
private:
void initPointers() {
swReset = rawData;
swReset = rawData + 1;
systemState = swReset + imtq::replySize::DEFAULT_MIN_LEN + 1;
startMtmMeasurement = systemState + imtq::replySize::SYSTEM_STATE + 1;
rawMgmMeasurement = startMtmMeasurement + imtq::replySize::DEFAULT_MIN_LEN + 1;
@ -1172,6 +1176,7 @@ struct ImtqRepliesDefault {
calibMgmMeasurement = engHk + imtq::replySize::ENG_HK_DATA_REPLY + 1;
specialRequestReply = calibMgmMeasurement + imtq::replySize::CAL_MTM_MEASUREMENT + 1;
}
uint8_t* rawData;
uint8_t* swReset;
uint8_t* systemState;