added get telemetry command
This commit is contained in:
parent
480f1a833e
commit
83fa6e7a4b
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@ -77,23 +77,23 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
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switch (deviceCommand) {
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case (RwDefinitions::RESET_MCU): {
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prepareResetMcuCommand();
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prepareSimpleCommand(deviceCommand);
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return RETURN_OK;
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}
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case (RwDefinitions::GET_LAST_RESET_STATUS): {
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prepareGetLastResetStatusCommand();
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prepareSimpleCommand(deviceCommand);
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return RETURN_OK;
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}
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case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
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prepareClearResetStatusCommand();
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prepareSimpleCommand(deviceCommand);
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return RETURN_OK;
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}
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case (RwDefinitions::GET_RW_STATUS): {
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prepareGetStatusCmd(commandData, commandDataLen);
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prepareSimpleCommand(deviceCommand);
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return RETURN_OK;
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}
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case (RwDefinitions::INIT_RW_CONTROLLER): {
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prepareInitRwCommand();
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prepareSimpleCommand(deviceCommand);
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return RETURN_OK;
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}
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case (RwDefinitions::SET_SPEED): {
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@ -110,11 +110,11 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
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return result;
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}
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case (RwDefinitions::GET_TEMPERATURE): {
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prepareGetTemperatureCmd();
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prepareSimpleCommand(deviceCommand);
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return RETURN_OK;
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}
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case (RwDefinitions::GET_TM): {
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prepareGetTelemetryCmd();
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prepareSimpleCommand(deviceCommand);
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return RETURN_OK;
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}
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default:
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@ -137,6 +137,8 @@ void RwHandler::fillCommandAndReplyMap() {
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RwDefinitions::SIZE_GET_TEMPERATURE_REPLY);
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this->insertInCommandAndReplyMap(RwDefinitions::SET_SPEED, 1, nullptr,
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RwDefinitions::SIZE_SET_SPEED_REPLY);
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this->insertInCommandAndReplyMap(RwDefinitions::GET_TM, 1, &tmDataset,
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RwDefinitions::SIZE_GET_TELEMETRY_REPLY);
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}
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ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize,
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@ -173,6 +175,12 @@ ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize
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*foundId = RwDefinitions::GET_TEMPERATURE;
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break;
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}
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case (static_cast<uint8_t>(RwDefinitions::GET_TM)): {
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// *foundLen = RwDefinitions::SIZE_GET_TELEMETRY_REPLY;
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*foundLen = 91;
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*foundId = RwDefinitions::GET_TM;
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break;
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}
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default: {
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sif::debug << "RwHandler::scanForReply: Reply contains invalid command code" << std::endl;
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return RETURN_FAILED;
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@ -220,6 +228,10 @@ ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_
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handleTemperatureReply(packet);
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break;
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}
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case (RwDefinitions::GET_TM): {
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handleGetTelemetryReply(packet);
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break;
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}
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default: {
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sif::debug << "RwHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
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return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
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@ -251,11 +263,11 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP
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localDataPoolMap.emplace(RwDefinitions::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::TM_MCU_TEMPERATURE, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::TM_RW_STATE, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::TM_CLC_MODE, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::TM_RW_CURR_SPEED, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::TM_RW_REF_SPEED, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::TM_RW_CURR_SPEED, new PoolEntry<int32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::TM_RW_REF_SPEED, new PoolEntry<int32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>( { 0 }));
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@ -276,33 +288,8 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP
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return RETURN_OK;
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}
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void RwHandler::prepareResetMcuCommand() {
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commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::RESET_MCU);
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rawPacket = commandBuffer;
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rawPacketLen = 1;
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}
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void RwHandler::prepareGetLastResetStatusCommand() {
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commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::GET_LAST_RESET_STATUS);
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uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
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commandBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
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commandBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
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rawPacket = commandBuffer;
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rawPacketLen = 3;
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}
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void RwHandler::prepareClearResetStatusCommand() {
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commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::CLEAR_LAST_RESET_STATUS);
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uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
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commandBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
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commandBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
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rawPacket = commandBuffer;
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rawPacketLen = 3;
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}
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void RwHandler::prepareGetStatusCmd(const uint8_t * commandData, size_t commandDataLen) {
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commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::GET_RW_STATUS);
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void RwHandler::prepareSimpleCommand(DeviceCommandId_t id) {
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commandBuffer[0] = static_cast<uint8_t>(id);
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uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
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commandBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
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commandBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
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@ -330,15 +317,6 @@ ReturnValue_t RwHandler::checkSpeedAndRampTime(const uint8_t* commandData, size_
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return RETURN_OK;
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}
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void RwHandler::prepareInitRwCommand() {
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commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::INIT_RW_CONTROLLER);
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uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
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commandBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
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commandBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
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rawPacket = commandBuffer;
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rawPacketLen = 3;
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}
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void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDataLen) {
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commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::SET_SPEED);
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@ -358,24 +336,6 @@ void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDa
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rawPacketLen = 9;
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}
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void RwHandler::prepareGetTemperatureCmd() {
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commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::GET_TEMPERATURE);
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uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
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commandBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
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commandBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
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rawPacket = commandBuffer;
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rawPacketLen = 3;
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}
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void RwHandler::prepareGetTelemetryCmd() {
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commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::GET_TM);
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uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
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commandBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
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commandBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
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rawPacket = commandBuffer;
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rawPacketLen = 3;
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}
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void RwHandler::handleResetStatusReply(const uint8_t* packet) {
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PoolReadGuard rg(&lastResetStatusSet);
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uint8_t offset = 2;
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@ -438,3 +398,117 @@ void RwHandler::handleTemperatureReply(const uint8_t* packet) {
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<< temperatureSet.temperatureCelcius << " °C" << std::endl;
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#endif
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}
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void RwHandler::handleGetTelemetryReply(const uint8_t* packet) {
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PoolReadGuard rg(&tmDataset);
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uint8_t offset = 2;
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tmDataset.lastResetStatus = *(packet + offset);
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offset += 1;
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tmDataset.mcuTemperature = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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offset += 8;
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tmDataset.rwState = *(packet + offset);
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offset += 1;
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tmDataset.rwClcMode = *(packet + offset);
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offset += 1;
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tmDataset.rwCurrSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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tmDataset.rwRefSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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tmDataset.numOfInvalidCrcPackets = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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tmDataset.numOfInvalidLenPackets = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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tmDataset.numOfInvalidCmdPackets = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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tmDataset.numOfCmdExecutedReplies = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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tmDataset.numOfCmdReplies = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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tmDataset.uartNumOfBytesWritten = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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tmDataset.uartNumOfBytesRead = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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tmDataset.uartNumOfParityErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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tmDataset.uartNumOfNoiseErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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tmDataset.uartNumOfFrameErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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tmDataset.uartNumOfRegisterOverrunErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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tmDataset.uartTotalNumOfErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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tmDataset.spiNumOfBytesWritten = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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tmDataset.spiNumOfBytesRead = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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tmDataset.spiNumOfRegisterOverrunErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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tmDataset.spiTotalNumOfErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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#if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1
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sif::info << "RwHandler::handleTemperatureReply: Last reset status: "
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<< static_cast<unsigned int>(tmDataset.lastResetStatus.value) << std::endl;
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sif::info << "RwHandler::handleTemperatureReply: MCU temperature: " << tmDataset.mcuTemperature
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<< std::endl;
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sif::info << "RwHandler::handleTemperatureReply: State: "
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<< static_cast<unsigned int>(tmDataset.rwState.value) << std::endl;
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sif::info << "RwHandler::handleTemperatureReply: CLC mode: "
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<< static_cast<unsigned int>(tmDataset.rwClcMode.value) << std::endl;
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sif::info << "RwHandler::handleTemperatureReply: Current speed: " << tmDataset.rwCurrSpeed
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<< std::endl;
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sif::info << "RwHandler::handleTemperatureReply: Reference speed: " << tmDataset.rwRefSpeed
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<< std::endl;
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sif::info << "RwHandler::handleTemperatureReply: Number of invalid CRC packets: "
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<< tmDataset.numOfInvalidCrcPackets << std::endl;
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sif::info << "RwHandler::handleTemperatureReply: Number of invalid length packets: "
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<< tmDataset.numOfInvalidLenPackets << std::endl;
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sif::info << "RwHandler::handleTemperatureReply: Number of invalid command packets: "
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<< tmDataset.numOfInvalidCmdPackets << std::endl;
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sif::info << "RwHandler::handleTemperatureReply: Number of command executed replies: "
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<< tmDataset.numOfCmdExecutedReplies << std::endl;
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sif::info << "RwHandler::handleTemperatureReply: Number of command replies: "
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<< tmDataset.numOfCmdReplies << std::endl;
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sif::info << "RwHandler::handleTemperatureReply: UART number of bytes written: "
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<< tmDataset.uartNumOfBytesWritten << std::endl;
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sif::info << "RwHandler::handleTemperatureReply: UART number of bytes read: "
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<< tmDataset.uartNumOfBytesRead << std::endl;
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sif::info << "RwHandler::handleTemperatureReply: UART number of parity errors: "
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<< tmDataset.uartNumOfParityErrors << std::endl;
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sif::info << "RwHandler::handleTemperatureReply: UART number of noise errors: "
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<< tmDataset.uartNumOfNoiseErrors << std::endl;
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sif::info << "RwHandler::handleTemperatureReply: UART number of frame errors: "
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<< tmDataset.uartNumOfFrameErrors << std::endl;
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sif::info << "RwHandler::handleTemperatureReply: UART number of register overrun errors: "
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<< tmDataset.uartNumOfRegisterOverrunErrors << std::endl;
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sif::info << "RwHandler::handleTemperatureReply: UART number of total errors: "
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<< tmDataset.uartTotalNumOfErrors << std::endl;
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sif::info << "RwHandler::handleTemperatureReply: SPI number of bytes written: "
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<< tmDataset.spiNumOfBytesWritten << std::endl;
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sif::info << "RwHandler::handleTemperatureReply: SPI number of bytes read: "
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<< tmDataset.spiNumOfBytesRead << std::endl;
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sif::info << "RwHandler::handleTemperatureReply: SPI number of register overrun errors: "
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<< tmDataset.spiNumOfRegisterOverrunErrors << std::endl;
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sif::info << "RwHandler::handleTemperatureReply: SPI number of register total errors: "
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<< tmDataset.spiTotalNumOfErrors << std::endl;
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#endif
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}
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@ -105,26 +105,11 @@ private:
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size_t sizeOfReply = 0;
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/**
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* @brief This function fills the command buffer with the data to reset the MCU on a reaction
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* wheel.
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* @brief This function can be used to build commands which do not contain any data apart
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* from the command id and the CRC.
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* @param commandId The command id of the command to build.
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*/
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void prepareResetMcuCommand();
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/**
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* @brief This function prepares the command to request the last reset status
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*/
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void prepareGetLastResetStatusCommand();
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/**
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* @brief Fills the command buffer with the command to clear the reset status.
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*/
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void prepareClearResetStatusCommand();
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/**
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* @brief This function prepares the send buffer with the data to request the status of
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* the reaction wheel.
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*/
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void prepareGetStatusCmd(const uint8_t * commandData, size_t commandDataLen);
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void prepareSimpleCommand(DeviceCommandId_t id);
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/**
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* @brief This function checks if the receiced speed and ramp time to set are in a valid
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@ -133,24 +118,12 @@ private:
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*/
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ReturnValue_t checkSpeedAndRampTime(const uint8_t * commandData, size_t commandDataLen);
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/**
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* @brief This function fills the commandBuffer with the data to request initialize the
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* reaction wheel controller. This command must be sent as soon as the state of a
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* reaction wheel is equal to 1 which indicates an error.
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*/
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void prepareInitRwCommand();
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/**
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* @brief This function prepares the set speed command from the commandData received with
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* an action message.
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*/
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void prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDataLen);
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/**
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* @brief This function fills the commandBuffer with the data to request the temperature.
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*/
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void prepareGetTemperatureCmd();
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/**
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* @brief This function writes the last reset status retrieved with the get last reset status
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* command into the reset status dataset.
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@ -170,6 +143,12 @@ private:
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* @brief This function fills the status set with the data from the get-status-reply.
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*/
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void handleGetRwStatusReply(const uint8_t* packet);
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/**
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* @brief This function fills the tmDataset with the reply data requested with get telemetry
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* command.
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*/
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void handleGetTelemetryReply(const uint8_t* packet);
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};
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#endif /* MISSION_DEVICES_RWHANDLER_H_ */
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@ -87,7 +87,11 @@ static const size_t SIZE_GET_TELEMETRY_REPLY = 83;
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/** Set speed command has maximum size */
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static const size_t MAX_CMD_SIZE = 9;
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static const size_t MAX_REPLY_SIZE = SIZE_GET_TELEMETRY_REPLY;
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/**
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* Max reply is reached when each byte is replaced by its substitude which should normally never
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* happen.
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*/
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||||
static const size_t MAX_REPLY_SIZE = 2 * SIZE_GET_TELEMETRY_REPLY;
|
||||
|
||||
static const uint8_t LAST_RESET_ENTRIES = 2;
|
||||
static const uint8_t TEMPERATURE_SET_ENTRIES = 1;
|
||||
|
|
@ -178,7 +182,7 @@ public:
|
|||
|
||||
lp_var_t<uint8_t> lastResetStatus = lp_var_t<uint8_t>(sid.objectId,
|
||||
PoolIds::TM_LAST_RESET_STATUS, this);
|
||||
lp_var_t<uint32_t> mcuTemperature = lp_var_t<uint32_t>(sid.objectId,
|
||||
lp_var_t<int32_t> mcuTemperature = lp_var_t<int32_t>(sid.objectId,
|
||||
PoolIds::TM_MCU_TEMPERATURE, this);
|
||||
lp_var_t<uint8_t> rwState = lp_var_t<uint8_t>(sid.objectId,
|
||||
PoolIds::TM_RW_STATE, this);
|
||||
|
|
@ -196,7 +200,7 @@ public:
|
|||
PoolIds::INVALID_CMD_PACKETS, this);
|
||||
lp_var_t<uint32_t> numOfCmdExecutedReplies = lp_var_t<uint32_t>(sid.objectId,
|
||||
PoolIds::EXECUTED_REPLIES, this);
|
||||
lp_var_t<uint32_t> numOfCmdeplies = lp_var_t<uint32_t>(sid.objectId,
|
||||
lp_var_t<uint32_t> numOfCmdReplies = lp_var_t<uint32_t>(sid.objectId,
|
||||
PoolIds::COMMAND_REPLIES, this);
|
||||
lp_var_t<uint32_t> uartNumOfBytesWritten = lp_var_t<uint32_t>(sid.objectId,
|
||||
PoolIds::UART_BYTES_WRITTEN, this);
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user