eive/eive-obsw
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continue rw refactoring
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This commit is contained in:
Robin Müller
2023-02-15 17:02:22 +01:00
parent 177b573cd4
commit 8b0eceb072
13 changed files with 739 additions and 212 deletions
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10
mission/controller/AcsController.h
View File

@ -5,6 +5,7 @@
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/parameters/ParameterHelper.h>
#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
#include "acs/ActuatorCmd.h"
#include "acs/Guidance.h"
@ -17,7 +18,6 @@
#include "eive/objects.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "mission/devices/devicedefinitions/RwDefinitions.h"
#include "mission/devices/devicedefinitions/SusDefinitions.h"
#include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"
#include "mission/trace.h"
@ -84,10 +84,10 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
/* ACS Actuation Datasets */
IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
RwDefinitions::RwSpeedActuationSet rw1SpeedSet = RwDefinitions::RwSpeedActuationSet(objects::RW1);
RwDefinitions::RwSpeedActuationSet rw2SpeedSet = RwDefinitions::RwSpeedActuationSet(objects::RW2);
RwDefinitions::RwSpeedActuationSet rw3SpeedSet = RwDefinitions::RwSpeedActuationSet(objects::RW3);
RwDefinitions::RwSpeedActuationSet rw4SpeedSet = RwDefinitions::RwSpeedActuationSet(objects::RW4);
rws::RwSpeedActuationSet rw1SpeedSet = rws::RwSpeedActuationSet(objects::RW1);
rws::RwSpeedActuationSet rw2SpeedSet = rws::RwSpeedActuationSet(objects::RW2);
rws::RwSpeedActuationSet rw3SpeedSet = rws::RwSpeedActuationSet(objects::RW3);
rws::RwSpeedActuationSet rw4SpeedSet = rws::RwSpeedActuationSet(objects::RW4);
/* ACS Datasets */
// MGMs
acsctrl::MgmDataRaw mgmDataRaw;

10
mission/controller/ThermalController.cpp
View File

@ -9,10 +9,10 @@
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
#include <mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h>
#include <mission/devices/devicedefinitions/GyroL3GD20Definitions.h>
#include <mission/devices/devicedefinitions/RwDefinitions.h>
#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
#include <mission/devices/devicedefinitions/imtqHandlerDefinitions.h>
#include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
#include <objects/systemObjectList.h>
ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater)
@ -689,7 +689,7 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, RwDefinitions::TEMPERATURE_C);
lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, rws::TEMPERATURE_C);
PoolReadGuard pg(&tempRw1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read reaction wheel 1 temperature" << std::endl;
@ -702,7 +702,7 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, RwDefinitions::TEMPERATURE_C);
lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, rws::TEMPERATURE_C);
PoolReadGuard pg(&tempRw2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read reaction wheel 2 temperature" << std::endl;
@ -715,7 +715,7 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, RwDefinitions::TEMPERATURE_C);
lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, rws::TEMPERATURE_C);
PoolReadGuard pg(&tempRw3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read reaction wheel 3 temperature" << std::endl;
@ -728,7 +728,7 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int32_t> tempRw4 = lp_var_t<int32_t>(objects::RW4, RwDefinitions::TEMPERATURE_C);
lp_var_t<int32_t> tempRw4 = lp_var_t<int32_t>(objects::RW4, rws::TEMPERATURE_C);
PoolReadGuard pg(&tempRw4, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read reaction wheel 4 temperature" << std::endl;

11
mission/controller/acs/SensorValues.h
View File

@ -1,13 +1,14 @@
#ifndef SENSORVALUES_H_
#define SENSORVALUES_H_
#include <mission/devices/devicedefinitions/rwHelpers.h>
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
#include "mission/devices/devicedefinitions/GPSDefinitions.h"
#include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
#include "mission/devices/devicedefinitions/RwDefinitions.h"
#include "mission/devices/devicedefinitions/SusDefinitions.h"
#include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"
@ -62,10 +63,10 @@ class SensorValues {
// bool mgt0valid;
RwDefinitions::StatusSet rw1Set = RwDefinitions::StatusSet(objects::RW1);
RwDefinitions::StatusSet rw2Set = RwDefinitions::StatusSet(objects::RW2);
RwDefinitions::StatusSet rw3Set = RwDefinitions::StatusSet(objects::RW3);
RwDefinitions::StatusSet rw4Set = RwDefinitions::StatusSet(objects::RW4);
rws::StatusSet rw1Set = rws::StatusSet(objects::RW1);
rws::StatusSet rw2Set = rws::StatusSet(objects::RW2);
rws::StatusSet rw3Set = rws::StatusSet(objects::RW3);
rws::StatusSet rw4Set = rws::StatusSet(objects::RW4);
};
} /* namespace ACS */

184
mission/devices/RwHandler.cpp
View File

@ -45,23 +45,23 @@ void RwHandler::doShutDown() {
ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
switch (internalState) {
case InternalState::SET_SPEED:
*id = RwDefinitions::SET_SPEED;
*id = rws::SET_SPEED;
internalState = InternalState::GET_RESET_STATUS;
break;
case InternalState::GET_RESET_STATUS:
*id = RwDefinitions::GET_LAST_RESET_STATUS;
*id = rws::GET_LAST_RESET_STATUS;
internalState = InternalState::READ_TEMPERATURE;
break;
case InternalState::READ_TEMPERATURE:
*id = RwDefinitions::GET_TEMPERATURE;
*id = rws::GET_TEMPERATURE;
internalState = InternalState::GET_RW_SATUS;
break;
case InternalState::GET_RW_SATUS:
*id = RwDefinitions::GET_RW_STATUS;
*id = rws::GET_RW_STATUS;
internalState = InternalState::CLEAR_RESET_STATUS;
break;
case InternalState::CLEAR_RESET_STATUS:
*id = RwDefinitions::CLEAR_LAST_RESET_STATUS;
*id = rws::CLEAR_LAST_RESET_STATUS;
/** After reset status is cleared, reset status will be polled again for verification */
internalState = InternalState::GET_RESET_STATUS;
break;
@ -82,27 +82,27 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
ReturnValue_t result = returnvalue::OK;
switch (deviceCommand) {
case (RwDefinitions::RESET_MCU): {
case (rws::RESET_MCU): {
prepareSimpleCommand(deviceCommand);
return returnvalue::OK;
}
case (RwDefinitions::GET_LAST_RESET_STATUS): {
case (rws::GET_LAST_RESET_STATUS): {
prepareSimpleCommand(deviceCommand);
return returnvalue::OK;
}
case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
case (rws::CLEAR_LAST_RESET_STATUS): {
prepareSimpleCommand(deviceCommand);
return returnvalue::OK;
}
case (RwDefinitions::GET_RW_STATUS): {
case (rws::GET_RW_STATUS): {
prepareSimpleCommand(deviceCommand);
return returnvalue::OK;
}
case (RwDefinitions::INIT_RW_CONTROLLER): {
case (rws::INIT_RW_CONTROLLER): {
prepareSimpleCommand(deviceCommand);
return returnvalue::OK;
}
case (RwDefinitions::SET_SPEED): {
case (rws::SET_SPEED): {
if (commandData != nullptr && commandDataLen != 6) {
sif::error << "RwHandler::buildCommandFromCommand: Received set speed command with"
<< " invalid length" << std::endl;
@ -136,11 +136,11 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
result = prepareSetSpeedCmd();
return result;
}
case (RwDefinitions::GET_TEMPERATURE): {
case (rws::GET_TEMPERATURE): {
prepareSimpleCommand(deviceCommand);
return returnvalue::OK;
}
case (RwDefinitions::GET_TM): {
case (rws::GET_TM): {
prepareSimpleCommand(deviceCommand);
return returnvalue::OK;
}
@ -151,60 +151,56 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
}
void RwHandler::fillCommandAndReplyMap() {
this->insertInCommandMap(RwDefinitions::RESET_MCU);
this->insertInCommandAndReplyMap(RwDefinitions::GET_LAST_RESET_STATUS, 1, &lastResetStatusSet,
RwDefinitions::SIZE_GET_RESET_STATUS);
this->insertInCommandAndReplyMap(RwDefinitions::CLEAR_LAST_RESET_STATUS, 1, nullptr,
RwDefinitions::SIZE_CLEAR_RESET_STATUS);
this->insertInCommandAndReplyMap(RwDefinitions::GET_RW_STATUS, 1, &statusSet,
RwDefinitions::SIZE_GET_RW_STATUS);
this->insertInCommandAndReplyMap(RwDefinitions::INIT_RW_CONTROLLER, 1, nullptr,
RwDefinitions::SIZE_INIT_RW);
this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, nullptr,
RwDefinitions::SIZE_GET_TEMPERATURE_REPLY);
this->insertInCommandAndReplyMap(RwDefinitions::SET_SPEED, 1, nullptr,
RwDefinitions::SIZE_SET_SPEED_REPLY);
this->insertInCommandAndReplyMap(RwDefinitions::GET_TM, 1, &tmDataset,
RwDefinitions::SIZE_GET_TELEMETRY_REPLY);
this->insertInCommandMap(rws::RESET_MCU);
this->insertInCommandAndReplyMap(rws::GET_LAST_RESET_STATUS, 1, &lastResetStatusSet,
rws::SIZE_GET_RESET_STATUS);
this->insertInCommandAndReplyMap(rws::CLEAR_LAST_RESET_STATUS, 1, nullptr,
rws::SIZE_CLEAR_RESET_STATUS);
this->insertInCommandAndReplyMap(rws::GET_RW_STATUS, 1, &statusSet, rws::SIZE_GET_RW_STATUS);
this->insertInCommandAndReplyMap(rws::INIT_RW_CONTROLLER, 1, nullptr, rws::SIZE_INIT_RW);
this->insertInCommandAndReplyMap(rws::GET_TEMPERATURE, 1, nullptr,
rws::SIZE_GET_TEMPERATURE_REPLY);
this->insertInCommandAndReplyMap(rws::SET_SPEED, 1, nullptr, rws::SIZE_SET_SPEED_REPLY);
this->insertInCommandAndReplyMap(rws::GET_TM, 1, &tmDataset, rws::SIZE_GET_TELEMETRY_REPLY);
}
ReturnValue_t RwHandler::scanForReply(const uint8_t* start, size_t remainingSize,
DeviceCommandId_t* foundId, size_t* foundLen) {
uint8_t replyByte = *start;
switch (replyByte) {
case (RwDefinitions::GET_LAST_RESET_STATUS): {
*foundLen = RwDefinitions::SIZE_GET_RESET_STATUS;
*foundId = RwDefinitions::GET_LAST_RESET_STATUS;
case (rws::GET_LAST_RESET_STATUS): {
*foundLen = rws::SIZE_GET_RESET_STATUS;
*foundId = rws::GET_LAST_RESET_STATUS;
break;
}
case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
*foundLen = RwDefinitions::SIZE_CLEAR_RESET_STATUS;
*foundId = RwDefinitions::CLEAR_LAST_RESET_STATUS;
case (rws::CLEAR_LAST_RESET_STATUS): {
*foundLen = rws::SIZE_CLEAR_RESET_STATUS;
*foundId = rws::CLEAR_LAST_RESET_STATUS;
break;
}
case (RwDefinitions::GET_RW_STATUS): {
*foundLen = RwDefinitions::SIZE_GET_RW_STATUS;
*foundId = RwDefinitions::GET_RW_STATUS;
case (rws::GET_RW_STATUS): {
*foundLen = rws::SIZE_GET_RW_STATUS;
*foundId = rws::GET_RW_STATUS;
break;
}
case (RwDefinitions::INIT_RW_CONTROLLER): {
*foundLen = RwDefinitions::SIZE_INIT_RW;
*foundId = RwDefinitions::INIT_RW_CONTROLLER;
case (rws::INIT_RW_CONTROLLER): {
*foundLen = rws::SIZE_INIT_RW;
*foundId = rws::INIT_RW_CONTROLLER;
break;
}
case (RwDefinitions::SET_SPEED): {
*foundLen = RwDefinitions::SIZE_SET_SPEED_REPLY;
*foundId = RwDefinitions::SET_SPEED;
case (rws::SET_SPEED): {
*foundLen = rws::SIZE_SET_SPEED_REPLY;
*foundId = rws::SET_SPEED;
break;
}
case (RwDefinitions::GET_TEMPERATURE): {
*foundLen = RwDefinitions::SIZE_GET_TEMPERATURE_REPLY;
*foundId = RwDefinitions::GET_TEMPERATURE;
case (rws::GET_TEMPERATURE): {
*foundLen = rws::SIZE_GET_TEMPERATURE_REPLY;
*foundId = rws::GET_TEMPERATURE;
break;
}
case (RwDefinitions::GET_TM): {
*foundLen = RwDefinitions::SIZE_GET_TELEMETRY_REPLY;
*foundId = RwDefinitions::GET_TM;
case (rws::GET_TM): {
*foundLen = rws::SIZE_GET_TELEMETRY_REPLY;
*foundId = rws::GET_TM;
break;
}
default: {
@ -221,7 +217,7 @@ ReturnValue_t RwHandler::scanForReply(const uint8_t* start, size_t remainingSize
ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
/** Check result code */
if (*(packet + 1) == RwDefinitions::STATE_ERROR) {
if (*(packet + 1) == rws::STATE_ERROR) {
sif::error << "RwHandler::interpretDeviceReply: Command execution failed. Command id: " << id
<< std::endl;
return EXECUTION_FAILED;
@ -236,24 +232,24 @@ ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_
}
switch (id) {
case (RwDefinitions::GET_LAST_RESET_STATUS): {
case (rws::GET_LAST_RESET_STATUS): {
handleResetStatusReply(packet);
break;
}
case (RwDefinitions::GET_RW_STATUS): {
case (rws::GET_RW_STATUS): {
handleGetRwStatusReply(packet);
break;
}
case (RwDefinitions::CLEAR_LAST_RESET_STATUS):
case (RwDefinitions::INIT_RW_CONTROLLER):
case (RwDefinitions::SET_SPEED):
case (rws::CLEAR_LAST_RESET_STATUS):
case (rws::INIT_RW_CONTROLLER):
case (rws::SET_SPEED):
// no reply data expected
break;
case (RwDefinitions::GET_TEMPERATURE): {
case (rws::GET_TEMPERATURE): {
handleTemperatureReply(packet);
break;
}
case (RwDefinitions::GET_TM): {
case (rws::GET_TM): {
handleGetTelemetryReply(packet);
break;
}
@ -270,43 +266,43 @@ uint32_t RwHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { retur
ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(RwDefinitions::RW_SPEED, &rwSpeed);
localDataPoolMap.emplace(RwDefinitions::RAMP_TIME, &rampTime);
localDataPoolMap.emplace(rws::RW_SPEED, &rwSpeed);
localDataPoolMap.emplace(rws::RAMP_TIME, &rampTime);
localDataPoolMap.emplace(RwDefinitions::TEMPERATURE_C, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(rws::TEMPERATURE_C, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::CURR_SPEED, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::REFERENCE_SPEED, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(RwDefinitions::CLC_MODE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(rws::CURR_SPEED, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(rws::REFERENCE_SPEED, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(rws::STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(rws::CLC_MODE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(RwDefinitions::LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(RwDefinitions::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(rws::LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(rws::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(RwDefinitions::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(RwDefinitions::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::PRESSURE_SENSOR_TEMPERATURE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(RwDefinitions::PRESSURE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(RwDefinitions::TM_RW_STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(RwDefinitions::TM_CLC_MODE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(RwDefinitions::TM_RW_CURR_SPEED, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::TM_RW_REF_SPEED, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::EXECUTED_REPLIES, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::COMMAND_REPLIES, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::UART_BYTES_READ, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::UART_PARITY_ERRORS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::UART_NOISE_ERRORS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::UART_FRAME_ERRORS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(RwDefinitions::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(rws::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(rws::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(rws::PRESSURE_SENSOR_TEMPERATURE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(rws::PRESSURE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(rws::TM_RW_STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(rws::TM_CLC_MODE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(rws::TM_RW_CURR_SPEED, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(rws::TM_RW_REF_SPEED, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(rws::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(rws::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(rws::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(rws::EXECUTED_REPLIES, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(rws::COMMAND_REPLIES, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(rws::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(rws::UART_BYTES_READ, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(rws::UART_PARITY_ERRORS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(rws::UART_NOISE_ERRORS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(rws::UART_FRAME_ERRORS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(rws::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(rws::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(rws::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(rws::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(rws::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(rws::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 5.0));
poolManager.subscribeForRegularPeriodicPacket(
@ -343,7 +339,7 @@ ReturnValue_t RwHandler::checkSpeedAndRampTime() {
}
ReturnValue_t RwHandler::prepareSetSpeedCmd() {
commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::SET_SPEED);
commandBuffer[0] = static_cast<uint8_t>(rws::SET_SPEED);
uint8_t* serPtr = commandBuffer + 1;
size_t serSize = 1;
rwSpeedActuationSet.setValidityBufferGeneration(false);
@ -369,7 +365,7 @@ void RwHandler::handleResetStatusReply(const uint8_t* packet) {
if (resetStatus != 0) {
internalState = InternalState::CLEAR_RESET_STATUS;
lastResetStatusSet.lastNonClearedResetStatus = resetStatus;
triggerEvent(RwDefinitions::RESET_OCCURED, resetStatus, 0);
triggerEvent(rws::RESET_OCCURED, resetStatus, 0);
}
lastResetStatusSet.currentResetStatus = resetStatus;
if (debugMode) {
@ -408,10 +404,10 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
statusSet.setValidity(true, true);
if (statusSet.state == RwDefinitions::STATE_ERROR) {
if (statusSet.state == rws::STATE_ERROR) {
// This requires the commanding of the init reaction wheel controller command to recover
// from error state which must be handled by the FDIR instance.
triggerEvent(RwDefinitions::ERROR_STATE, statusSet.state.value, 0);
triggerEvent(rws::ERROR_STATE, statusSet.state.value, 0);
sif::error << "RwHandler::handleGetRwStatusReply: Reaction wheel in error state" << std::endl;
}

30
mission/devices/RwHandler.h
View File

@ -3,7 +3,7 @@
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <mission/devices/devicedefinitions/RwDefinitions.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
#include <string.h>
#include "events/subsystemIdRanges.h"
@ -42,24 +42,6 @@ class RwHandler : public DeviceHandlerBase {
virtual ~RwHandler();
static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;
static const ReturnValue_t SPI_WRITE_FAILURE = MAKE_RETURN_CODE(0xB0);
//! [EXPORT] : [COMMENT] Used by the spi send function to tell a failing read call
static const ReturnValue_t SPI_READ_FAILURE = MAKE_RETURN_CODE(0xB1);
//! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about a missing
//! start sign 0x7E
static const ReturnValue_t MISSING_START_SIGN = MAKE_RETURN_CODE(0xB2);
//! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about an invalid
//! substitution combination
static const ReturnValue_t INVALID_SUBSTITUTE = MAKE_RETURN_CODE(0xB3);
//! [EXPORT] : [COMMENT] HDLC decoding mechanism never receives the end sign 0x7E
static const ReturnValue_t MISSING_END_SIGN = MAKE_RETURN_CODE(0xB4);
//! [EXPORT] : [COMMENT] Reaction wheel only responds with empty frames.
static const ReturnValue_t NO_REPLY = MAKE_RETURN_CODE(0xB5);
//! [EXPORT] : [COMMENT] Expected a start marker as first byte
static const ReturnValue_t NO_START_MARKER = MAKE_RETURN_CODE(0xB6);
protected:
void doStartUp() override;
void doShutDown() override;
@ -92,12 +74,12 @@ class RwHandler : public DeviceHandlerBase {
gpioId_t enableGpio = gpio::NO_GPIO;
bool debugMode = false;
RwDefinitions::StatusSet statusSet;
RwDefinitions::LastResetSatus lastResetStatusSet;
RwDefinitions::TmDataset tmDataset;
RwDefinitions::RwSpeedActuationSet rwSpeedActuationSet;
rws::StatusSet statusSet;
rws::LastResetSatus lastResetStatusSet;
rws::TmDataset tmDataset;
rws::RwSpeedActuationSet rwSpeedActuationSet;
uint8_t commandBuffer[RwDefinitions::MAX_CMD_SIZE];
uint8_t commandBuffer[rws::MAX_CMD_SIZE];
uint8_t rwIdx;
PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>({0});

6
mission/devices/devicedefinitions/rwHelpers.cpp Normal file
View File

@ -0,0 +1,6 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_CPP_
#define MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_CPP_
#include "rwHelpers.h"
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_CPP_ */

123
mission/devices/devicedefinitions/RwDefinitions.h → mission/devices/devicedefinitions/rwHelpers.h
View File

@ -1,5 +1,5 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_H_
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
@ -8,7 +8,83 @@
#include "events/subsystemIdRanges.h"
#include "objects/systemObjectList.h"
namespace RwDefinitions {
namespace rws {
static const size_t SIZE_GET_RESET_STATUS = 5;
static const size_t SIZE_CLEAR_RESET_STATUS = 4;
static const size_t SIZE_INIT_RW = 4;
static const size_t SIZE_GET_RW_STATUS = 14;
static const size_t SIZE_SET_SPEED_REPLY = 4;
static const size_t SIZE_GET_TEMPERATURE_REPLY = 8;
/** Max size when requesting telemetry */
static const size_t SIZE_GET_TELEMETRY_REPLY = 91;
enum SpecialRwRequest : uint8_t {
REQUEST_NONE = 0,
RESET_MCU = 1,
INIT_RW_CONTROLLER = 2,
GET_TM = 3,
NUM_REQUESTS
};
struct RwReplies {
friend class RwPollingTask;
public:
RwReplies(const uint8_t* rawData) : rawData(rawData) {
rwStatusReply = rawData;
setSpeedReply = rawData + SIZE_GET_RW_STATUS;
getLastResetStatusReply = setSpeedReply + SIZE_SET_SPEED_REPLY;
clearLastResetStatusReply = getLastResetStatusReply + SIZE_GET_RESET_STATUS;
readTemperatureReply = clearLastResetStatusReply + SIZE_CLEAR_RESET_STATUS;
hkDataReply = readTemperatureReply + SIZE_GET_TEMPERATURE_REPLY;
initRwControllerReply = hkDataReply + SIZE_GET_TELEMETRY_REPLY;
}
const uint8_t* getClearLastResetStatusReply() const { return clearLastResetStatusReply; }
const uint8_t* getGetLastResetStatusReply() const { return getLastResetStatusReply; }
const uint8_t* getHkDataReply() const { return hkDataReply; }
const uint8_t* getInitRwControllerReply() const { return initRwControllerReply; }
const uint8_t* getRawData() const { return rawData; }
const uint8_t* getReadTemperatureReply() const { return readTemperatureReply; }
const uint8_t* getRwStatusReply() const { return rwStatusReply; }
const uint8_t* getSetSpeedReply() const { return setSpeedReply; }
private:
const uint8_t* rawData;
const uint8_t* rwStatusReply;
const uint8_t* setSpeedReply;
const uint8_t* getLastResetStatusReply;
const uint8_t* clearLastResetStatusReply;
const uint8_t* readTemperatureReply;
const uint8_t* hkDataReply;
const uint8_t* initRwControllerReply;
};
static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;
static const ReturnValue_t SPI_WRITE_FAILURE = MAKE_RETURN_CODE(0xB0);
//! [EXPORT] : [COMMENT] Used by the spi send function to tell a failing read call
static const ReturnValue_t SPI_READ_FAILURE = MAKE_RETURN_CODE(0xB1);
//! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about a missing
//! start sign 0x7E
static const ReturnValue_t MISSING_START_SIGN = MAKE_RETURN_CODE(0xB2);
//! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about an invalid
//! substitution combination
static const ReturnValue_t INVALID_SUBSTITUTE = MAKE_RETURN_CODE(0xB3);
//! [EXPORT] : [COMMENT] HDLC decoding mechanism never receives the end sign 0x7E
static const ReturnValue_t MISSING_END_SIGN = MAKE_RETURN_CODE(0xB4);
//! [EXPORT] : [COMMENT] Reaction wheel only responds with empty frames.
static const ReturnValue_t NO_REPLY = MAKE_RETURN_CODE(0xB5);
//! [EXPORT] : [COMMENT] Expected a start marker as first byte
static const ReturnValue_t NO_START_MARKER = MAKE_RETURN_CODE(0xB6);
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::RW_HANDLER;
@ -17,7 +93,8 @@ static constexpr Event ERROR_STATE = MAKE_EVENT(1, severity::HIGH);
static constexpr Event RESET_OCCURED = event::makeEvent(SUBSYSTEM_ID, 2, severity::LOW);
static const uint32_t SPI_REPLY_DELAY = 70000; // us
//! Minimal delay as specified by the datasheet.
static const uint32_t SPI_REPLY_DELAY = 20000; // us
enum PoolIds : lp_id_t {
TEMPERATURE_C,
@ -86,15 +163,6 @@ enum SetIds : uint32_t {
SPEED_CMD_SET = 10,
};
static const size_t SIZE_GET_RESET_STATUS = 5;
static const size_t SIZE_CLEAR_RESET_STATUS = 4;
static const size_t SIZE_INIT_RW = 4;
static const size_t SIZE_GET_RW_STATUS = 14;
static const size_t SIZE_SET_SPEED_REPLY = 4;
static const size_t SIZE_GET_TEMPERATURE_REPLY = 8;
/** Max size when requesting telemetry */
static const size_t SIZE_GET_TELEMETRY_REPLY = 91;
/** Set speed command has maximum size */
static const size_t MAX_CMD_SIZE = 9;
/**
@ -112,11 +180,10 @@ static const uint8_t TM_SET_ENTRIES = 24;
*/
class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {
public:
StatusSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, RwDefinitions::SetIds::STATUS_SET_ID) {}
StatusSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, rws::SetIds::STATUS_SET_ID) {}
StatusSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::STATUS_SET_ID)) {}
: StaticLocalDataSet(sid_t(objectId, rws::SetIds::STATUS_SET_ID)) {}
lp_var_t<int32_t> temperatureCelcius =
lp_var_t<int32_t>(sid.objectId, PoolIds::TEMPERATURE_C, this);
@ -133,10 +200,10 @@ class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {
class LastResetSatus : public StaticLocalDataSet<LAST_RESET_ENTRIES> {
public:
LastResetSatus(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, RwDefinitions::SetIds::LAST_RESET_ID) {}
: StaticLocalDataSet(owner, rws::SetIds::LAST_RESET_ID) {}
LastResetSatus(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::LAST_RESET_ID)) {}
: StaticLocalDataSet(sid_t(objectId, rws::SetIds::LAST_RESET_ID)) {}
// If a reset occurs, the status code will be cached into this variable
lp_var_t<uint8_t> lastNonClearedResetStatus =
@ -153,11 +220,9 @@ class LastResetSatus : public StaticLocalDataSet<LAST_RESET_ENTRIES> {
*/
class TmDataset : public StaticLocalDataSet<TM_SET_ENTRIES> {
public:
TmDataset(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, RwDefinitions::SetIds::TM_SET_ID) {}
TmDataset(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, rws::SetIds::TM_SET_ID) {}
TmDataset(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::TM_SET_ID)) {}
TmDataset(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, rws::SetIds::TM_SET_ID)) {}
lp_var_t<uint8_t> lastResetStatus =
lp_var_t<uint8_t>(sid.objectId, PoolIds::TM_LAST_RESET_STATUS, this);
@ -209,9 +274,9 @@ class RwSpeedActuationSet : public StaticLocalDataSet<2> {
public:
RwSpeedActuationSet(HasLocalDataPoolIF& owner)
: StaticLocalDataSet(&owner, RwDefinitions::SetIds::SPEED_CMD_SET) {}
: StaticLocalDataSet(&owner, rws::SetIds::SPEED_CMD_SET) {}
RwSpeedActuationSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::SPEED_CMD_SET)) {}
: StaticLocalDataSet(sid_t(objectId, rws::SetIds::SPEED_CMD_SET)) {}
void setRwSpeed(int32_t rwSpeed_, uint16_t rampTime_) {
if (rwSpeed.value != rwSpeed_) {
@ -228,12 +293,10 @@ class RwSpeedActuationSet : public StaticLocalDataSet<2> {
}
private:
lp_var_t<int32_t> rwSpeed =
lp_var_t<int32_t>(sid.objectId, RwDefinitions::PoolIds::RW_SPEED, this);
lp_var_t<uint16_t> rampTime =
lp_var_t<uint16_t>(sid.objectId, RwDefinitions::PoolIds::RAMP_TIME, this);
lp_var_t<int32_t> rwSpeed = lp_var_t<int32_t>(sid.objectId, rws::PoolIds::RW_SPEED, this);
lp_var_t<uint16_t> rampTime = lp_var_t<uint16_t>(sid.objectId, rws::PoolIds::RAMP_TIME, this);
};
} // namespace RwDefinitions
} // namespace rws
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_ */
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_H_ */