eive/eive-obsw
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heading towards completion for low level rw polling task
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This commit is contained in:
Robin Müller
2023-02-15 19:16:42 +01:00
parent 8b0eceb072
commit 8c001b6443
3 changed files with 205 additions and 117 deletions
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89
mission/devices/devicedefinitions/rwHelpers.h
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@ -19,7 +19,7 @@ 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 {
enum class SpecialRwRequest : uint8_t {
REQUEST_NONE = 0,
RESET_MCU = 1,
INIT_RW_CONTROLLER = 2,
@ -27,47 +27,6 @@ enum SpecialRwRequest : uint8_t {
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);
@ -299,4 +258,50 @@ class RwSpeedActuationSet : public StaticLocalDataSet<2> {
} // namespace rws
struct RwReplies {
friend class RwPollingTask;
public:
RwReplies(const uint8_t* rawData) : rawData(const_cast<uint8_t*>(rawData)) { initPointers(); }
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:
RwReplies(uint8_t* rwData) : rawData(rwData) { initPointers(); }
void initPointers() {
rwStatusReply = rawData;
setSpeedReply = rawData + rws::SIZE_GET_RW_STATUS;
getLastResetStatusReply = setSpeedReply + rws::SIZE_SET_SPEED_REPLY;
clearLastResetStatusReply = getLastResetStatusReply + rws::SIZE_GET_RESET_STATUS;
readTemperatureReply = clearLastResetStatusReply + rws::SIZE_CLEAR_RESET_STATUS;
hkDataReply = readTemperatureReply + rws::SIZE_GET_TEMPERATURE_REPLY;
initRwControllerReply = hkDataReply + rws::SIZE_GET_TELEMETRY_REPLY;
dummyPointer = initRwControllerReply + rws::SIZE_INIT_RW;
}
uint8_t* rawData;
uint8_t* rwStatusReply;
uint8_t* setSpeedReply;
uint8_t* getLastResetStatusReply;
uint8_t* clearLastResetStatusReply;
uint8_t* readTemperatureReply;
uint8_t* hkDataReply;
uint8_t* initRwControllerReply;
uint8_t* dummyPointer;
};
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_H_ */