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imtq update
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This commit is contained in:
Robin Müller 2022-10-19 15:36:57 +02:00
parent 83362f7a00
commit a0356a5092
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GPG Key ID: 11D4952C8CCEF814
7 changed files with 86 additions and 41 deletions
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3
mission/controller/AcsController.h
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@ -44,6 +44,7 @@ class AcsController : public ExtendedControllerBase {
RM3100::Rm3100PrimaryDataset mgm3Rm3100Set =
RM3100::Rm3100PrimaryDataset(objects::MGM_3_RM3100_HANDLER);
IMTQ::RawMtmMeasurementSet imtqMgmSet = IMTQ::RawMtmMeasurementSet(objects::IMTQ_HANDLER);
IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
PoolEntry<float> mgm0PoolVec = PoolEntry<float>(3);
PoolEntry<float> mgm1PoolVec = PoolEntry<float>(3);
@ -70,6 +71,8 @@ class AcsController : public ExtendedControllerBase {
SUS::SusDataset(objects::SUS_11_R_LOC_XBYMZB_PT_ZB),
};
// Initial delay to make sure all pool variables have been initialized their owners
Countdown initialCountdown = Countdown(INIT_DELAY);
};

1
mission/devices/IMTQHandler.cpp
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@ -13,6 +13,7 @@ IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF* comC
engHkDataset(this),
calMtmMeasurementSet(this),
rawMtmMeasurementSet(this),
dipoleSet(*this),
posXselfTestDataset(this),
negXselfTestDataset(this),
posYselfTestDataset(this),

1
mission/devices/IMTQHandler.h
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@ -95,6 +95,7 @@ class IMTQHandler : public DeviceHandlerBase {
IMTQ::EngHkDataset engHkDataset;
IMTQ::CalibratedMtmMeasurementSet calMtmMeasurementSet;
IMTQ::RawMtmMeasurementSet rawMtmMeasurementSet;
IMTQ::DipoleActuationSet dipoleSet;
IMTQ::PosXSelfTestSet posXselfTestDataset;
IMTQ::NegXSelfTestSet negXselfTestDataset;
IMTQ::PosYSelfTestSet posYselfTestDataset;

11
mission/devices/PCDUHandler.cpp
View File

@ -52,8 +52,8 @@ ReturnValue_t PCDUHandler::initialize() {
return returnvalue::FAILED;
}
result = pdu2Handler->getSubscriptionInterface()->subscribeForSetUpdateMessage(
static_cast<uint32_t>(P60System::SetIds::CORE), this->getObjectId(),
commandQueue->getId(), true);
static_cast<uint32_t>(P60System::SetIds::CORE), this->getObjectId(), commandQueue->getId(),
true);
if (result != returnvalue::OK) {
sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from "
<< "PDU2Handler" << std::endl;
@ -68,8 +68,8 @@ ReturnValue_t PCDUHandler::initialize() {
return returnvalue::FAILED;
}
result = pdu1Handler->getSubscriptionInterface()->subscribeForSetUpdateMessage(
static_cast<uint32_t>(P60System::SetIds::CORE), this->getObjectId(),
commandQueue->getId(), true);
static_cast<uint32_t>(P60System::SetIds::CORE), this->getObjectId(), commandQueue->getId(),
true);
if (result != returnvalue::OK) {
sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from "
<< "PDU1Handler" << std::endl;
@ -113,8 +113,7 @@ void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool*
if (sid == sid_t(objects::PDU2_HANDLER, static_cast<uint32_t>(P60System::SetIds::CORE))) {
updateHkTableDataset(storeId, &pdu2CoreHk, &timeStampPdu2HkDataset);
updatePdu2SwitchStates();
} else if (sid ==
sid_t(objects::PDU1_HANDLER, static_cast<uint32_t>(P60System::SetIds::CORE))) {
} else if (sid == sid_t(objects::PDU1_HANDLER, static_cast<uint32_t>(P60System::SetIds::CORE))) {
updateHkTableDataset(storeId, &pdu1CoreHk, &timeStampPdu1HkDataset);
updatePdu1SwitchStates();
} else {

6
mission/devices/devicedefinitions/GomspaceDefinitions.h
View File

@ -102,11 +102,7 @@ namespace P60System {
enum class BatteryModes : uint8_t { CRITICAL = 1, SAFE = 2, NORMAL = 3, FULL = 4 };
enum class SetIds : uint32_t {
CORE = 1,
AUX = 2,
CONFIG = 3
};
enum class SetIds : uint32_t { CORE = 1, AUX = 2, CONFIG = 3 };
} // namespace P60System

103
mission/devices/devicedefinitions/IMTQHandlerDefinitions.h
View File

@ -1,6 +1,7 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
namespace IMTQ {
@ -27,15 +28,18 @@ 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 = 1;
static const uint32_t CAL_MTM_SET = 2;
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;
enum SetIds : uint32_t {
ENG_HK = 1,
CAL_MGM = 2,
RAW_MGM = 3,
POS_X_TEST = 4,
NEG_X_TEST = 5,
POS_Y_TEST = 6,
NEG_Y_TEST = 7,
POS_Z_TEST = 8,
NEG_Z_TEST = 9,
DIPOLES = 10
};
static const uint8_t SIZE_ENG_HK_COMMAND = 1;
static const uint8_t SIZE_STATUS_REPLY = 2;
@ -103,7 +107,7 @@ static const uint8_t Z_NEGATIVE = 0x6;
static const uint8_t FINA = 0x7;
} // namespace SELF_TEST_STEPS
enum IMTQPoolIds : lp_id_t {
enum PoolIds : lp_id_t {
DIGITAL_VOLTAGE_MV,
ANALOG_VOLTAGE_MV,
DIGITAL_CURRENT,
@ -119,6 +123,10 @@ enum IMTQPoolIds : lp_id_t {
ACTUATION_CAL_STATUS,
MTM_RAW,
ACTUATION_RAW_STATUS,
DIPOLES_X,
DIPOLES_Y,
DIPOLES_Z,
CURRENT_TORQUE_DURATION,
INIT_POS_X_ERR,
INIT_POS_X_RAW_MAG_X,
@ -375,9 +383,9 @@ enum IMTQPoolIds : lp_id_t {
class EngHkDataset : public StaticLocalDataSet<ENG_HK_SET_POOL_ENTRIES> {
public:
EngHkDataset(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, ENG_HK_DATA_SET_ID) {}
EngHkDataset(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, IMTQ::SetIds::ENG_HK) {}
EngHkDataset(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, ENG_HK_DATA_SET_ID)) {}
EngHkDataset(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::ENG_HK)) {}
lp_var_t<uint16_t> digitalVoltageMv = lp_var_t<uint16_t>(sid.objectId, DIGITAL_VOLTAGE_MV, this);
lp_var_t<uint16_t> analogVoltageMv = lp_var_t<uint16_t>(sid.objectId, ANALOG_VOLTAGE_MV, this);
@ -398,13 +406,14 @@ class EngHkDataset : public StaticLocalDataSet<ENG_HK_SET_POOL_ENTRIES> {
*/
class CalibratedMtmMeasurementSet : public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
public:
CalibratedMtmMeasurementSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CAL_MTM_SET) {}
CalibratedMtmMeasurementSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, IMTQ::SetIds::CAL_MGM) {}
CalibratedMtmMeasurementSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, CAL_MTM_SET)) {}
: StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::CAL_MGM)) {}
/** The unit of all measurements is nT */
lp_vec_t<int32_t, 3> mgmXyz = lp_vec_t<int32_t, 3>(sid.objectId, MGM_CAL_NT);
lp_vec_t<int32_t, 3> mgmXyz = lp_vec_t<int32_t, 3>(sid.objectId, MGM_CAL_NT, this);
/** 1 if coils were actuating during measurement otherwise 0 */
lp_var_t<uint8_t> coilActuationStatus =
lp_var_t<uint8_t>(sid.objectId, ACTUATION_CAL_STATUS, this);
@ -415,9 +424,11 @@ class CalibratedMtmMeasurementSet : public StaticLocalDataSet<CAL_MTM_POOL_ENTRI
*/
class RawMtmMeasurementSet : public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
public:
RawMtmMeasurementSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, RAW_MTM_SET) {}
RawMtmMeasurementSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, IMTQ::SetIds::RAW_MGM) {}
RawMtmMeasurementSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, RAW_MTM_SET)) {}
RawMtmMeasurementSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::RAW_MGM)) {}
/** The unit of all measurements is nT */
lp_vec_t<float, 3> mtmRawNt = lp_vec_t<float, 3>(sid.objectId, MTM_RAW, this);
@ -462,6 +473,40 @@ class CommandDipolePacket : public SerialLinkedListAdapter<SerializeIF> {
SerializeElement<uint16_t> duration;
};
class DipoleActuationSet : public StaticLocalDataSet<4> {
public:
DipoleActuationSet(HasLocalDataPoolIF& owner)
: StaticLocalDataSet(&owner, IMTQ::SetIds::DIPOLES) {}
DipoleActuationSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::DIPOLES)) {}
void setDipoles(uint16_t xDipole_, uint16_t yDipole_, uint16_t zDipole_,
uint16_t currentTorqueDurationMs_) {
PoolReadGuard pg(this);
newActuation = false;
if (xDipole.value != xDipole_) {
newActuation = true;
}
xDipole = xDipole_;
if (yDipole.value != yDipole_) {
newActuation = true;
}
yDipole = yDipole_;
if (zDipole.value != zDipole_) {
newActuation = true;
}
zDipole = zDipole_;
currentTorqueDurationMs = currentTorqueDurationMs_;
}
private:
lp_var_t<uint16_t> xDipole = lp_var_t<uint16_t>(sid.objectId, DIPOLES_X, this);
lp_var_t<uint16_t> yDipole = lp_var_t<uint16_t>(sid.objectId, DIPOLES_Y, this);
lp_var_t<uint16_t> zDipole = lp_var_t<uint16_t>(sid.objectId, DIPOLES_Z, this);
lp_var_t<uint16_t> currentTorqueDurationMs =
lp_var_t<uint16_t>(sid.objectId, CURRENT_TORQUE_DURATION, this);
bool newActuation = false;
};
/**
* @brief This dataset can be used to store the self test results of the +X self test.
*
@ -479,10 +524,10 @@ class CommandDipolePacket : public SerialLinkedListAdapter<SerializeIF> {
class PosXSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
public:
PosXSelfTestSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, IMTQ::POS_X_TEST_DATASET) {}
: StaticLocalDataSet(owner, IMTQ::SetIds::POS_X_TEST) {}
PosXSelfTestSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, IMTQ::POS_X_TEST_DATASET)) {}
: StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::POS_X_TEST)) {}
/** INIT block */
lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_POS_X_ERR, this);
@ -556,10 +601,10 @@ class PosXSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
class NegXSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
public:
NegXSelfTestSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, IMTQ::NEG_X_TEST_DATASET) {}
: StaticLocalDataSet(owner, IMTQ::SetIds::NEG_X_TEST) {}
NegXSelfTestSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, IMTQ::NEG_X_TEST_DATASET)) {}
: StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::NEG_X_TEST)) {}
/** INIT block */
lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_NEG_X_ERR, this);
@ -633,10 +678,10 @@ class NegXSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
class PosYSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
public:
PosYSelfTestSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, IMTQ::POS_Y_TEST_DATASET) {}
: StaticLocalDataSet(owner, IMTQ::SetIds::POS_Y_TEST) {}
PosYSelfTestSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, IMTQ::POS_Y_TEST_DATASET)) {}
: StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::POS_Y_TEST)) {}
/** INIT block */
lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_POS_Y_ERR, this);
@ -710,10 +755,10 @@ class PosYSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
class NegYSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
public:
NegYSelfTestSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, IMTQ::NEG_Y_TEST_DATASET) {}
: StaticLocalDataSet(owner, IMTQ::SetIds::NEG_Y_TEST) {}
NegYSelfTestSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, IMTQ::NEG_Y_TEST_DATASET)) {}
: StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::NEG_Y_TEST)) {}
/** INIT block */
lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_NEG_Y_ERR, this);
@ -787,10 +832,10 @@ class NegYSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
class PosZSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
public:
PosZSelfTestSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, IMTQ::POS_Z_TEST_DATASET) {}
: StaticLocalDataSet(owner, IMTQ::SetIds::POS_Z_TEST) {}
PosZSelfTestSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, IMTQ::POS_Z_TEST_DATASET)) {}
: StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::POS_Z_TEST)) {}
/** INIT block */
lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_POS_Z_ERR, this);
@ -864,10 +909,10 @@ class PosZSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
class NegZSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
public:
NegZSelfTestSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, IMTQ::NEG_Z_TEST_DATASET) {}
: StaticLocalDataSet(owner, IMTQ::SetIds::NEG_Z_TEST) {}
NegZSelfTestSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, IMTQ::NEG_Z_TEST_DATASET)) {}
: StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::NEG_Z_TEST)) {}
/** INIT block */
lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_NEG_Z_ERR, this);

2
tmtc

@ -1 +1 @@
Subproject commit b2bab4c964848d6f78a6f44525166dcf24cc46b6
Subproject commit 87e40fab0f45b4b40f0f477ad5e946e61dcb5e07