eive/eive-obsw
eive/eive-obsw
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Robin Müller 2023-02-19 12:25:26 +01:00
parent a2cb348ee3
commit b1d56eb299
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GPG Key ID: 11D4952C8CCEF814
20 changed files with 1449 additions and 849 deletions
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6
bsp_q7s/core/ObjectFactory.cpp
View File

@ -1,6 +1,7 @@
#include "ObjectFactory.h"
#include <fsfw/subsystem/Subsystem.h>
#include <linux/devices/ImtqPollingTask.h>
#include <linux/devices/RwPollingTask.h>
#include <mission/system/objects/CamSwitcher.h>
@ -906,8 +907,9 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
}
void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
new ImtqPollingTask(objects::IMTQ_POLLING);
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::IMTQ_POLLING, imtqI2cCookie,
pcdu::Switches::PDU1_CH3_MGT_5V);
imtqHandler->enableThermalModule(ThermalStateCfg());
imtqHandler->setPowerSwitcher(pwrSwitcher);

11
bsp_q7s/core/scheduling.cpp
View File

@ -204,6 +204,14 @@ void scheduling::initTasks() {
scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK);
}
#endif
#if OBSW_ADD_MGT == 1
PeriodicTaskIF* imtqPolling = factory->createPeriodicTask(
"IMTQ_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = imtqPolling->addComponent(objects::IMTQ_POLLING);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("IMTQ_POLLING_TASK", objects::IMTQ_POLLING);
}
#endif
PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
"ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
@ -345,6 +353,9 @@ void scheduling::initTasks() {
#if OBSW_ADD_SA_DEPL == 1
solarArrayDeplTask->startTask();
#endif
#if OBSW_ADD_MGT == 1
imtqPolling->startTask();
#endif
taskStarter(pstTasks, "PST task vector");
taskStarter(pusTasks, "PUS task vector");

18
common/config/eive/definitions.h
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@ -59,17 +59,23 @@ namespace acs {
static constexpr uint32_t SCHED_BLOCK_1_SUS_READ_MS = 15;
static constexpr uint32_t SCHED_BLOCK_2_SENSOR_READ_MS = 30;
static constexpr uint32_t SCHED_BLOCK_3_ACS_CTRL_MS = 45;
static constexpr uint32_t SCHED_BLOCK_4_ACTUATOR_MS = 50;
static constexpr uint32_t SCHED_BLOCK_5_RW_READ_MS = 300;
static constexpr uint32_t SCHED_BLOCK_3_READ_IMTQ_MGM_MS = 42;
static constexpr uint32_t SCHED_BLOCK_4_ACS_CTRL_MS = 45;
static constexpr uint32_t SCHED_BLOCK_5_ACTUATOR_MS = 50;
static constexpr uint32_t SCHED_BLOCK_6_IMTQ_BLOCK_2_MS = 65;
static constexpr uint32_t SCHED_BLOCK_7_RW_READ_MS = 300;
// 15 ms for FM
static constexpr float SCHED_BLOCK_1_PERIOD = static_cast<float>(SCHED_BLOCK_1_SUS_READ_MS) / 400.0;
static constexpr float SCHED_BLOCK_2_PERIOD =
static_cast<float>(SCHED_BLOCK_2_SENSOR_READ_MS) / 400.0;
static constexpr float SCHED_BLOCK_3_PERIOD = static_cast<float>(SCHED_BLOCK_3_ACS_CTRL_MS) / 400.0;
static constexpr float SCHED_BLOCK_4_PERIOD = static_cast<float>(SCHED_BLOCK_4_ACTUATOR_MS) / 400.0;
static constexpr float SCHED_BLOCK_5_PERIOD = static_cast<float>(SCHED_BLOCK_5_RW_READ_MS) / 400.0;
static constexpr float SCHED_BLOCK_3_PERIOD =
static_cast<float>(SCHED_BLOCK_3_READ_IMTQ_MGM_MS) / 400.0;
static constexpr float SCHED_BLOCK_4_PERIOD = static_cast<float>(SCHED_BLOCK_4_ACS_CTRL_MS) / 400.0;
static constexpr float SCHED_BLOCK_5_PERIOD = static_cast<float>(SCHED_BLOCK_5_ACTUATOR_MS) / 400.0;
static constexpr float SCHED_BLOCK_6_PERIOD =
static_cast<float>(SCHED_BLOCK_6_IMTQ_BLOCK_2_MS) / 400.0;
static constexpr float SCHED_BLOCK_7_PERIOD = static_cast<float>(SCHED_BLOCK_7_RW_READ_MS) / 400.0;
} // namespace acs

1
common/config/eive/objects.h
View File

@ -44,6 +44,7 @@ enum commonObjects : uint32_t {
STAR_TRACKER = 0x44130001,
GPS_CONTROLLER = 0x44130045,
IMTQ_POLLING = 0x44140013,
IMTQ_HANDLER = 0x44140014,
TMP1075_HANDLER_TCS_0 = 0x44420004,
TMP1075_HANDLER_TCS_1 = 0x44420005,

12
dummies/ImtqDummy.cpp
View File

@ -1,6 +1,6 @@
#include "ImtqDummy.h"
#include <mission/devices/devicedefinitions/imtqHandlerDefinitions.h>
#include <mission/devices/devicedefinitions/imtqHelpers.h>
ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie) {}
@ -38,10 +38,10 @@ uint32_t ImtqDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { retur
ReturnValue_t ImtqDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(IMTQ::MCU_TEMPERATURE, new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(IMTQ::MGM_CAL_NT, new PoolEntry<float>({0.0, 0.0, 0.0}));
localDataPoolMap.emplace(IMTQ::ACTUATION_CAL_STATUS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(IMTQ::MTM_RAW, new PoolEntry<float>({0.12, 0.76, -0.45}, true));
localDataPoolMap.emplace(IMTQ::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(imtq::MCU_TEMPERATURE, new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(imtq::MGM_CAL_NT, new PoolEntry<float>({0.0, 0.0, 0.0}));
localDataPoolMap.emplace(imtq::ACTUATION_CAL_STATUS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(imtq::MTM_RAW, new PoolEntry<float>({0.12, 0.76, -0.45}, true));
localDataPoolMap.emplace(imtq::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>({0}));
return DeviceHandlerBase::initializeLocalDataPool(localDataPoolMap, poolManager);
}

5
linux/devices/CMakeLists.txt
View File

@ -3,8 +3,9 @@ if(EIVE_BUILD_GPSD_GPS_HANDLER)
endif()
target_sources(
${OBSW_NAME} PRIVATE Max31865RtdLowlevelHandler.cpp ScexUartReader.cpp
ScexDleParser.cpp ScexHelper.cpp RwPollingTask.cpp)
${OBSW_NAME}
PRIVATE Max31865RtdLowlevelHandler.cpp ScexUartReader.cpp ScexDleParser.cpp
ScexHelper.cpp RwPollingTask.cpp ImtqPollingTask.cpp)
add_subdirectory(ploc)

346
linux/devices/ImtqPollingTask.cpp Normal file
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@ -0,0 +1,346 @@
#include "ImtqPollingTask.h"
#include <fcntl.h>
#include <fsfw/tasks/SemaphoreFactory.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <fsfw_hal/linux/UnixFileGuard.h>
#include <linux/i2c-dev.h>
#include <sys/ioctl.h>
#include "fsfw/FSFW.h"
ImtqPollingTask::ImtqPollingTask(object_id_t imtqPollingTask) : SystemObject(imtqPollingTask) {
semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
semaphore->acquire();
ipcLock = MutexFactory::instance()->createMutex();
bufLock = MutexFactory::instance()->createMutex();
}
ReturnValue_t ImtqPollingTask::performOperation(uint8_t operationCode) {
size_t replyLen = 0;
uint8_t* replyPtr;
while (true) {
ipcLock->lockMutex();
state = InternalState::IDLE;
ipcLock->unlockMutex();
semaphore->acquire();
comStatus = returnvalue::OK;
// Stopwatch watch;
auto i2cCmdExecDefault = [&](imtq::CC::CC cc, ReturnValue_t comErrIfFails =
imtq::MGM_MEASUREMENT_LOW_LEVEL_ERROR) {
ReturnValue_t res = performI2cFullRequest(replyPtr + 1, replyLen);
if (res != returnvalue::OK) {
sif::error << "IMTQ: I2C transaction for command 0x" << std::hex << std::setw(2) << cc
<< " failed" << std::dec << std::endl;
comStatus = comErrIfFails;
return returnvalue::FAILED;
}
if (replyPtr[1] != cc) {
sif::warning << "IMTQ: Unexpected CC 0x" << std::hex << std::setw(2)
<< static_cast<int>(replyPtr[1]) << " for command 0x" << cc << std::dec
<< std::endl;
comStatus = comErrIfFails;
return returnvalue::FAILED;
}
replyPtr[0] = true;
return returnvalue::OK;
};
switch (currentRequest) {
case imtq::RequestType::MEASURE: {
ImtqRepliesDefault replies(replyBuf.data());
auto i2cCmdExecMeasure = [&](imtq::CC::CC cc) {
ccToReplyPtrMeasure(replies, cc, &replyPtr, replyLen);
return i2cCmdExecDefault(cc);
};
cmdLen = 1;
cmdBuf[0] = imtq::CC::START_MTM_MEASUREMENT;
if (i2cCmdExecMeasure(imtq::CC::START_MTM_MEASUREMENT) != returnvalue::OK) {
break;
}
cmdBuf[0] = imtq::CC::GET_SYSTEM_STATE;
if (i2cCmdExecMeasure(imtq::CC::GET_SYSTEM_STATE) != returnvalue::OK) {
break;
}
// Takes a bit of time to take measurements. Subtract a bit because of the delay of previous
// commands.
TaskFactory::delayTask(currentIntegrationTimeMs - 1);
cmdBuf[0] = imtq::CC::GET_RAW_MTM_MEASUREMENT;
if (i2cCmdExecMeasure(imtq::CC::GET_RAW_MTM_MEASUREMENT) != returnvalue::OK) {
break;
}
cmdBuf[0] = imtq::CC::GET_ENG_HK_DATA;
if (i2cCmdExecMeasure(imtq::CC::GET_ENG_HK_DATA) != returnvalue::OK) {
break;
}
cmdBuf[0] = imtq::CC::GET_CAL_MTM_MEASUREMENT;
if (i2cCmdExecMeasure(imtq::CC::GET_CAL_MTM_MEASUREMENT) != returnvalue::OK) {
break;
}
break;
}
case imtq::RequestType::ACTUATE: {
ImtqRepliesWithTorque replies(replyBufActuation.data());
auto i2cCmdExecActuate = [&](imtq::CC::CC cc) {
ccToReplyPtrActuate(replies, cc, &replyPtr, replyLen);
return i2cCmdExecDefault(cc, imtq::ACTUATE_CMD_LOW_LEVEL_ERROR);
};
buildDipoleCommand();
if (i2cCmdExecActuate(imtq::CC::START_ACTUATION_DIPOLE) != returnvalue::OK) {
break;
}
cmdLen = 1;
cmdBuf[0] = imtq::CC::START_MTM_MEASUREMENT;
if (i2cCmdExecActuate(imtq::CC::START_MTM_MEASUREMENT) != returnvalue::OK) {
break;
}
TaskFactory::delayTask(currentIntegrationTimeMs);
cmdBuf[0] = imtq::CC::GET_RAW_MTM_MEASUREMENT;
if (i2cCmdExecActuate(imtq::CC::GET_RAW_MTM_MEASUREMENT) != returnvalue::OK) {
break;
}
cmdBuf[0] = imtq::CC::GET_ENG_HK_DATA;
if (i2cCmdExecActuate(imtq::CC::GET_ENG_HK_DATA) != returnvalue::OK) {
break;
}
break;
}
};
}
return returnvalue::OK;
}
ReturnValue_t ImtqPollingTask::initialize() { return returnvalue::OK; }
ReturnValue_t ImtqPollingTask::initializeInterface(CookieIF* cookie) {
i2cCookie = dynamic_cast<I2cCookie*>(cookie);
if (i2cCookie == nullptr) {
sif::error << "ImtqPollingTask::initializeInterface: Invalid I2C cookie" << std::endl;
return returnvalue::FAILED;
}
i2cDev = i2cCookie->getDeviceFile().c_str();
i2cAddr = i2cCookie->getAddress();
return returnvalue::OK;
}
ReturnValue_t ImtqPollingTask::sendMessage(CookieIF* cookie, const uint8_t* sendData,
size_t sendLen) {
ImtqRequest request(sendData, sendLen);
{
MutexGuard mg(ipcLock);
currentRequest = request.getRequestType();
if (currentRequest == imtq::RequestType::ACTUATE) {
std::memcpy(dipoles, request.getDipoles(), 6);
torqueDuration = request.getTorqueDuration();
}
specialRequest = request.getSpecialRequest();
if (state != InternalState::IDLE) {
return returnvalue::FAILED;
}
state = InternalState::BUSY;
}
semaphore->release();
return returnvalue::OK;
}
ReturnValue_t ImtqPollingTask::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
ReturnValue_t ImtqPollingTask::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
return returnvalue::OK;
}
void ImtqPollingTask::ccToReplyPtrMeasure(ImtqRepliesDefault& replies, imtq::CC::CC cc,
uint8_t** replyBuf, size_t& replyLen) {
replyLen = imtq::getReplySize(cc);
switch (cc) {
case (imtq::CC::CC::GET_ENG_HK_DATA): {
*replyBuf = replies.engHk;
break;
}
case (imtq::CC::CC::SOFTWARE_RESET): {
*replyBuf = replies.swReset;
break;
}
case (imtq::CC::CC::GET_SYSTEM_STATE): {
*replyBuf = replies.systemState;
break;
}
case (imtq::CC::CC::START_MTM_MEASUREMENT): {
*replyBuf = replies.startMtmMeasurement;
break;
}
case (imtq::CC::CC::GET_RAW_MTM_MEASUREMENT): {
*replyBuf = replies.rawMgmMeasurement;
break;
}
case (imtq::CC::CC::GET_CAL_MTM_MEASUREMENT): {
*replyBuf = replies.calibMgmMeasurement;
break;
}
default: {
*replyBuf = replies.specialRequestReply;
break;
}
}
}
void ImtqPollingTask::ccToReplyPtrActuate(ImtqRepliesWithTorque& replies, imtq::CC::CC cc,
uint8_t** replyBuf, size_t& replyLen) {
replyLen = imtq::getReplySize(cc);
switch (cc) {
case (imtq::CC::CC::START_ACTUATION_DIPOLE): {
*replyBuf = replies.dipoleActuation;
break;
}
case (imtq::CC::CC::GET_ENG_HK_DATA): {
*replyBuf = replies.engHk;
break;
}
case (imtq::CC::CC::START_MTM_MEASUREMENT): {
*replyBuf = replies.startMtmMeasurement;
break;
}
case (imtq::CC::CC::GET_RAW_MTM_MEASUREMENT): {
*replyBuf = replies.rawMgmMeasurement;
break;
}
default: {
*replyBuf = nullptr;
replyLen = 0;
break;
}
}
}
size_t ImtqPollingTask::getExchangeBufLen(imtq::SpecialRequest specialRequest) {
size_t baseLen = ImtqRepliesDefault::BASE_LEN;
switch (specialRequest) {
case (imtq::SpecialRequest::NONE):
case (imtq::SpecialRequest::DO_SELF_TEST_X):
case (imtq::SpecialRequest::DO_SELF_TEST_Y):
case (imtq::SpecialRequest::DO_SELF_TEST_Z): {
break;
}
case (imtq::SpecialRequest::GET_SELF_TEST_RESULT): {
baseLen += imtq::replySize::SELF_TEST_RESULTS;
break;
}
}
return baseLen;
}
void ImtqPollingTask::buildDipoleCommand() {
cmdBuf[0] = imtq::CC::CC::START_ACTUATION_DIPOLE;
uint8_t* serPtr = cmdBuf.data() + 1;
size_t serLen = 0;
for (uint8_t idx = 0; idx < 3; idx++) {
SerializeAdapter::serialize(&dipoles[idx], &serPtr, &serLen, cmdBuf.size(),
SerializeIF::Endianness::LITTLE);
}
SerializeAdapter::serialize(&torqueDuration, &serPtr, &serLen, cmdBuf.size(),
SerializeIF::Endianness::LITTLE);
cmdLen = 1 + serLen;
}
ReturnValue_t ImtqPollingTask::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
size_t* size) {
imtq::RequestType currentRequest;
{
MutexGuard mg(ipcLock);
currentRequest = this->currentRequest;
}
size_t replyLen = 0;
MutexGuard mg(bufLock);
if (currentRequest == imtq::RequestType::MEASURE) {
replyLen = getExchangeBufLen(specialRequest);
memcpy(exchangeBuf.data(), replyBuf.data(), replyLen);
} else {
replyLen = ImtqRepliesWithTorque::BASE_LEN;
memcpy(exchangeBuf.data(), replyBufActuation.data(), replyLen);
}
*buffer = exchangeBuf.data();
*size = replyLen;
return comStatus;
}
void ImtqPollingTask::clearReadFlags(ImtqRepliesDefault& replies) {
replies.calibMgmMeasurement[0] = false;
replies.rawMgmMeasurement[0] = false;
replies.systemState[0] = false;
replies.specialRequestReply[0] = false;
replies.engHk[0] = false;
}
ReturnValue_t ImtqPollingTask::performI2cFullRequest(uint8_t* reply, size_t replyLen) {
int fd = 0;
if (cmdLen == 0 or reply == nullptr) {
return returnvalue::FAILED;
}
{
UnixFileGuard fileHelper(i2cDev, fd, O_RDWR, "ImtqPollingTask::performI2cFullRequest");
if (fileHelper.getOpenResult() != returnvalue::OK) {
return fileHelper.getOpenResult();
}
if (ioctl(fd, I2C_SLAVE, i2cAddr) < 0) {
sif::warning << "Opening IMTQ slave device failed with code " << errno << ": "
<< strerror(errno) << std::endl;
}
int written = write(fd, cmdBuf.data(), cmdLen);
if (written < 0) {
sif::error << "IMTQ: Failed to send with error code " << errno
<< ". Error description: " << strerror(errno) << std::endl;
return returnvalue::FAILED;
} else if (static_cast<size_t>(written) != cmdLen) {
sif::error << "IMTQ: Could not write all bytes" << std::endl;
return returnvalue::FAILED;
}
}
#if FSFW_HAL_I2C_WIRETAPPING == 1
sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl;
arrayprinter::print(sendData, sendLen);
#endif
// wait 1 ms like specified in the datasheet. This is the time the IMTQ needs
// to prepare a reply.
usleep(1000);
{
UnixFileGuard fileHelper(i2cDev, fd, O_RDWR, "ImtqPollingTask::performI2cFullRequest");
if (fileHelper.getOpenResult() != returnvalue::OK) {
return fileHelper.getOpenResult();
}
if (ioctl(fd, I2C_SLAVE, i2cAddr) < 0) {
sif::warning << "Opening IMTQ slave device failed with code " << errno << ": "
<< strerror(errno) << std::endl;
}
MutexGuard mg(bufLock);
int readLen = read(fd, reply, replyLen);
if (readLen != static_cast<int>(replyLen)) {
if (readLen < 0) {
sif::warning << "IMTQ: Reading failed with error code " << errno << " | " << strerror(errno)
<< std::endl;
} else {
sif::warning << "IMTQ: Read only" << readLen << " from " << replyLen << " bytes"
<< std::endl;
}
}
}
if (reply[0] == 0xff or reply[1] == 0xff) {
sif::warning << "IMTQ: No reply available after 1 millisecond";
return NO_REPLY_AVAILABLE;
}
return returnvalue::OK;
}

64
linux/devices/ImtqPollingTask.h Normal file
View File

@ -0,0 +1,64 @@
#ifndef LINUX_DEVICES_IMTQPOLLINGTASK_H_
#define LINUX_DEVICES_IMTQPOLLINGTASK_H_
#include <fsfw/tasks/SemaphoreIF.h>
#include <fsfw_hal/linux/i2c/I2cCookie.h>
#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "mission/devices/devicedefinitions/imtqHelpers.h"
class ImtqPollingTask : public SystemObject,
public ExecutableObjectIF,
public DeviceCommunicationIF {
public:
ImtqPollingTask(object_id_t imtqPollingTask);
ReturnValue_t performOperation(uint8_t operationCode) override;
ReturnValue_t initialize() override;
private:
static constexpr ReturnValue_t NO_REPLY_AVAILABLE = returnvalue::makeCode(2, 0);
enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
imtq::RequestType currentRequest = imtq::RequestType::MEASURE;
SemaphoreIF* semaphore;
ReturnValue_t comStatus = returnvalue::OK;
MutexIF* ipcLock;
MutexIF* bufLock;
I2cCookie* i2cCookie = nullptr;
const char* i2cDev = nullptr;
address_t i2cAddr = 0;
uint32_t currentIntegrationTimeMs = 10;
imtq::SpecialRequest specialRequest = imtq::SpecialRequest::NONE;
int16_t dipoles[3] = {};
uint16_t torqueDuration = 0;
// uint8_t startActuateRawBuf[3] = {};
std::array<uint8_t, 32> cmdBuf;
std::array<uint8_t, 524> replyBuf;
std::array<uint8_t, 524> replyBufActuation;
std::array<uint8_t, 524> exchangeBuf;
size_t cmdLen = 0;
// DeviceCommunicationIF overrides
ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF* cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
void ccToReplyPtrMeasure(ImtqRepliesDefault& replies, imtq::CC::CC cc, uint8_t** replyBuf,
size_t& replyLen);
void ccToReplyPtrActuate(ImtqRepliesWithTorque& replies, imtq::CC::CC cc, uint8_t** replyBuf,
size_t& replyLen);
void clearReadFlags(ImtqRepliesDefault& replies);
size_t getExchangeBufLen(imtq::SpecialRequest specialRequest);
void buildDipoleCommand();
ReturnValue_t performI2cFullRequest(uint8_t* reply, size_t replyLen);
};
#endif /* LINUX_DEVICES_IMTQPOLLINGTASK_H_ */

15
linux/devices/RwPollingTask.cpp
View File

@ -163,10 +163,11 @@ ReturnValue_t RwPollingTask::requestReceiveMessage(CookieIF* cookie, size_t requ
ReturnValue_t RwPollingTask::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
RwCookie* rwCookie = dynamic_cast<RwCookie*>(cookie);
{
MutexGuard mg(ipcLock);
*buffer = rwCookie->replyBuf.data();
*size = rwCookie->replyBuf.size();
MutexGuard mg(rwCookie->bufLock);
memcpy(rwCookie->exchangeBuf.data(), rwCookie->replyBuf.data(), rwCookie->replyBuf.size());
}
*buffer = rwCookie->exchangeBuf.data();
*size = rwCookie->exchangeBuf.size();
return returnvalue::OK;
}
@ -248,6 +249,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
#endif
size_t decodedFrameLen = 0;
MutexGuard mg(rwCookie.bufLock);
while (decodedFrameLen < maxReplyLen) {
// First byte already read in
@ -428,7 +430,12 @@ void RwPollingTask::handleSpecialRequests() {
}
uint8_t* replyBuf;
size_t maxReadLen = idAndIdxToReadBuffer(specialRequestIds[idx], idx, &replyBuf);
readNextReply(*rwCookies[idx], replyBuf, maxReadLen);
result = readNextReply(*rwCookies[idx], replyBuf, maxReadLen);
if (result == returnvalue::OK) {
// The first byte is always a flag which shows whether the value was read
// properly at least once.
replyBuf[0] = true;
}
}
}

22
linux/devices/RwPollingTask.h
View File

@ -18,10 +18,14 @@ class RwCookie : public SpiCookie {
static constexpr size_t REPLY_BUF_LEN = 524;
RwCookie(uint8_t rwIdx, address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
spi::SpiModes spiMode, uint32_t spiSpeed)
: SpiCookie(spiAddress, chipSelect, maxSize, spiMode, spiSpeed), rwIdx(rwIdx) {}
: SpiCookie(spiAddress, chipSelect, maxSize, spiMode, spiSpeed), rwIdx(rwIdx) {
bufLock = MutexFactory::instance()->createMutex();
}
private:
std::array<uint8_t, REPLY_BUF_LEN> replyBuf{};
std::array<uint8_t, REPLY_BUF_LEN> exchangeBuf{};
MutexIF* bufLock;
bool setSpeed = true;
int32_t currentRwSpeed = 0;
uint16_t currentRampTime = 0;
@ -56,6 +60,13 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
static constexpr uint32_t TIMEOUT_MS = 20;
static constexpr uint8_t MAX_RETRIES_REPLY = 5;
// DeviceCommunicationIF overrides
ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF* cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
ReturnValue_t writeAndReadAllRws(DeviceCommandId_t id);
ReturnValue_t writeOneRwCmd(uint8_t rwIdx, int fd);
ReturnValue_t readAllRws(DeviceCommandId_t id);
@ -64,15 +75,6 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
ReturnValue_t readNextReply(RwCookie& rwCookie, uint8_t* replyBuf, size_t maxReplyLen);
void handleSpecialRequests();
ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF* cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
ReturnValue_t openSpi(int flags, int& fd);
ReturnValue_t pullCsLow(gpioId_t gpioId, GpioIF& gpioIF);
void prepareSimpleCommand(DeviceCommandId_t id);

98
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -60,8 +60,8 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.25, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.25, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.3, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.3, DeviceHandlerIF::GET_READ);
#endif
// These are actually part of another bus, but this works, so keep it like this for now
#if OBSW_ADD_TMP_DEVICES == 1
@ -590,93 +590,73 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::GET_READ);
}
thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::acs::SCHED_BLOCK_3_PERIOD, 0);
thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::acs::SCHED_BLOCK_4_PERIOD, 0);
if (cfg.scheduleImtq) {
// This is the torquing cycle.
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_6_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_6_PERIOD,
DeviceHandlerIF::GET_READ);
}
if (cfg.scheduleRws) {
// this is the torquing cycle
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::SEND_READ);
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::SEND_READ);
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::SEND_READ);
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::SEND_READ);
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::GET_READ);
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::GET_READ);
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::GET_READ);
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_7_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_7_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_7_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_7_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_7_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_7_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_7_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_7_PERIOD,
DeviceHandlerIF::GET_READ);
}

4
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/imtqHelpers.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
#include "acs/ActuatorCmd.h"
@ -19,7 +20,6 @@
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "mission/devices/devicedefinitions/SusDefinitions.h"
#include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"
#include "mission/trace.h"
class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
@ -84,7 +84,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
ACS::SensorValues sensorValues;
/* ACS Actuation Datasets */
IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
imtq::DipoleActuationSet dipoleSet = imtq::DipoleActuationSet(objects::IMTQ_HANDLER);
rws::RwSpeedActuationSet rw1SpeedSet = rws::RwSpeedActuationSet(objects::RW1);
rws::RwSpeedActuationSet rw2SpeedSet = rws::RwSpeedActuationSet(objects::RW2);
rws::RwSpeedActuationSet rw3SpeedSet = rws::RwSpeedActuationSet(objects::RW3);

4
mission/controller/ThermalController.cpp
View File

@ -10,7 +10,7 @@
#include <mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h>
#include <mission/devices/devicedefinitions/GyroL3GD20Definitions.h>
#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
#include <mission/devices/devicedefinitions/imtqHandlerDefinitions.h>
#include <mission/devices/devicedefinitions/imtqHelpers.h>
#include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
#include <objects/systemObjectList.h>
@ -785,7 +785,7 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<int16_t> tempMgt = lp_var_t<int16_t>(objects::IMTQ_HANDLER, IMTQ::MCU_TEMPERATURE);
lp_var_t<int16_t> tempMgt = lp_var_t<int16_t>(objects::IMTQ_HANDLER, imtq::MCU_TEMPERATURE);
PoolReadGuard pg(&tempMgt, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read MGT temperature" << std::endl;

5
mission/controller/acs/SensorValues.h
View File

@ -1,6 +1,7 @@
#ifndef SENSORVALUES_H_
#define SENSORVALUES_H_
#include <mission/devices/devicedefinitions/imtqHelpers.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
@ -10,7 +11,6 @@
#include "mission/devices/devicedefinitions/GPSDefinitions.h"
#include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
#include "mission/devices/devicedefinitions/SusDefinitions.h"
#include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"
namespace ACS {
@ -35,7 +35,8 @@ class SensorValues {
MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_2_LIS3_HANDLER);
RM3100::Rm3100PrimaryDataset mgm3Rm3100Set =
RM3100::Rm3100PrimaryDataset(objects::MGM_3_RM3100_HANDLER);
IMTQ::RawMtmMeasurementSet imtqMgmSet = IMTQ::RawMtmMeasurementSet(objects::IMTQ_HANDLER);
imtq::RawMtmMeasurementNoTorque imtqMgmSet =
imtq::RawMtmMeasurementNoTorque(objects::IMTQ_HANDLER);
std::array<SUS::SusDataset, 12> susSets{
SUS::SusDataset(objects::SUS_0_N_LOC_XFYFZM_PT_XF),

1125
mission/devices/ImtqHandler.cpp
View File

File diff suppressed because it is too large Load Diff

76
mission/devices/ImtqHandler.h
View File

@ -2,7 +2,7 @@
#define MISSION_DEVICES_IMTQHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/devices/devicedefinitions/imtqHandlerDefinitions.h>
#include <mission/devices/devicedefinitions/imtqHelpers.h>
#include <string.h>
#include "events/subsystemIdRanges.h"
@ -42,7 +42,6 @@ class ImtqHandler : public DeviceHandlerBase {
ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
size_t* foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
void setNormalDatapoolEntriesInvalid() override;
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -50,19 +49,6 @@ class ImtqHandler : public DeviceHandlerBase {
ReturnValue_t getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::IMTQ_HANDLER;
static const ReturnValue_t INVALID_COMMAND_CODE = MAKE_RETURN_CODE(0xA0);
static const ReturnValue_t PARAMETER_MISSING = MAKE_RETURN_CODE(0xA1);
static const ReturnValue_t PARAMETER_INVALID = MAKE_RETURN_CODE(0xA2);
static const ReturnValue_t CC_UNAVAILABLE = MAKE_RETURN_CODE(0xA3);
static const ReturnValue_t INTERNAL_PROCESSING_ERROR = MAKE_RETURN_CODE(0xA4);
static const ReturnValue_t REJECTED_WITHOUT_REASON = MAKE_RETURN_CODE(0xA5);
static const ReturnValue_t CMD_ERR_UNKNOWN = MAKE_RETURN_CODE(0xA6);
//! [EXPORT] : [COMMENT] The status reply to a self test command was received but no self test
//! command has been sent. This should normally never happen.
static const ReturnValue_t UNEXPECTED_SELF_TEST_REPLY = MAKE_RETURN_CODE(0xA7);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::IMTQ_HANDLER;
//! [EXPORT] : [COMMENT] Get self test result returns I2C failure
@ -97,49 +83,45 @@ class ImtqHandler : public DeviceHandlerBase {
//! link between IMTQ and OBC.
static const Event INVALID_ERROR_BYTE = MAKE_EVENT(8, severity::LOW);
IMTQ::EngHkDataset engHkDataset;
IMTQ::CalibratedMtmMeasurementSet calMtmMeasurementSet;
IMTQ::RawMtmMeasurementSet rawMtmMeasurementSet;
IMTQ::DipoleActuationSet dipoleSet;
IMTQ::PosXSelfTestSet posXselfTestDataset;
IMTQ::NegXSelfTestSet negXselfTestDataset;
IMTQ::PosYSelfTestSet posYselfTestDataset;
IMTQ::NegYSelfTestSet negYselfTestDataset;
IMTQ::PosZSelfTestSet posZselfTestDataset;
IMTQ::NegZSelfTestSet negZselfTestDataset;
imtq::StatusDataset statusSet;
imtq::DipoleActuationSet dipoleSet;
imtq::RawMtmMeasurementNoTorque rawMtmNoTorque;
imtq::HkDatasetNoTorque hkDatasetNoTorque;
imtq::RawMtmMeasurementWithTorque rawMtmWithTorque;
imtq::HkDatasetWithTorque hkDatasetWithTorque;
imtq::CalibratedMtmMeasurementSet calMtmMeasurementSet;
imtq::PosXSelfTestSet posXselfTestDataset;
imtq::NegXSelfTestSet negXselfTestDataset;
imtq::PosYSelfTestSet posYselfTestDataset;
imtq::NegYSelfTestSet negYselfTestDataset;
imtq::PosZSelfTestSet posZselfTestDataset;
imtq::NegZSelfTestSet negZselfTestDataset;
NormalPollingMode pollingMode = NormalPollingMode::UNCALIBRATED;
PoolEntry<uint8_t> statusMode = PoolEntry<uint8_t>({0});
PoolEntry<uint8_t> statusError = PoolEntry<uint8_t>({0});
PoolEntry<uint8_t> statusConfig = PoolEntry<uint8_t>({0});
PoolEntry<uint32_t> statusUptime = PoolEntry<uint32_t>({0});
PoolEntry<int32_t> mgmCalEntry = PoolEntry<int32_t>(3);
PoolEntry<int16_t> dipoleXEntry = PoolEntry<int16_t>(0, false);
PoolEntry<int16_t> dipoleYEntry = PoolEntry<int16_t>(0, false);
PoolEntry<int16_t> dipoleZEntry = PoolEntry<int16_t>(0, false);
PoolEntry<uint16_t> torqueDurationEntry = PoolEntry<uint16_t>(0, false);
// Hardcoded to default integration time of 10 ms.
// SHOULDDO: Support for other integration times
Countdown integrationTimeCd = Countdown(10);
power::Switch_t switcher = power::NO_SWITCH;
uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE];
uint8_t commandBuffer[imtq::MAX_COMMAND_SIZE];
bool goToNormalMode = false;
bool debugMode = false;
enum class CommunicationStep {
GET_ENG_HK_DATA,
START_MTM_MEASUREMENT,
GET_CAL_MTM_MEASUREMENT,
GET_RAW_MTM_MEASUREMENT,
DIPOLE_ACTUATION
};
imtq::RequestType requestStep = imtq::RequestType::MEASURE;
CommunicationStep communicationStep = CommunicationStep::GET_ENG_HK_DATA;
// enum class StartupStep { NONE, COMMAND_SELF_TEST, GET_SELF_TEST_RESULT };
enum class StartupStep { NONE, COMMAND_SELF_TEST, GET_SELF_TEST_RESULT };
StartupStep startupStep = StartupStep::COMMAND_SELF_TEST;
bool selfTestPerformed = false;
// StartupStep startupStep = StartupStep::COMMAND_SELF_TEST;
/**
* @brief In case of a status reply to a single axis self test command, this function
@ -155,7 +137,7 @@ class ImtqHandler : public DeviceHandlerBase {
*
* @return The return code derived from the received status byte.
*/
ReturnValue_t parseStatusByte(const uint8_t* packet);
ReturnValue_t parseStatusByte(imtq::CC::CC command, const uint8_t* packet);
/**
* @brief This function fills the engineering housekeeping dataset with the received data.
@ -163,7 +145,9 @@ class ImtqHandler : public DeviceHandlerBase {
* @param packet Pointer to the received data.
*
*/
void fillEngHkDataset(const uint8_t* packet);
void fillEngHkDataset(imtq::HkDataset& hkDataset, const uint8_t* packet);
void fillSystemStateIntoDataset(const uint8_t* packet);
/**
* @brief This function sends a command reply to the requesting queue.
@ -212,7 +196,7 @@ class ImtqHandler : public DeviceHandlerBase {
void handlePositiveZSelfTestReply(const uint8_t* packet);
void handleNegativeZSelfTestReply(const uint8_t* packet);
ReturnValue_t buildDipoleActuationCommand();
// ReturnValue_t buildDipoleActuationCommand();
/**
* @brief This function checks the error byte of a self test measurement.
*

3
mission/devices/devicedefinitions/CMakeLists.txt
View File

@ -1 +1,2 @@
target_sources(${LIB_EIVE_MISSION} PRIVATE ScexDefinitions.cpp rwHelpers.cpp)
target_sources(${LIB_EIVE_MISSION} PRIVATE ScexDefinitions.cpp rwHelpers.cpp
imtqHelpers.cpp)

49
mission/devices/devicedefinitions/imtqHelpers.cpp Normal file
View File

@ -0,0 +1,49 @@
#include "imtqHelpers.h"
size_t imtq::getReplySize(CC::CC cc, size_t* optSecondSize) {
switch (cc) {
// Software reset is a bit special and can also cause a I2C NAK because
// the device might be reset at that moment. Otherwise, 2 bytes should be returned
case (CC::CC::SOFTWARE_RESET): {
if (optSecondSize != nullptr) {
*optSecondSize = 0;
}
return 2;
}
case (CC::CC::START_ACTUATION_DIPOLE):
case (CC::CC::SELF_TEST_CMD):
case (CC::CC::START_MTM_MEASUREMENT): {
return 2;
}
case (CC::CC::GET_SYSTEM_STATE): {
return 9;
}
case (CC::CC::GET_RAW_MTM_MEASUREMENT):
case (CC::CC::GET_CAL_MTM_MEASUREMENT): {
return 15;
}
case (CC::CC::GET_COIL_CURRENT):
case (CC::CC::GET_COMMANDED_DIPOLE):
case (CC::CC::GET_COIL_TEMPERATURES): {
return 8;
}
case (CC::CC::GET_SELF_TEST_RESULT): {
// Can also be 360 for the all axes self-test!
if (optSecondSize != nullptr) {
*optSecondSize = 360;
}
return 120;
}
case (CC::CC::GET_RAW_HK_DATA):
case (CC::CC::GET_ENG_HK_DATA): {
return 24;
}
case (CC::CC::GET_PARAM): {
return imtq::replySize::MAX_SET_GET_PARAM_LEN;
}
default: {
return 0;
}
}
return 0;
}

432
mission/devices/devicedefinitions/imtqHandlerDefinitions.h → mission/devices/devicedefinitions/imtqHelpers.h
View File

@ -3,21 +3,42 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
class ImtqHandler;
namespace IMTQ {
namespace imtq {
static const DeviceCommandId_t NONE = 0x0;
static const DeviceCommandId_t GET_ENG_HK_DATA = 0x1;
enum class RequestType : uint8_t { MEASURE, ACTUATE };
enum class SpecialRequest : uint8_t {
NONE = 0,
DO_SELF_TEST_X = 1,
DO_SELF_TEST_Y = 2,
DO_SELF_TEST_Z = 3,
GET_SELF_TEST_RESULT = 4
};
static const uint8_t INTERFACE_ID = CLASS_ID::IMTQ_HANDLER;
static constexpr ReturnValue_t INVALID_COMMAND_CODE = MAKE_RETURN_CODE(0);
static constexpr ReturnValue_t MGM_MEASUREMENT_LOW_LEVEL_ERROR = MAKE_RETURN_CODE(1);
static constexpr ReturnValue_t ACTUATE_CMD_LOW_LEVEL_ERROR = MAKE_RETURN_CODE(2);
static const ReturnValue_t PARAMETER_MISSING = MAKE_RETURN_CODE(3);
static const ReturnValue_t PARAMETER_INVALID = MAKE_RETURN_CODE(4);
static const ReturnValue_t CC_UNAVAILABLE = MAKE_RETURN_CODE(5);
static const ReturnValue_t INTERNAL_PROCESSING_ERROR = MAKE_RETURN_CODE(6);
static const ReturnValue_t REJECTED_WITHOUT_REASON = MAKE_RETURN_CODE(7);
static const ReturnValue_t CMD_ERR_UNKNOWN = MAKE_RETURN_CODE(8);
//! [EXPORT] : [COMMENT] The status reply to a self test command was received but no self test
//! command has been sent. This should normally never happen.
static const ReturnValue_t UNEXPECTED_SELF_TEST_REPLY = MAKE_RETURN_CODE(0xA7);
namespace cmdIds {
static constexpr DeviceCommandId_t REQUEST = 0x70;
static constexpr DeviceCommandId_t REPLY = 0x71;
static const DeviceCommandId_t START_ACTUATION_DIPOLE = 0x2;
static const DeviceCommandId_t GET_COMMANDED_DIPOLE = 0x3;
/** Generates new measurement of the magnetic field */
static const DeviceCommandId_t START_MTM_MEASUREMENT = 0x4;
/** Requests the calibrated magnetometer measurement */
static const DeviceCommandId_t GET_CAL_MTM_MEASUREMENT = 0x5;
/** Requests the raw values measured by the built-in MTM XEN1210 */
static const DeviceCommandId_t GET_RAW_MTM_MEASUREMENT = 0x6;
static const DeviceCommandId_t POS_X_SELF_TEST = 0x7;
static const DeviceCommandId_t NEG_X_SELF_TEST = 0x8;
static const DeviceCommandId_t POS_Y_SELF_TEST = 0x9;
@ -26,36 +47,59 @@ static const DeviceCommandId_t POS_Z_SELF_TEST = 0xB;
static const DeviceCommandId_t NEG_Z_SELF_TEST = 0xC;
static const DeviceCommandId_t GET_SELF_TEST_RESULT = 0xD;
static const uint8_t GET_TEMP_REPLY_SIZE = 2;
static const uint8_t CFGR_CMD_SIZE = 3;
} // namespace cmdIds
// static const DeviceCommandId_t NONE = 0x0;
// static const DeviceCommandId_t GET_ENG_HK_DATA = 0x1;
// static const DeviceCommandId_t GET_COMMANDED_DIPOLE = 0x3;
///** Generates new measurement of the magnetic field */
// static const DeviceCommandId_t START_MTM_MEASUREMENT = 0x4;
///** Requests the calibrated magnetometer measurement */
// static const DeviceCommandId_t GET_CAL_MTM_MEASUREMENT = 0x5;
///** Requests the raw values measured by the built-in MTM XEN1210 */
// static const DeviceCommandId_t GET_RAW_MTM_MEASUREMENT = 0x6;
static const uint8_t POINTER_REG_SIZE = 1;
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
ENG_HK_NO_TORQUE = 1,
RAW_MTM_NO_TORQUE = 2,
ENG_HK_SET_WITH_TORQUE = 3,
RAW_MTM_WITH_TORQUE = 4,
STATUS_SET = 5,
DIPOLES = 6,
CAL_MTM_SET = 9,
POSITIVE_X_TEST = 10,
NEGATIVE_X_TEST = 11,
POSITIVE_Y_TEST = 12,
NEGATIVE_Y_TEST = 13,
POSITIVE_Z_TEST = 14,
NEGATIVE_Z_TEST = 15,
};
static const uint8_t SIZE_ENG_HK_COMMAND = 1;
static const uint8_t SIZE_STATUS_REPLY = 2;
static const uint8_t SIZE_ENG_HK_DATA_REPLY = 24;
static const uint8_t SIZE_GET_COMMANDED_DIPOLE_REPLY = 8;
static const uint8_t SIZE_GET_CAL_MTM_MEASUREMENT = 15;
static const uint8_t SIZE_GET_RAW_MTM_MEASUREMENT = 15;
static const uint16_t SIZE_SELF_TEST_RESULTS = 120;
namespace replySize {
static const uint16_t MAX_REPLY_SIZE = SIZE_SELF_TEST_RESULTS;
static const uint8_t MAX_COMMAND_SIZE = 9;
static constexpr uint8_t GET_TEMP_REPLY_SIZE = 2;
static constexpr uint8_t CFGR_CMD_SIZE = 3;
static constexpr size_t DEFAULT_MIN_LEN = 2;
static constexpr size_t STATUS_REPLY = DEFAULT_MIN_LEN;
static constexpr size_t ENG_HK_DATA_REPLY = 24;
static constexpr size_t GET_COMMANDED_DIPOLE_REPLY = 8;
static constexpr size_t MAX_SET_GET_PARAM_LEN = 12;
static constexpr size_t SYSTEM_STATE = 9;
static constexpr size_t CAL_MTM_MEASUREMENT = 15;
static constexpr size_t RAW_MTM_MEASUREMENT = 15;
static constexpr size_t SELF_TEST_RESULTS = 120;
static constexpr size_t SELF_TEST_RESULTS_ALL_AXES = 360;
} // namespace replySize
static const uint16_t MAX_REPLY_SIZE = replySize::SELF_TEST_RESULTS_ALL_AXES;
static const uint8_t MAX_COMMAND_SIZE = 16;
/** Define entries in IMTQ specific dataset */
static const uint8_t ENG_HK_SET_POOL_ENTRIES = 11;
static const uint8_t HK_SET_POOL_ENTRIES = 20;
static const uint8_t CAL_MTM_POOL_ENTRIES = 4;
static const uint8_t SELF_TEST_DATASET_ENTRIES = 104;
@ -72,45 +116,75 @@ static const uint8_t INVALID_ERROR_BYTE =
static const uint8_t MAIN_STEP_OFFSET = 43;
// Command Code
namespace CC {
/**
* Command code definitions. Each command or reply of an IMTQ request will begin with one of
* the following command codes.
*/
namespace CC {
static const uint8_t START_MTM_MEASUREMENT = 0x4;
static const uint8_t START_ACTUATION_DIPOLE = 0x6;
static const uint8_t SELF_TEST_CMD = 0x8;
static const uint8_t SOFTWARE_RESET = 0xAA;
static const uint8_t GET_ENG_HK_DATA = 0x4A;
static const uint8_t GET_COMMANDED_DIPOLE = 0x46;
static const uint8_t GET_RAW_MTM_MEASUREMENT = 0x42;
static const uint8_t GET_CAL_MTM_MEASUREMENT = 0x43;
static const uint8_t GET_SELF_TEST_RESULT = 0x47;
static const uint8_t PAST_AVAILABLE_RESPONSE_BYTES = 0xff;
}; // namespace CC
enum CC : uint8_t {
START_MTM_MEASUREMENT = 0x4,
START_ACTUATION_DIPOLE = 0x6,
SELF_TEST_CMD = 0x8,
GET_SYSTEM_STATE = 0x41,
GET_RAW_MTM_MEASUREMENT = 0x42,
GET_CAL_MTM_MEASUREMENT = 0x43,
GET_COIL_CURRENT = 0x44,
GET_COIL_TEMPERATURES = 0x45,
GET_COMMANDED_DIPOLE = 0x46,
GET_SELF_TEST_RESULT = 0x47,
GET_RAW_HK_DATA = 0x49,
GET_ENG_HK_DATA = 0x4A,
GET_PARAM = 0x81,
SET_PARAM = 0x82,
SOFTWARE_RESET = 0xAA,
PAST_AVAILABLE_RESPONSE_BYTES = 0xff
};
namespace SELF_TEST_AXIS {
static const uint8_t ALL = 0x0;
static const uint8_t X_POSITIVE = 0x1;
static const uint8_t X_NEGATIVE = 0x2;
static const uint8_t Y_POSITIVE = 0x3;
static const uint8_t Y_NEGATIVE = 0x4;
static const uint8_t Z_POSITIVE = 0x5;
static const uint8_t Z_NEGATIVE = 0x6;
} // namespace SELF_TEST_AXIS
} // namespace CC
namespace SELF_TEST_STEPS {
static const uint8_t INIT = 0x0;
static const uint8_t X_POSITIVE = 0x1;
static const uint8_t X_NEGATIVE = 0x2;
static const uint8_t Y_POSITIVE = 0x3;
static const uint8_t Y_NEGATIVE = 0x4;
static const uint8_t Z_POSITIVE = 0x5;
static const uint8_t Z_NEGATIVE = 0x6;
static const uint8_t FINA = 0x7;
} // namespace SELF_TEST_STEPS
size_t getReplySize(CC::CC cc, size_t* optSecondSize = nullptr);
namespace mode {
enum Mode : uint8_t { IDLE = 0, SELF_TEST = 1, DETUMBLE = 2 };
}
namespace selfTest {
enum Axis : uint8_t {
ALL = 0x0,
X_POSITIVE = 0x1,
X_NEGATIVE = 0x2,
Y_POSITIVE = 0x3,
Y_NEGATIVE = 0x4,
Z_POSITIVE = 0x5,
Z_NEGATIVE = 0x6,
};
namespace step {
enum Step : uint8_t {
INIT = 0x0,
X_POSITIVE = 0x1,
X_NEGATIVE = 0x2,
Y_POSITIVE = 0x3,
Y_NEGATIVE = 0x4,
Z_POSITIVE = 0x5,
Z_NEGATIVE = 0x6,
FINA = 0x7
};
}
} // namespace selfTest
enum PoolIds : lp_id_t {
STATUS_BYTE_MODE,
STATUS_BYTE_ERROR,
STATUS_BYTE_CONF,
STATUS_BYTE_UPTIME,
DIGITAL_VOLTAGE_MV,
ANALOG_VOLTAGE_MV,
DIGITAL_CURRENT,
@ -384,12 +458,23 @@ enum PoolIds : lp_id_t {
FINA_NEG_Z_COIL_Z_TEMPERATURE,
};
class EngHkDataset : public StaticLocalDataSet<ENG_HK_SET_POOL_ENTRIES> {
class StatusDataset : public StaticLocalDataSet<4> {
public:
EngHkDataset(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, IMTQ::SetIds::ENG_HK) {}
StatusDataset(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, imtq::SetIds::STATUS_SET) {}
// Status byte variables
lp_var_t<uint8_t> statusByteMode = lp_var_t<uint8_t>(sid.objectId, STATUS_BYTE_MODE, this);
lp_var_t<uint8_t> statusByteError = lp_var_t<uint8_t>(sid.objectId, STATUS_BYTE_ERROR, this);
lp_var_t<uint8_t> statusByteConfig = lp_var_t<uint8_t>(sid.objectId, STATUS_BYTE_CONF, this);
lp_var_t<uint32_t> statusByteUptime = lp_var_t<uint32_t>(sid.objectId, STATUS_BYTE_UPTIME, this);
};
EngHkDataset(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::ENG_HK)) {}
class HkDataset : public StaticLocalDataSet<HK_SET_POOL_ENTRIES> {
public:
HkDataset(HasLocalDataPoolIF* owner, uint32_t setId) : StaticLocalDataSet(owner, setId) {}
HkDataset(object_id_t objectId, uint32_t setId) : StaticLocalDataSet(sid_t(objectId, setId)) {}
// Engineering HK variables
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);
lp_var_t<float> digitalCurrentmA = lp_var_t<float>(sid.objectId, DIGITAL_CURRENT, this);
@ -404,16 +489,27 @@ class EngHkDataset : public StaticLocalDataSet<ENG_HK_SET_POOL_ENTRIES> {
lp_var_t<int16_t> mcuTemperature = lp_var_t<int16_t>(sid.objectId, MCU_TEMPERATURE, this);
};
class HkDatasetNoTorque : public HkDataset {
public:
HkDatasetNoTorque(HasLocalDataPoolIF* owner) : HkDataset(owner, imtq::SetIds::ENG_HK_NO_TORQUE) {}
};
class HkDatasetWithTorque : public HkDataset {
public:
HkDatasetWithTorque(HasLocalDataPoolIF* owner)
: HkDataset(owner, imtq::SetIds::ENG_HK_SET_WITH_TORQUE) {}
};
/**
*
* @brief This dataset holds the last calibrated MTM measurement.
*/
class CalibratedMtmMeasurementSet : public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
public:
CalibratedMtmMeasurementSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, IMTQ::SetIds::CAL_MGM) {}
: StaticLocalDataSet(owner, imtq::SetIds::CAL_MTM_SET) {}
CalibratedMtmMeasurementSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::CAL_MGM)) {}
: StaticLocalDataSet(sid_t(objectId, imtq::SetIds::CAL_MTM_SET)) {}
/** 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, this);
@ -427,11 +523,11 @@ class CalibratedMtmMeasurementSet : public StaticLocalDataSet<CAL_MTM_POOL_ENTRI
*/
class RawMtmMeasurementSet : public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
public:
RawMtmMeasurementSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, IMTQ::SetIds::RAW_MGM) {}
RawMtmMeasurementSet(HasLocalDataPoolIF* owner, uint32_t setId)
: StaticLocalDataSet(owner, setId) {}
RawMtmMeasurementSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::RAW_MGM)) {}
RawMtmMeasurementSet(object_id_t objectId, uint32_t setId)
: StaticLocalDataSet(sid_t(objectId, setId)) {}
/** The unit of all measurements is nT */
lp_vec_t<float, 3> mtmRawNt = lp_vec_t<float, 3>(sid.objectId, MTM_RAW, this);
@ -440,6 +536,21 @@ class RawMtmMeasurementSet : public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
lp_var_t<uint8_t>(sid.objectId, ACTUATION_RAW_STATUS, this);
};
class RawMtmMeasurementNoTorque : public RawMtmMeasurementSet {
public:
RawMtmMeasurementNoTorque(HasLocalDataPoolIF* owner)
: RawMtmMeasurementSet(owner, imtq::SetIds::RAW_MTM_NO_TORQUE) {}
RawMtmMeasurementNoTorque(object_id_t objectId)
: RawMtmMeasurementSet(objectId, imtq::SetIds::RAW_MTM_NO_TORQUE) {}
};
class RawMtmMeasurementWithTorque : public RawMtmMeasurementSet {
public:
RawMtmMeasurementWithTorque(HasLocalDataPoolIF* owner)
: RawMtmMeasurementSet(owner, imtq::SetIds::RAW_MTM_WITH_TORQUE) {}
RawMtmMeasurementWithTorque(object_id_t objectId)
: RawMtmMeasurementSet(objectId, imtq::SetIds::RAW_MTM_WITH_TORQUE) {}
};
/**
* @brief This class can be used to ease the generation of an action message commanding the
* IMTQHandler to configure the magnettorquer with the desired dipoles.
@ -482,9 +593,9 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
public:
DipoleActuationSet(HasLocalDataPoolIF& owner)
: StaticLocalDataSet(&owner, IMTQ::SetIds::DIPOLES) {}
: StaticLocalDataSet(&owner, imtq::SetIds::DIPOLES) {}
DipoleActuationSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::DIPOLES)) {}
: StaticLocalDataSet(sid_t(objectId, imtq::SetIds::DIPOLES)) {}
// Refresh torque command without changing any of the set dipoles.
void refreshTorqueing(uint16_t durationMs_) { currentTorqueDurationMs = durationMs_; }
@ -534,10 +645,10 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
class PosXSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
public:
PosXSelfTestSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, IMTQ::SetIds::POS_X_TEST) {}
: StaticLocalDataSet(owner, imtq::SetIds::POSITIVE_X_TEST) {}
PosXSelfTestSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::POS_X_TEST)) {}
: StaticLocalDataSet(sid_t(objectId, imtq::SetIds::POSITIVE_X_TEST)) {}
/** INIT block */
lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_POS_X_ERR, this);
@ -611,10 +722,10 @@ class PosXSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
class NegXSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
public:
NegXSelfTestSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, IMTQ::SetIds::NEG_X_TEST) {}
: StaticLocalDataSet(owner, imtq::SetIds::NEGATIVE_X_TEST) {}
NegXSelfTestSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::NEG_X_TEST)) {}
: StaticLocalDataSet(sid_t(objectId, imtq::SetIds::NEGATIVE_X_TEST)) {}
/** INIT block */
lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_NEG_X_ERR, this);
@ -688,10 +799,10 @@ class NegXSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
class PosYSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
public:
PosYSelfTestSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, IMTQ::SetIds::POS_Y_TEST) {}
: StaticLocalDataSet(owner, imtq::SetIds::POSITIVE_Y_TEST) {}
PosYSelfTestSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::POS_Y_TEST)) {}
: StaticLocalDataSet(sid_t(objectId, imtq::SetIds::POSITIVE_Y_TEST)) {}
/** INIT block */
lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_POS_Y_ERR, this);
@ -765,10 +876,10 @@ class PosYSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
class NegYSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
public:
NegYSelfTestSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, IMTQ::SetIds::NEG_Y_TEST) {}
: StaticLocalDataSet(owner, imtq::SetIds::NEGATIVE_Y_TEST) {}
NegYSelfTestSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::NEG_Y_TEST)) {}
: StaticLocalDataSet(sid_t(objectId, imtq::SetIds::NEGATIVE_Y_TEST)) {}
/** INIT block */
lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_NEG_Y_ERR, this);
@ -842,10 +953,10 @@ class NegYSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
class PosZSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
public:
PosZSelfTestSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, IMTQ::SetIds::POS_Z_TEST) {}
: StaticLocalDataSet(owner, imtq::SetIds::POSITIVE_Z_TEST) {}
PosZSelfTestSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::POS_Z_TEST)) {}
: StaticLocalDataSet(sid_t(objectId, imtq::SetIds::POSITIVE_Y_TEST)) {}
/** INIT block */
lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_POS_Z_ERR, this);
@ -919,10 +1030,10 @@ class PosZSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
class NegZSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
public:
NegZSelfTestSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, IMTQ::SetIds::NEG_Z_TEST) {}
: StaticLocalDataSet(owner, imtq::SetIds::NEGATIVE_Z_TEST) {}
NegZSelfTestSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::NEG_Z_TEST)) {}
: StaticLocalDataSet(sid_t(objectId, imtq::SetIds::NEGATIVE_Z_TEST)) {}
/** INIT block */
lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_NEG_Z_ERR, this);
@ -979,6 +1090,153 @@ class NegZSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
lp_var_t<int16_t>(sid.objectId, FINA_NEG_Z_COIL_Z_TEMPERATURE, this);
};
} // namespace IMTQ
} // namespace imtq
struct ImtqRequest {
friend class ImtqHandler;
public:
static constexpr size_t REQUEST_LEN = 10;
ImtqRequest(const uint8_t* data, size_t maxSize)
: rawData(const_cast<uint8_t*>(data)), maxSize(maxSize) {}
imtq::RequestType getRequestType() const { return static_cast<imtq::RequestType>(rawData[0]); }
void setMeasureRequest(imtq::SpecialRequest specialRequest) {
rawData[0] = static_cast<uint8_t>(imtq::RequestType::MEASURE);
rawData[1] = static_cast<uint8_t>(specialRequest);
}
void setActuateRequest(int16_t dipoleX, int16_t dipoleY, int16_t dipoleZ,
uint16_t torqueDuration) {
size_t dummy = 0;
rawData[0] = static_cast<uint8_t>(imtq::RequestType::ACTUATE);
rawData[1] = static_cast<uint8_t>(imtq::SpecialRequest::NONE);
uint8_t* serPtr = rawData + 2;
SerializeAdapter::serialize(&dipoleX, &serPtr, &dummy, maxSize,
SerializeIF::Endianness::MACHINE);
SerializeAdapter::serialize(&dipoleY, &serPtr, &dummy, maxSize,
SerializeIF::Endianness::MACHINE);
SerializeAdapter::serialize(&dipoleZ, &serPtr, &dummy, maxSize,
SerializeIF::Endianness::MACHINE);
SerializeAdapter::serialize(&torqueDuration, &serPtr, &dummy, maxSize,
SerializeIF::Endianness::MACHINE);
}
uint8_t* startOfActuateDataPtr() { return rawData + 2; }
int16_t* getDipoles() { return reinterpret_cast<int16_t*>(rawData + 2); }
uint16_t getTorqueDuration() {
uint8_t* data = rawData + 2 + 6;
uint16_t value;
size_t dummy = 0;
SerializeAdapter::deSerialize(&value, data, &dummy, SerializeIF::Endianness::MACHINE);
return value;
}
void setSpecialRequest(imtq::SpecialRequest specialRequest) {
rawData[1] = static_cast<uint8_t>(specialRequest);
}
imtq::SpecialRequest getSpecialRequest() const {
return static_cast<imtq::SpecialRequest>(rawData[1]);
}
private:
ImtqRequest(uint8_t* rawData, size_t maxLen) : rawData(rawData) {
if (rawData != nullptr) {
rawData[0] = static_cast<uint8_t>(imtq::RequestType::MEASURE);
}
}
uint8_t* rawData;
size_t maxSize = 0;
};
struct ImtqRepliesDefault {
friend class ImtqPollingTask;
public:
static constexpr size_t BASE_LEN =
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();
}
uint8_t* getCalibMgmMeasurement() const { return calibMgmMeasurement + 1; }
bool wasCalibMgmMeasurementRead() const { return calibMgmMeasurement[0]; };
uint8_t* getEngHk() const { return engHk + 1; }
bool wasEngHkRead() const { return engHk[0]; };
uint8_t* getRawMgmMeasurement() const { return rawMgmMeasurement + 1; }
bool wasGetRawMgmMeasurementRead() const { return rawMgmMeasurement[0]; };
uint8_t* getSpecialRequest() const { return specialRequestReply + 1; }
bool wasSpecialRequestRead() const { return specialRequestReply[0]; }
uint8_t* getStartMtmMeasurement() const { return startMtmMeasurement + 1; }
bool wasStartMtmMeasurementRead() const { return startMtmMeasurement[0]; }
uint8_t* getSwReset() const { return swReset + 1; }
uint8_t* getSystemState() const { return systemState + 1; }
bool wasGetSystemStateRead() const { return systemState[0]; }
private:
void initPointers() {
swReset = rawData;
systemState = swReset + imtq::replySize::DEFAULT_MIN_LEN + 1;
startMtmMeasurement = systemState + imtq::replySize::SYSTEM_STATE + 1;
rawMgmMeasurement = startMtmMeasurement + imtq::replySize::DEFAULT_MIN_LEN + 1;
engHk = rawMgmMeasurement + imtq::replySize::RAW_MTM_MEASUREMENT + 1;
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;
uint8_t* startMtmMeasurement;
uint8_t* rawMgmMeasurement;
uint8_t* engHk;
uint8_t* calibMgmMeasurement;
// Share this to reduce amount of copied code for each transfer.
uint8_t* specialRequestReply;
};
struct ImtqRepliesWithTorque {
friend class ImtqPollingTask;
public:
static constexpr size_t BASE_LEN =
imtq::replySize::DEFAULT_MIN_LEN + 1 + imtq::replySize::ENG_HK_DATA_REPLY + 1 +
imtq::replySize::DEFAULT_MIN_LEN + 1 + imtq::replySize::RAW_MTM_MEASUREMENT + 1;
ImtqRepliesWithTorque(const uint8_t* rawData) : rawData(const_cast<uint8_t*>(rawData)) {
initPointers();
}
uint8_t* getDipoleActuation() const { return dipoleActuation + 1; }
bool wasDipoleActuationRead() const { return dipoleActuation[0]; }
uint8_t* getEngHk() const { return engHk + 1; }
bool wasEngHkRead() const { return engHk[0]; };
uint8_t* getRawMgmMeasurement() const { return rawMgmMeasurement + 1; }
bool wasGetRawMgmMeasurementRead() const { return rawMgmMeasurement[0]; };
private:
void initPointers() {
dipoleActuation = rawData;
engHk = dipoleActuation + imtq::replySize::DEFAULT_MIN_LEN + 1;
startMtmMeasurement = engHk + imtq::replySize::ENG_HK_DATA_REPLY + 1;
rawMgmMeasurement = startMtmMeasurement + imtq::replySize::DEFAULT_MIN_LEN + 1;
}
uint8_t* rawData;
uint8_t* dipoleActuation;
uint8_t* engHk;
uint8_t* startMtmMeasurement;
uint8_t* rawMgmMeasurement;
};
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_ */

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tmtc

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Subproject commit 201e08afe13777ef06d0da1cd3a58ba087ea04df
Subproject commit fbf507b2a893f3db4d95f3694190b6d62f513aa8