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This commit is contained in:
Robin Müller
2023-02-19 12:25:26 +01:00
parent a2cb348ee3
commit b1d56eb299
20 changed files with 1449 additions and 849 deletions
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76
mission/devices/ImtqHandler.h
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@ -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.
*