eive/eive-obsw
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positive x axis self test, untested

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This commit is contained in:
Jakob Meier 2021-06-11 11:53:43 +02:00
parent 95a3882fa1
commit b84a81556f
3 changed files with 425 additions and 644 deletions
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639
mission/devices/IMTQHandler.cpp
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@ -7,7 +7,7 @@
IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) : IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
DeviceHandlerBase(objectId, comIF, comCookie), engHkDataset(this), calMtmMeasurementSet( DeviceHandlerBase(objectId, comIF, comCookie), engHkDataset(this), calMtmMeasurementSet(
this), rawMtmMeasurementSet(this), selfTestDataset(this) { this), rawMtmMeasurementSet(this), posXselfTestDataset(this) {
if (comCookie == NULL) { if (comCookie == NULL) {
sif::error << "IMTQHandler: Invalid com cookie" << std::endl; sif::error << "IMTQHandler: Invalid com cookie" << std::endl;
} }
@ -18,14 +18,11 @@ IMTQHandler::~IMTQHandler() {
void IMTQHandler::doStartUp(){ void IMTQHandler::doStartUp(){
if(selfTestPerformed == true){
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1 #if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL); setMode(MODE_NORMAL);
#else #else
setMode(_MODE_TO_ON); setMode(_MODE_TO_ON);
#endif #endif
selfTestPerformed = false;
}
} }
void IMTQHandler::doShutDown(){ void IMTQHandler::doShutDown(){
@ -61,31 +58,16 @@ ReturnValue_t IMTQHandler::buildNormalDeviceCommand(
ReturnValue_t IMTQHandler::buildTransitionDeviceCommand( ReturnValue_t IMTQHandler::buildTransitionDeviceCommand(
DeviceCommandId_t * id){ DeviceCommandId_t * id){
if (mode == _MODE_START_UP) { return RETURN_OK;
switch (startupStep) {
case StartupStep::COMMAND_SELF_TEST:
*id = IMTQ::SELF_TEST_CMD;
startupStep = StartupStep::GET_SELF_TEST_RESULT;
break;
case StartupStep::GET_SELF_TEST_RESULT:
*id = IMTQ::GET_SELF_TEST_RESULT;
startupStep = StartupStep::NONE;
break;
default:
sif::debug << "IMTQHandler::buildTransitionDeviceCommand: Unknown startup step"
<< std::endl;
}
}
return buildCommandFromCommand(*id, nullptr, 0);;
} }
ReturnValue_t IMTQHandler::buildCommandFromCommand( ReturnValue_t IMTQHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t * commandData, DeviceCommandId_t deviceCommand, const uint8_t * commandData,
size_t commandDataLen) { size_t commandDataLen) {
switch(deviceCommand) { switch(deviceCommand) {
case(IMTQ::SELF_TEST_CMD): { case(IMTQ::POS_X_SELF_TEST): {
commandBuffer[0] = IMTQ::CC::SELF_TEST_CMD; commandBuffer[0] = IMTQ::CC::SELF_TEST_CMD;
commandBuffer[1] = IMTQ::SELF_TEST_AXIS::ALL; commandBuffer[1] = IMTQ::SELF_TEST_AXIS::X_POSITIVE;
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = 2; rawPacketLen = 2;
return RETURN_OK; return RETURN_OK;
@ -148,7 +130,17 @@ ReturnValue_t IMTQHandler::buildCommandFromCommand(
} }
void IMTQHandler::fillCommandAndReplyMap() { void IMTQHandler::fillCommandAndReplyMap() {
this->insertInCommandAndReplyMap(IMTQ::SELF_TEST_CMD, 1, nullptr, this->insertInCommandAndReplyMap(IMTQ::POS_X_SELF_TEST, 1, nullptr,
IMTQ::SIZE_STATUS_REPLY);
this->insertInCommandAndReplyMap(IMTQ::NEG_X_SELF_TEST, 1, nullptr,
IMTQ::SIZE_STATUS_REPLY);
this->insertInCommandAndReplyMap(IMTQ::POS_Y_SELF_TEST, 1, nullptr,
IMTQ::SIZE_STATUS_REPLY);
this->insertInCommandAndReplyMap(IMTQ::NEG_Y_SELF_TEST, 1, nullptr,
IMTQ::SIZE_STATUS_REPLY);
this->insertInCommandAndReplyMap(IMTQ::POS_Z_SELF_TEST, 1, nullptr,
IMTQ::SIZE_STATUS_REPLY);
this->insertInCommandAndReplyMap(IMTQ::NEG_Z_SELF_TEST, 1, nullptr,
IMTQ::SIZE_STATUS_REPLY); IMTQ::SIZE_STATUS_REPLY);
this->insertInCommandAndReplyMap(IMTQ::GET_SELF_TEST_RESULT, 1, nullptr, this->insertInCommandAndReplyMap(IMTQ::GET_SELF_TEST_RESULT, 1, nullptr,
IMTQ::SIZE_SELF_TEST_RESULTS); IMTQ::SIZE_SELF_TEST_RESULTS);
@ -198,7 +190,7 @@ ReturnValue_t IMTQHandler::scanForReply(const uint8_t *start,
break; break;
case(IMTQ::CC::SELF_TEST_CMD): case(IMTQ::CC::SELF_TEST_CMD):
*foundLen = IMTQ::SIZE_STATUS_REPLY; *foundLen = IMTQ::SIZE_STATUS_REPLY;
*foundId = IMTQ::SELF_TEST_CMD; result = getSelfTestCommandId(foundId);
break; break;
case(IMTQ::CC::GET_SELF_TEST_RESULT): case(IMTQ::CC::GET_SELF_TEST_RESULT):
*foundLen = IMTQ::SIZE_SELF_TEST_RESULTS; *foundLen = IMTQ::SIZE_SELF_TEST_RESULTS;
@ -225,7 +217,12 @@ ReturnValue_t IMTQHandler::interpretDeviceReply(DeviceCommandId_t id,
} }
switch (id) { switch (id) {
case (IMTQ::SELF_TEST_CMD): case (IMTQ::POS_X_SELF_TEST):
case (IMTQ::NEG_X_SELF_TEST):
case (IMTQ::POS_Y_SELF_TEST):
case (IMTQ::NEG_Y_SELF_TEST):
case (IMTQ::POS_Z_SELF_TEST):
case (IMTQ::NEG_Z_SELF_TEST):
case (IMTQ::START_ACTUATION_DIPOLE): case (IMTQ::START_ACTUATION_DIPOLE):
case (IMTQ::START_MTM_MEASUREMENT): case (IMTQ::START_MTM_MEASUREMENT):
/* Replies only the status byte which is already handled with parseStatusByte */ /* Replies only the status byte which is already handled with parseStatusByte */
@ -290,20 +287,20 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat
localDataPoolMap.emplace(IMTQ::MTM_RAW_Z, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(IMTQ::MTM_RAW_Z, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(IMTQ::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>( { 0 })); localDataPoolMap.emplace(IMTQ::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>( { 0 }));
/** Entries of dataset for self test results */ /** Entries of dataset for self test results of positive X axis test */
localDataPoolMap.emplace(IMTQ::INIT_ERR, new PoolEntry<uint8_t>( { 0 })); localDataPoolMap.emplace(IMTQ::INIT_POS_X_ERR, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::INIT_RAW_MAG_X, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(IMTQ::INIT_POS_X_RAW_MAG_X, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::INIT_RAW_MAG_Y, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(IMTQ::INIT_POS_X_RAW_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::INIT_RAW_MAG_Z, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(IMTQ::INIT_POS_X_RAW_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::INIT_CAL_MAG_X, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(IMTQ::INIT_POS_X_CAL_MAG_X, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::INIT_CAL_MAG_Y, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(IMTQ::INIT_POS_X_CAL_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::INIT_CAL_MAG_Z, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(IMTQ::INIT_POS_X_CAL_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::INIT_COIL_X_CURRENT, new PoolEntry<uint16_t>( { 0 })); localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_X_CURRENT, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::INIT_COIL_Y_CURRENT, new PoolEntry<uint16_t>( { 0 })); localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Y_CURRENT, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::INIT_COIL_Z_CURRENT, new PoolEntry<uint16_t>( { 0 })); localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Z_CURRENT, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::INIT_COIL_X_TEMPERATURE, new PoolEntry<uint16_t>( { 0 })); localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_X_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::INIT_COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 })); localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::INIT_COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 })); localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::POS_X_ERR, new PoolEntry<uint8_t>( { 0 })); localDataPoolMap.emplace(IMTQ::POS_X_ERR, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::POS_X_RAW_MAG_X, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(IMTQ::POS_X_RAW_MAG_X, new PoolEntry<uint32_t>( { 0 }));
@ -319,6 +316,20 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat
localDataPoolMap.emplace(IMTQ::POS_X_COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 })); localDataPoolMap.emplace(IMTQ::POS_X_COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::POS_X_COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 })); localDataPoolMap.emplace(IMTQ::POS_X_COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::INIT_POS_X_ERR, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_X, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_X, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_X_CURRENT, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Y_CURRENT, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Z_CURRENT, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_X_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::NEG_X_ERR, new PoolEntry<uint8_t>( { 0 })); localDataPoolMap.emplace(IMTQ::NEG_X_ERR, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::NEG_X_RAW_MAG_X, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(IMTQ::NEG_X_RAW_MAG_X, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::NEG_X_RAW_MAG_Y, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(IMTQ::NEG_X_RAW_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
@ -389,23 +400,28 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat
localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 })); localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 })); localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_ERR, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_RAW_MAG_X, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_RAW_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_RAW_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_CAL_MAG_X, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_CAL_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_CAL_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_COIL_X_CURRENT, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_COIL_Y_CURRENT, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_COIL_Z_CURRENT, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_COIL_X_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::FINA_COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t IMTQHandler::getSelfTestCommandId(DeviceCommandId_t* id) {
DeviceCommandId_t commandId = getPendingCommand();
switch(commandId) {
case IMTQ::POS_X_SELF_TEST:
case IMTQ::NEG_X_SELF_TEST:
case IMTQ::POS_Y_SELF_TEST:
case IMTQ::NEG_Y_SELF_TEST:
case IMTQ::POS_Z_SELF_TEST:
case IMTQ::NEG_Z_SELF_TEST:
*id = commandId;
break;
default:
sif::error << "IMTQHandler::getSelfTestCommandId: Reply does not match to pending "
<< "command" << std::endl;
return UNEXPECTED_SELF_TEST_REPLY;
}
return RETURN_OK;
}
ReturnValue_t IMTQHandler::parseStatusByte(const uint8_t* packet) { ReturnValue_t IMTQHandler::parseStatusByte(const uint8_t* packet) {
uint8_t cmdErrorField = *(packet + 1) & 0xF; uint8_t cmdErrorField = *(packet + 1) & 0xF;
switch (cmdErrorField) { switch (cmdErrorField) {
@ -575,506 +591,209 @@ void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) {
} }
void IMTQHandler::handleSelfTestReply(const uint8_t* packet) { void IMTQHandler::handleSelfTestReply(const uint8_t* packet) {
PoolReadGuard rg(&selfTestDataset); uint16_t offset = 2;
/** Init measurements */
int8_t offset = 2;
checkErrorByte(*(packet + offset), *(packet + offset + 1)); checkErrorByte(*(packet + offset), *(packet + offset + 1));
selfTestDataset.initErr = *(packet + offset);
switch(*(packet + IMTQ::MAIN_STEP_OFFSET)) {
case IMTQ::SELF_TEST_STEPS::X_POSITIVE: {
handlePositiveXSelfTestReply(packet);
break;
}
default:
break;
}
}
void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) {
PoolReadGuard rg(&posXselfTestDataset);
uint16_t offset = 2;
/** Init measurements */
posXselfTestDataset.initErr = *(packet + offset);
offset += 2; // STEP byte will not be stored offset += 2; // STEP byte will not be stored
selfTestDataset.initRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 posXselfTestDataset.initRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset); | *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4; offset += 4;
selfTestDataset.initRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 posXselfTestDataset.initRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset); | *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4; offset += 4;
selfTestDataset.initRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 posXselfTestDataset.initRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset); | *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4; offset += 4;
selfTestDataset.initCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 posXselfTestDataset.initCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset); | *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4; offset += 4;
selfTestDataset.initCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 posXselfTestDataset.initCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset); | *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4; offset += 4;
selfTestDataset.initCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 posXselfTestDataset.initCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset); | *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4; offset += 4;
selfTestDataset.initCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); posXselfTestDataset.initCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2; offset += 2;
selfTestDataset.initCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); posXselfTestDataset.initCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2; offset += 2;
selfTestDataset.initCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); posXselfTestDataset.initCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2; offset += 2;
selfTestDataset.initCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); posXselfTestDataset.initCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2; offset += 2;
selfTestDataset.initCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); posXselfTestDataset.initCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2; offset += 2;
selfTestDataset.initCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); posXselfTestDataset.initCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4; offset += 4;
/** +X measurements */ /** +X measurements */
checkErrorByte(*(packet + offset), *(packet + offset + 1)); checkErrorByte(*(packet + offset), *(packet + offset + 1));
selfTestDataset.posXErr = *(packet + offset); posXselfTestDataset.err = *(packet + offset);
offset += 2; // STEP byte will not be stored offset += 2; // STEP byte will not be stored
selfTestDataset.posXRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 posXselfTestDataset.rawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset); | *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4; offset += 4;
selfTestDataset.posXRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 posXselfTestDataset.rawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset); | *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4; offset += 4;
selfTestDataset.posXRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 posXselfTestDataset.rawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset); | *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4; offset += 4;
selfTestDataset.posXCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 posXselfTestDataset.calMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset); | *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4; offset += 4;
selfTestDataset.posXCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 posXselfTestDataset.calMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset); | *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4; offset += 4;
selfTestDataset.posXCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 posXselfTestDataset.calMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset); | *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4; offset += 4;
selfTestDataset.posXCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); posXselfTestDataset.coilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2; offset += 2;
selfTestDataset.posXCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); posXselfTestDataset.coilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2; offset += 2;
selfTestDataset.posXCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); posXselfTestDataset.coilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2; offset += 2;
selfTestDataset.posXCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); posXselfTestDataset.coilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2; offset += 2;
selfTestDataset.posXCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); posXselfTestDataset.coilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2; offset += 2;
selfTestDataset.posXCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); posXselfTestDataset.coilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
/** -X measurements */
checkErrorByte(*(packet + offset), *(packet + offset + 1));
selfTestDataset.negXErr = *(packet + offset);
offset += 2; // STEP byte will not be stored
selfTestDataset.negXRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.negXRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.negXRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.negXCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.negXCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.negXCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.negXCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.negXCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.negXCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.negXCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.negXCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.negXCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
/** +Y measurements */
checkErrorByte(*(packet + offset), *(packet + offset + 1));
selfTestDataset.posYErr = *(packet + offset);
offset += 2; // STEP byte will not be stored
selfTestDataset.posYRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.posYRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.posYRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.posYCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.posYCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.posYCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.posYCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.posYCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.posYCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.posYCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.posYCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.posYCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
/** -Y measurements */
checkErrorByte(*(packet + offset), *(packet + offset + 1));
selfTestDataset.negYErr = *(packet + offset);
offset += 2; // STEP byte will not be stored
selfTestDataset.negYRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.negYRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.negYRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.negYCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.negYCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.negYCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.negYCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.negYCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.negYCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.negYCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.negYCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.negYCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
/** +Z measurements */
selfTestDataset.posZErr = *(packet + offset);
offset += 2; // STEP byte will not be stored
selfTestDataset.posZRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.posZRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.posZRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.posZCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.posZCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.posZCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.posZCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.posZCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.posZCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.posZCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.posZCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.posZCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
/** -Z measurements */
selfTestDataset.negZErr = *(packet + offset);
offset += 2; // STEP byte will not be stored
selfTestDataset.negZRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.negZRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.negZRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.negZCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.negZCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.negZCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
selfTestDataset.negZCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.negZCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.negZCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.negZCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.negZCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
selfTestDataset.negZCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4; offset += 4;
/** FINA measurements */ /** FINA measurements */
selfTestDataset.finaErr = *(packet + offset); checkErrorByte(*(packet + offset), *(packet + offset + 1));
posXselfTestDataset.finaErr = *(packet + offset);
offset += 2; // STEP byte will not be stored offset += 2; // STEP byte will not be stored
selfTestDataset.finaRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 posXselfTestDataset.finaRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset); | *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4; offset += 4;
selfTestDataset.finaRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 posXselfTestDataset.finaRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset); | *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4; offset += 4;
selfTestDataset.finaRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 posXselfTestDataset.finaRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset); | *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4; offset += 4;
selfTestDataset.finaCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 posXselfTestDataset.finaCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset); | *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4; offset += 4;
selfTestDataset.finaCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 posXselfTestDataset.finaCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset); | *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4; offset += 4;
selfTestDataset.finaCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 posXselfTestDataset.finaCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset); | *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4; offset += 4;
selfTestDataset.finaCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset); posXselfTestDataset.finaCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2; offset += 2;
selfTestDataset.finaCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset); posXselfTestDataset.finaCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2; offset += 2;
selfTestDataset.finaCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset); posXselfTestDataset.finaCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2; offset += 2;
selfTestDataset.finaCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset); posXselfTestDataset.finaCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2; offset += 2;
selfTestDataset.finaCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset); posXselfTestDataset.finaCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2; offset += 2;
selfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset); posXselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4; offset += 4;
#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1 #if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1
sif::info << "IMTQ self test (INIT) err: " sif::info << "IMTQ self test (INIT) err: "
<< static_cast<unsigned int>(selfTestDataset.initErr.value) << std::endl; << static_cast<unsigned int>(posXselfTestDataset.initErr.value) << std::endl;
sif::info << "IMTQ self test (INIT) raw magnetic field X: " << selfTestDataset.initRawMagX sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posXselfTestDataset.initRawMagX
<< " 7.5 * 10^-9 T" << std::endl; << " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << selfTestDataset.initRawMagY sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << posXselfTestDataset.initRawMagY
<< " 7.5 * 10^-9 T" << std::endl; << " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << selfTestDataset.initRawMagZ sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << posXselfTestDataset.initRawMagZ
<< " 7.5 * 10^-9 T" << std::endl; << " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (INIT) calibrated magnetic field X: " << selfTestDataset.initCalMagX sif::info << "IMTQ self test (INIT) calibrated magnetic field X: " << posXselfTestDataset.initCalMagX
<< " 10^-9 T" << std::endl; << " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: " << selfTestDataset.initCalMagY sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: " << posXselfTestDataset.initCalMagY
<< " 10^-9 T" << std::endl; << " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: " << selfTestDataset.initCalMagZ sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: " << posXselfTestDataset.initCalMagZ
<< " 10^-9 T" << std::endl; << " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (INIT) coil X current: " << selfTestDataset.initCoilXCurrent sif::info << "IMTQ self test (INIT) coil X current: " << posXselfTestDataset.initCoilXCurrent
<< " 10^-4 A" << std::endl; << " * 10^-4 A" << std::endl;
sif::info << "IMTQ self test (INIT) coil Y current: " << selfTestDataset.initCoilYCurrent sif::info << "IMTQ self test (INIT) coil Y current: " << posXselfTestDataset.initCoilYCurrent
<< " 10^-4 A" << std::endl; << " * 10^-4 A" << std::endl;
sif::info << "IMTQ self test (INIT) coil Z current: " << selfTestDataset.initCoilZCurrent sif::info << "IMTQ self test (INIT) coil Z current: " << posXselfTestDataset.initCoilZCurrent
<< " 10^-4 A" << std::endl; << " * 10^-4 A" << std::endl;
sif::info << "IMTQ self test (INIT) coil X temperature: " sif::info << "IMTQ self test (INIT) coil X temperature: "
<< selfTestDataset.initCoilXTemperature << " °C" << std::endl; << posXselfTestDataset.initCoilXTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (INIT) coil Y temperature: " sif::info << "IMTQ self test (INIT) coil Y temperature: "
<< selfTestDataset.initCoilYTemperature << " °C" << std::endl; << posXselfTestDataset.initCoilYTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (INIT) coil Z temperature: " sif::info << "IMTQ self test (INIT) coil Z temperature: "
<< selfTestDataset.initCoilZTemperature << " °C" << std::endl; << posXselfTestDataset.initCoilZTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (+X) err: " << sif::info << "IMTQ self test (+X) err: " <<
static_cast<unsigned int>(selfTestDataset.posXErr.value) << std::endl; static_cast<unsigned int>(posXselfTestDataset.err.value) << std::endl;
sif::info << "IMTQ self test (+X) raw magnetic field X: " << selfTestDataset.posXRawMagX sif::info << "IMTQ self test (+X) raw magnetic field X: " << posXselfTestDataset.rawMagX
<< " 7.5 * 10^-9 T" << std::endl; << " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (+X) raw magnetic field Y: " << selfTestDataset.posXRawMagY sif::info << "IMTQ self test (+X) raw magnetic field Y: " << posXselfTestDataset.rawMagY
<< " 7.5 * 10^-9 T" << std::endl; << " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (+X) raw magnetic field Z: " << selfTestDataset.posXRawMagZ sif::info << "IMTQ self test (+X) raw magnetic field Z: " << posXselfTestDataset.rawMagZ
<< " 7.5 * 10^-9 T" << std::endl; << " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (+X) calibrated magnetic field X: " << selfTestDataset.posXCalMagX sif::info << "IMTQ self test (+X) calibrated magnetic field X: " << posXselfTestDataset.calMagX
<< " 10^-9 T" << std::endl; << " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (+X) calibrated magnetic field Y: " << selfTestDataset.posXCalMagY sif::info << "IMTQ self test (+X) calibrated magnetic field Y: " << posXselfTestDataset.calMagY
<< " 10^-9 T" << std::endl; << " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (+X) calibrated magnetic field Z: " << selfTestDataset.posXCalMagZ sif::info << "IMTQ self test (+X) calibrated magnetic field Z: " << posXselfTestDataset.calMagZ
<< " 10^-9 T" << std::endl; << " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (+X) coil X current: " << selfTestDataset.posXCoilXCurrent sif::info << "IMTQ self test (+X) coil X current: " << posXselfTestDataset.coilXCurrent
<< " 10^-4 A" << std::endl; << " * 10^-4 A" << std::endl;
sif::info << "IMTQ self test (+X) coil Y current: " << selfTestDataset.posXCoilYCurrent sif::info << "IMTQ self test (+X) coil Y current: " << posXselfTestDataset.coilYCurrent
<< " 10^-4 A" << std::endl; << " * 10^-4 A" << std::endl;
sif::info << "IMTQ self test (+X) coil Z current: " << selfTestDataset.initCoilZCurrent sif::info << "IMTQ self test (+X) coil Z current: " << posXselfTestDataset.coilZCurrent
<< " 10^-4 A" << std::endl; << " * 10^-4 A" << std::endl;
sif::info << "IMTQ self test (+X) coil X temperature: " sif::info << "IMTQ self test (+X) coil X temperature: "
<< selfTestDataset.posXCoilXTemperature << " °C" << std::endl; << posXselfTestDataset.coilXTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (+X) coil Y temperature: " sif::info << "IMTQ self test (+X) coil Y temperature: "
<< selfTestDataset.posXCoilYTemperature << " °C" << std::endl; << posXselfTestDataset.coilYTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (+X) coil Z temperature: " sif::info << "IMTQ self test (+X) coil Z temperature: "
<< selfTestDataset.posXCoilZTemperature << " °C" << std::endl; << posXselfTestDataset.coilZTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (-X) err: "
<< static_cast<unsigned int>(selfTestDataset.negXErr.value) << std::endl;
sif::info << "IMTQ self test (-X) raw magnetic field X: " << selfTestDataset.negXRawMagX
<< " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (-X) raw magnetic field Y: " << selfTestDataset.negXRawMagY
<< " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (-X) raw magnetic field Z: " << selfTestDataset.negXRawMagZ
<< " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (-X) calibrated magnetic field X: " << selfTestDataset.negXCalMagX
<< " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (-X) calibrated magnetic field Y: " << selfTestDataset.negXCalMagY
<< " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (-X) calibrated magnetic field Z: " << selfTestDataset.negXCalMagZ
<< " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (-X) coil X current: " << selfTestDataset.negXCoilXCurrent
<< " 10^-4 A" << std::endl;
sif::info << "IMTQ self test (-X) coil Y current: " << selfTestDataset.negXCoilYCurrent
<< " 10^-4 A" << std::endl;
sif::info << "IMTQ self test (-X) coil Z current: " << selfTestDataset.negXCoilZCurrent
<< " 10^-4 A" << std::endl;
sif::info << "IMTQ self test (-X) coil X temperature: "
<< selfTestDataset.negXCoilXTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (-X) coil Y temperature: "
<< selfTestDataset.negXCoilYTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (-X) coil Z temperature: "
<< selfTestDataset.negXCoilZTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (+Y) err: "
<< static_cast<unsigned int>(selfTestDataset.posYErr.value) << std::endl;
sif::info << "IMTQ self test (+Y) raw magnetic field X: " << selfTestDataset.posYRawMagX
<< " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (+Y) raw magnetic field Y: " << selfTestDataset.posYRawMagY
<< " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (+Y) raw magnetic field Z: " << selfTestDataset.posYRawMagZ
<< " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (+Y) calibrated magnetic field X: " << selfTestDataset.posYCalMagX
<< " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (+Y) calibrated magnetic field Y: " << selfTestDataset.posYCalMagY
<< " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (+Y) calibrated magnetic field Z: " << selfTestDataset.posYCalMagZ
<< " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (+Y) coil X current: " << selfTestDataset.posYCoilXCurrent
<< " 10^-4 A" << std::endl;
sif::info << "IMTQ self test (+Y) coil Y current: " << selfTestDataset.posYCoilYCurrent
<< " 10^-4 A" << std::endl;
sif::info << "IMTQ self test (+Y) coil Z current: " << selfTestDataset.posYCoilZCurrent
<< " 10^-4 A" << std::endl;
sif::info << "IMTQ self test (+Y) coil X temperature: "
<< selfTestDataset.posYCoilXTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (+Y) coil Y temperature: "
<< selfTestDataset.posYCoilYTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (+Y) coil Z temperature: "
<< selfTestDataset.posYCoilZTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (-Y) err: "
<< static_cast<unsigned int>(selfTestDataset.negYErr.value) << std::endl;
sif::info << "IMTQ self test (-Y) raw magnetic field X: " << selfTestDataset.negYRawMagX
<< " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (-Y) raw magnetic field Y: " << selfTestDataset.negYRawMagY
<< " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (-Y) raw magnetic field Z: " << selfTestDataset.negYRawMagZ
<< " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (-Y) calibrated magnetic field X: " << selfTestDataset.negYCalMagX
<< " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (-Y) calibrated magnetic field Y: " << selfTestDataset.negYCalMagY
<< " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (-Y) calibrated magnetic field Z: " << selfTestDataset.negYCalMagZ
<< " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (-Y) coil X current: " << selfTestDataset.negYCoilXCurrent
<< " 10^-4 A" << std::endl;
sif::info << "IMTQ self test (-Y) coil Y current: " << selfTestDataset.negYCoilYCurrent
<< " 10^-4 A" << std::endl;
sif::info << "IMTQ self test (-Y) coil Z current: " << selfTestDataset.negYCoilZCurrent
<< " 10^-4 A" << std::endl;
sif::info << "IMTQ self test (-Y) coil X temperature: "
<< selfTestDataset.negYCoilXTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (-Y) coil Y temperature: "
<< selfTestDataset.negYCoilYTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (-Y) coil Z temperature: "
<< selfTestDataset.negYCoilZTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (+Z) err: "
<< static_cast<unsigned int>(selfTestDataset.posZErr.value) << std::endl;
sif::info << "IMTQ self test (+Z) raw magnetic field X: " << selfTestDataset.posZRawMagX
<< " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (+Z) raw magnetic field Y: " << selfTestDataset.posZRawMagY
<< " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (+Z) raw magnetic field Z: " << selfTestDataset.posZRawMagZ
<< " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (+Z) calibrated magnetic field X: " << selfTestDataset.posZCalMagX
<< " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (+Z) calibrated magnetic field Y: " << selfTestDataset.posZCalMagY
<< " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (+Z) calibrated magnetic field Z: " << selfTestDataset.posZCalMagZ
<< " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (+Z) coil X current: " << selfTestDataset.posZCoilXCurrent
<< " 10^-4 A" << std::endl;
sif::info << "IMTQ self test (+Z) coil Y current: " << selfTestDataset.posZCoilYCurrent
<< " 10^-4 A" << std::endl;
sif::info << "IMTQ self test (+Z) coil Z current: " << selfTestDataset.posZCoilZCurrent
<< " 10^-4 A" << std::endl;
sif::info << "IMTQ self test (+Z) coil X temperature: "
<< selfTestDataset.posZCoilXTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (+Z) coil Y temperature: "
<< selfTestDataset.posZCoilYTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (+Z) coil Z temperature: "
<< selfTestDataset.posZCoilZTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (-Z) err: "
<< static_cast<unsigned int>(selfTestDataset.negZErr.value) << std::endl;
sif::info << "IMTQ self test (-Z) raw magnetic field X: " << selfTestDataset.negZRawMagX
<< " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (-Z) raw magnetic field Y: " << selfTestDataset.negZRawMagY
<< " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (-Z) raw magnetic field Z: " << selfTestDataset.negZRawMagZ
<< " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (-Z) calibrated magnetic field X: " << selfTestDataset.negZCalMagX
<< " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (-Z) calibrated magnetic field Y: " << selfTestDataset.negZCalMagY
<< " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (-Z) calibrated magnetic field Z: " << selfTestDataset.negZCalMagZ
<< " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (-Z) coil X current: " << selfTestDataset.negZCoilXCurrent
<< " 10^-4 A" << std::endl;
sif::info << "IMTQ self test (-Z) coil Y current: " << selfTestDataset.negZCoilYCurrent
<< " 10^-4 A" << std::endl;
sif::info << "IMTQ self test (-Z) coil Z current: " << selfTestDataset.negZCoilZCurrent
<< " 10^-4 A" << std::endl;
sif::info << "IMTQ self test (-Z) coil X temperature: "
<< selfTestDataset.negZCoilXTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (-Z) coil Y temperature: "
<< selfTestDataset.negZCoilYTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (-Z) coil Z temperature: "
<< selfTestDataset.negZCoilZTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (FINA) err: " sif::info << "IMTQ self test (FINA) err: "
<< static_cast<unsigned int>(selfTestDataset.finaErr.value) << std::endl; << static_cast<unsigned int>(posXselfTestDataset.finaErr.value) << std::endl;
sif::info << "IMTQ self test (FINA) raw magnetic field X: " << selfTestDataset.finaRawMagX sif::info << "IMTQ self test (FINA) raw magnetic field X: " << posXselfTestDataset.finaRawMagX
<< " 7.5 * 10^-9 T" << std::endl; << " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << selfTestDataset.finaRawMagY sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << posXselfTestDataset.finaRawMagY
<< " 7.5 * 10^-9 T" << std::endl; << " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << selfTestDataset.finaRawMagZ sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << posXselfTestDataset.finaRawMagZ
<< " 7.5 * 10^-9 T" << std::endl; << " 7.5 * 10^-9 T" << std::endl;
sif::info << "IMTQ self test (FINA) calibrated magnetic field X: " << selfTestDataset.finaCalMagX sif::info << "IMTQ self test (FINA) calibrated magnetic field X: " << posXselfTestDataset.finaCalMagX
<< " 10^-9 T" << std::endl; << " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: " << selfTestDataset.finaCalMagY sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: " << posXselfTestDataset.finaCalMagY
<< " 10^-9 T" << std::endl; << " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: " << selfTestDataset.finaCalMagZ sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: " << posXselfTestDataset.finaCalMagZ
<< " 10^-9 T" << std::endl; << " 10^-9 T" << std::endl;
sif::info << "IMTQ self test (FINA) coil X current: " << selfTestDataset.finaCoilXCurrent sif::info << "IMTQ self test (FINA) coil X current: " << posXselfTestDataset.finaCoilXCurrent
<< " 10^-4 A" << std::endl; << " * 10^-4 A" << std::endl;
sif::info << "IMTQ self test (FINA) coil Y current: " << selfTestDataset.finaCoilYCurrent sif::info << "IMTQ self test (FINA) coil Y current: " << posXselfTestDataset.finaCoilYCurrent
<< " 10^-4 A" << std::endl; << " * 10^-4 A" << std::endl;
sif::info << "IMTQ self test (FINA) coil Z current: " << selfTestDataset.finaCoilZCurrent sif::info << "IMTQ self test (FINA) coil Z current: " << posXselfTestDataset.finaCoilZCurrent
<< " 10^-4 A" << std::endl; << " * 10^-4 A" << std::endl;
sif::info << "IMTQ self test (FINA) coil X temperature: " sif::info << "IMTQ self test (FINA) coil X temperature: "
<< selfTestDataset.finaCoilXTemperature << " °C" << std::endl; << posXselfTestDataset.finaCoilXTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (FINA) coil Y temperature: " sif::info << "IMTQ self test (FINA) coil Y temperature: "
<< selfTestDataset.finaCoilYTemperature << " °C" << std::endl; << posXselfTestDataset.finaCoilYTemperature << " °C" << std::endl;
sif::info << "IMTQ self test (FINA) coil Z temperature: " sif::info << "IMTQ self test (FINA) coil Z temperature: "
<< selfTestDataset.finaCoilZTemperature << " °C" << std::endl; << posXselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
#endif #endif
if (mode == _MODE_START_UP) {
selfTestPerformed = true;
}
} }
void IMTQHandler::checkErrorByte(const uint8_t errorByte, const uint8_t step) { void IMTQHandler::checkErrorByte(const uint8_t errorByte, const uint8_t step) {
@ -1088,6 +807,10 @@ void IMTQHandler::checkErrorByte(const uint8_t errorByte, const uint8_t step) {
return; return;
} }
if (errorByte == 0) {
return;
}
if (errorByte & IMTQ::I2C_FAILURE_MASK) { if (errorByte & IMTQ::I2C_FAILURE_MASK) {
triggerEvent(SELF_TEST_I2C_FAILURE, step); triggerEvent(SELF_TEST_I2C_FAILURE, step);
sif::error << "IMTQHandler::checkErrorByte: Self test I2C failure for step " << stepString sif::error << "IMTQHandler::checkErrorByte: Self test I2C failure for step " << stepString
@ -1123,6 +846,12 @@ void IMTQHandler::checkErrorByte(const uint8_t errorByte, const uint8_t step) {
sif::error << "IMTQHandler::checkErrorByte: Self test coil current outside of expected " sif::error << "IMTQHandler::checkErrorByte: Self test coil current outside of expected "
"range for step " << stepString << std::endl; "range for step " << stepString << std::endl;
} }
if (errorByte & IMTQ::INVALID_ERROR_BYTE) {
triggerEvent(INVALID_ERROR_BYTE, step);
sif::error << "IMTQHandler::checkErrorByte: Self test result of step " << stepString
<< " has invalid error byte" << std::endl;
}
} }
std::string IMTQHandler::makeStepString(const uint8_t step) { std::string IMTQHandler::makeStepString(const uint8_t step) {

23
mission/devices/IMTQHandler.h
View File

@ -49,6 +49,8 @@ private:
static const ReturnValue_t INTERNAL_PROCESSING_ERROR = MAKE_RETURN_CODE(0xA4); 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 REJECTED_WITHOUT_REASON = MAKE_RETURN_CODE(0xA5);
static const ReturnValue_t CMD_ERR_UNKNOWN = MAKE_RETURN_CODE(0xA6); 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; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::IMTQ_HANDLER;
@ -73,11 +75,13 @@ private:
//! [EXPORT] : [COMMENT] Get self test result returns failure indicating that the coil current was outside of the expected range //! [EXPORT] : [COMMENT] Get self test result returns failure indicating that the coil current was outside of the expected range
//! P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA //! P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA
static const Event SELF_TEST_COIL_CURRENT_FAILURE = MAKE_EVENT(7, severity::LOW); static const Event SELF_TEST_COIL_CURRENT_FAILURE = MAKE_EVENT(7, severity::LOW);
//! [EXPORT] : [COMMENT] Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.
static const Event INVALID_ERROR_BYTE = MAKE_EVENT(8, severity::LOW);
IMTQ::EngHkDataset engHkDataset; IMTQ::EngHkDataset engHkDataset;
IMTQ::CalibratedMtmMeasurementSet calMtmMeasurementSet; IMTQ::CalibratedMtmMeasurementSet calMtmMeasurementSet;
IMTQ::RawMtmMeasurementSet rawMtmMeasurementSet; IMTQ::RawMtmMeasurementSet rawMtmMeasurementSet;
IMTQ::SelfTestDataset selfTestDataset; IMTQ::PosXselfTestSet posXselfTestDataset;
uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE]; uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE];
@ -100,6 +104,12 @@ private:
bool selfTestPerformed = false; bool selfTestPerformed = false;
/**
* @brief In case of a status reply to a single axis self test command, this function
* searches for the actual pending command.
*/
ReturnValue_t getSelfTestCommandId(DeviceCommandId_t* id);
/** /**
* @brief Each reply contains a status byte giving information about a request. This function * @brief Each reply contains a status byte giving information about a request. This function
* parses this byte and returns the associated failure message. * parses this byte and returns the associated failure message.
@ -149,12 +159,17 @@ private:
void fillRawMtmDataset(const uint8_t* packet); void fillRawMtmDataset(const uint8_t* packet);
/** /**
* @brief This function fills the self test dataset and parses error bytes by means of the * @brief This function handles all self test results. This comprises parsing the error byte
* self test reply data. * and step byte and calling the function to fill the respective dataset.
* @param packet Pointer to the reply data holding the self test results.
*/ */
void handleSelfTestReply(const uint8_t* packet); void handleSelfTestReply(const uint8_t* packet);
/**
* @brief The following functions fill the respective dataset of the single axis self tests.
* @param packet Pointer to the reply data holding the self test result.
*/
void handlePositiveXSelfTestReply(const uint8_t* packet);
/** /**
* @brief This function checks the error byte of a self test measurement. * @brief This function checks the error byte of a self test measurement.
* *

405
mission/devices/devicedefinitions/IMTQHandlerDefinitions.h
View File

@ -13,8 +13,13 @@ namespace IMTQ {
static const DeviceCommandId_t GET_CAL_MTM_MEASUREMENT = 0x5; static const DeviceCommandId_t GET_CAL_MTM_MEASUREMENT = 0x5;
/** Requests the raw values measured by the built-in MTM XEN1210 */ /** Requests the raw values measured by the built-in MTM XEN1210 */
static const DeviceCommandId_t GET_RAW_MTM_MEASUREMENT = 0x6; static const DeviceCommandId_t GET_RAW_MTM_MEASUREMENT = 0x6;
static const DeviceCommandId_t SELF_TEST_CMD = 0x7; static const DeviceCommandId_t POS_X_SELF_TEST = 0x7;
static const DeviceCommandId_t GET_SELF_TEST_RESULT = 0x8; static const DeviceCommandId_t NEG_X_SELF_TEST = 0x8;
static const DeviceCommandId_t POS_Y_SELF_TEST = 0x9;
static const DeviceCommandId_t NEG_Y_SELF_TEST = 0x10;
static const DeviceCommandId_t POS_Z_SELF_TEST = 0x11;
static const DeviceCommandId_t NEG_Z_SELF_TEST = 0x12;
static const DeviceCommandId_t GET_SELF_TEST_RESULT = 0x13;
static const uint8_t GET_TEMP_REPLY_SIZE = 2; static const uint8_t GET_TEMP_REPLY_SIZE = 2;
static const uint8_t CFGR_CMD_SIZE = 3; static const uint8_t CFGR_CMD_SIZE = 3;
@ -48,6 +53,9 @@ namespace IMTQ {
static const uint8_t TC_FAILURE_MASK = 0x10; // System failure static const uint8_t TC_FAILURE_MASK = 0x10; // System failure
static const uint8_t MTM_RANGE_FAILURE_MASK = 0x20; // MTM values outside of expected range static const uint8_t MTM_RANGE_FAILURE_MASK = 0x20; // MTM values outside of expected range
static const uint8_t COIL_CURRENT_FAILURE_MASK = 0x40; // Coil currents outside of expected range static const uint8_t COIL_CURRENT_FAILURE_MASK = 0x40; // Coil currents outside of expected range
static const uint8_t INVALID_ERROR_BYTE = 0x80; // This is an invalid error byte and should be never replied by the IMTQ
static const uint8_t MAIN_STEP_OFFSET = 43;
/** /**
* Command code definitions. Each command or reply of an IMTQ request will begin with one of * Command code definitions. Each command or reply of an IMTQ request will begin with one of
@ -107,19 +115,89 @@ namespace IMTQ {
MTM_RAW_Z, MTM_RAW_Z,
ACTUATION_RAW_STATUS, ACTUATION_RAW_STATUS,
INIT_ERR, INIT_POS_X_ERR,
INIT_RAW_MAG_X, INIT_POS_X_RAW_MAG_X,
INIT_RAW_MAG_Y, INIT_POS_X_RAW_MAG_Y,
INIT_RAW_MAG_Z, INIT_POS_X_RAW_MAG_Z,
INIT_CAL_MAG_X, INIT_POS_X_CAL_MAG_X,
INIT_CAL_MAG_Y, INIT_POS_X_CAL_MAG_Y,
INIT_CAL_MAG_Z, INIT_POS_X_CAL_MAG_Z,
INIT_COIL_X_CURRENT, INIT_POS_X_COIL_X_CURRENT,
INIT_COIL_Y_CURRENT, INIT_POS_X_COIL_Y_CURRENT,
INIT_COIL_Z_CURRENT, INIT_POS_X_COIL_Z_CURRENT,
INIT_COIL_X_TEMPERATURE, INIT_POS_X_COIL_X_TEMPERATURE,
INIT_COIL_Y_TEMPERATURE, INIT_POS_X_COIL_Y_TEMPERATURE,
INIT_COIL_Z_TEMPERATURE, INIT_POS_X_COIL_Z_TEMPERATURE,
INIT_NEG_X_ERR,
INIT_NEG_X_RAW_MAG_X,
INIT_NEG_X_RAW_MAG_Y,
INIT_NEG_X_RAW_MAG_Z,
INIT_NEG_X_CAL_MAG_X,
INIT_NEG_X_CAL_MAG_Y,
INIT_NEG_X_CAL_MAG_Z,
INIT_NEG_X_COIL_X_CURRENT,
INIT_NEG_X_COIL_Y_CURRENT,
INIT_NEG_X_COIL_Z_CURRENT,
INIT_NEG_X_COIL_X_TEMPERATURE,
INIT_NEG_X_COIL_Y_TEMPERATURE,
INIT_NEG_X_COIL_Z_TEMPERATURE,
INIT_POS_Y_ERR,
INIT_POS_Y_RAW_MAG_X,
INIT_POS_Y_RAW_MAG_Y,
INIT_POS_Y_RAW_MAG_Z,
INIT_POS_Y_CAL_MAG_X,
INIT_POS_Y_CAL_MAG_Y,
INIT_POS_Y_CAL_MAG_Z,
INIT_POS_Y_COIL_X_CURRENT,
INIT_POS_Y_COIL_Y_CURRENT,
INIT_POS_Y_COIL_Z_CURRENT,
INIT_POS_Y_COIL_X_TEMPERATURE,
INIT_POS_Y_COIL_Y_TEMPERATURE,
INIT_POS_Y_COIL_Z_TEMPERATURE,
INIT_NEG_Y_ERR,
INIT_NEG_Y_RAW_MAG_X,
INIT_NEG_Y_RAW_MAG_Y,
INIT_NEG_Y_RAW_MAG_Z,
INIT_NEG_Y_CAL_MAG_X,
INIT_NEG_Y_CAL_MAG_Y,
INIT_NEG_Y_CAL_MAG_Z,
INIT_NEG_Y_COIL_X_CURRENT,
INIT_NEG_Y_COIL_Y_CURRENT,
INIT_NEG_Y_COIL_Z_CURRENT,
INIT_NEG_Y_COIL_X_TEMPERATURE,
INIT_NEG_Y_COIL_Y_TEMPERATURE,
INIT_NEG_Y_COIL_Z_TEMPERATURE,
INIT_POS_Z_ERR,
INIT_POS_Z_RAW_MAG_X,
INIT_POS_Z_RAW_MAG_Y,
INIT_POS_Z_RAW_MAG_Z,
INIT_POS_Z_CAL_MAG_X,
INIT_POS_Z_CAL_MAG_Y,
INIT_POS_Z_CAL_MAG_Z,
INIT_POS_Z_COIL_X_CURRENT,
INIT_POS_Z_COIL_Y_CURRENT,
INIT_POS_Z_COIL_Z_CURRENT,
INIT_POS_Z_COIL_X_TEMPERATURE,
INIT_POS_Z_COIL_Y_TEMPERATURE,
INIT_POS_Z_COIL_Z_TEMPERATURE,
INIT_NEG_Z_ERR,
INIT_NEG_Z_RAW_MAG_X,
INIT_NEG_Z_RAW_MAG_Y,
INIT_NEG_Z_RAW_MAG_Z,
INIT_NEG_Z_CAL_MAG_X,
INIT_NEG_Z_CAL_MAG_Y,
INIT_NEG_Z_CAL_MAG_Z,
INIT_NEG_Z_COIL_X_CURRENT,
INIT_NEG_Z_COIL_Y_CURRENT,
INIT_NEG_Z_COIL_Z_CURRENT,
INIT_NEG_Z_COIL_X_TEMPERATURE,
INIT_NEG_Z_COIL_Y_TEMPERATURE,
INIT_NEG_Z_COIL_Z_TEMPERATURE,
POS_X_ERR, POS_X_ERR,
POS_X_RAW_MAG_X, POS_X_RAW_MAG_X,
@ -205,19 +283,89 @@ namespace IMTQ {
NEG_Z_COIL_Y_TEMPERATURE, NEG_Z_COIL_Y_TEMPERATURE,
NEG_Z_COIL_Z_TEMPERATURE, NEG_Z_COIL_Z_TEMPERATURE,
FINA_ERR, FINA_POS_X_ERR,
FINA_RAW_MAG_X, FINA_POS_X_RAW_MAG_X,
FINA_RAW_MAG_Y, FINA_POS_X_RAW_MAG_Y,
FINA_RAW_MAG_Z, FINA_POS_X_RAW_MAG_Z,
FINA_CAL_MAG_X, FINA_POS_X_CAL_MAG_X,
FINA_CAL_MAG_Y, FINA_POS_X_CAL_MAG_Y,
FINA_CAL_MAG_Z, FINA_POS_X_CAL_MAG_Z,
FINA_COIL_X_CURRENT, FINA_POS_X_COIL_X_CURRENT,
FINA_COIL_Y_CURRENT, FINA_POS_X_COIL_Y_CURRENT,
FINA_COIL_Z_CURRENT, FINA_POS_X_COIL_Z_CURRENT,
FINA_COIL_X_TEMPERATURE, FINA_POS_X_COIL_X_TEMPERATURE,
FINA_COIL_Y_TEMPERATURE, FINA_POS_X_COIL_Y_TEMPERATURE,
FINA_COIL_Z_TEMPERATURE, FINA_POS_X_COIL_Z_TEMPERATURE,
FINA_NEG_X_ERR,
FINA_NEG_X_RAW_MAG_X,
FINA_NEG_X_RAW_MAG_Y,
FINA_NEG_X_RAW_MAG_Z,
FINA_NEG_X_CAL_MAG_X,
FINA_NEG_X_CAL_MAG_Y,
FINA_NEG_X_CAL_MAG_Z,
FINA_NEG_X_COIL_X_CURRENT,
FINA_NEG_X_COIL_Y_CURRENT,
FINA_NEG_X_COIL_Z_CURRENT,
FINA_NEG_X_COIL_X_TEMPERATURE,
FINA_NEG_X_COIL_Y_TEMPERATURE,
FINA_NEG_X_COIL_Z_TEMPERATURE,
FINA_POS_Y_ERR,
FINA_POS_Y_RAW_MAG_X,
FINA_POS_Y_RAW_MAG_Y,
FINA_POS_Y_RAW_MAG_Z,
FINA_POS_Y_CAL_MAG_X,
FINA_POS_Y_CAL_MAG_Y,
FINA_POS_Y_CAL_MAG_Z,
FINA_POS_Y_COIL_X_CURRENT,
FINA_POS_Y_COIL_Y_CURRENT,
FINA_POS_Y_COIL_Z_CURRENT,
FINA_POS_Y_COIL_X_TEMPERATURE,
FINA_POS_Y_COIL_Y_TEMPERATURE,
FINA_POS_Y_COIL_Z_TEMPERATURE,
FINA_NEG_Y_ERR,
FINA_NEG_Y_RAW_MAG_X,
FINA_NEG_Y_RAW_MAG_Y,
FINA_NEG_Y_RAW_MAG_Z,
FINA_NEG_Y_CAL_MAG_X,
FINA_NEG_Y_CAL_MAG_Y,
FINA_NEG_Y_CAL_MAG_Z,
FINA_NEG_Y_COIL_X_CURRENT,
FINA_NEG_Y_COIL_Y_CURRENT,
FINA_NEG_Y_COIL_Z_CURRENT,
FINA_NEG_Y_COIL_X_TEMPERATURE,
FINA_NEG_Y_COIL_Y_TEMPERATURE,
FINA_NEG_Y_COIL_Z_TEMPERATURE,
FINA_POS_Z_ERR,
FINA_POS_Z_RAW_MAG_X,
FINA_POS_Z_RAW_MAG_Y,
FINA_POS_Z_RAW_MAG_Z,
FINA_POS_Z_CAL_MAG_X,
FINA_POS_Z_CAL_MAG_Y,
FINA_POS_Z_CAL_MAG_Z,
FINA_POS_Z_COIL_X_CURRENT,
FINA_POS_Z_COIL_Y_CURRENT,
FINA_POS_Z_COIL_Z_CURRENT,
FINA_POS_Z_COIL_X_TEMPERATURE,
FINA_POS_Z_COIL_Y_TEMPERATURE,
FINA_POS_Z_COIL_Z_TEMPERATURE,
FINA_NEG_Z_ERR,
FINA_NEG_Z_RAW_MAG_X,
FINA_NEG_Z_RAW_MAG_Y,
FINA_NEG_Z_RAW_MAG_Z,
FINA_NEG_Z_CAL_MAG_X,
FINA_NEG_Z_CAL_MAG_Y,
FINA_NEG_Z_CAL_MAG_Z,
FINA_NEG_Z_COIL_X_CURRENT,
FINA_NEG_Z_COIL_Y_CURRENT,
FINA_NEG_Z_COIL_Z_CURRENT,
FINA_NEG_Z_COIL_X_TEMPERATURE,
FINA_NEG_Z_COIL_Y_TEMPERATURE,
FINA_NEG_Z_COIL_Z_TEMPERATURE,
}; };
class EngHkDataset: public StaticLocalDataSet<ENG_HK_SET_POOL_ENTRIES> { class EngHkDataset: public StaticLocalDataSet<ENG_HK_SET_POOL_ENTRIES> {
@ -296,7 +444,7 @@ public:
}; };
/** /**
* @brief This dataset can be used to store the self test results. * @brief This dataset can be used to store the self test results of the positve X axis test.
* *
* @details Units of measurements: * @details Units of measurements:
* Currents: [10^-4 A] * Currents: [10^-4 A]
@ -306,193 +454,82 @@ public:
* The self test generates for each axis the positive and negative dipole and measures * The self test generates for each axis the positive and negative dipole and measures
* the magnetic field with the built-in MTM. The procedure of the test is as follows: * the magnetic field with the built-in MTM. The procedure of the test is as follows:
* 1. All coils off (INIT step) * 1. All coils off (INIT step)
* 2. +X * 2. +X (apply current to generate dipole in positive X direction)
* 3. -X * 3. All coils off (FINA step)
* 4. +Y
* 5. -Y
* 6. +Z
* 7. -Z
* 8. All coils off (FINA step)
*/ */
class SelfTestDataset: public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> { class PosXselfTestSet: public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
public: public:
SelfTestDataset(HasLocalDataPoolIF* owner) : PosXselfTestSet(HasLocalDataPoolIF* owner) :
StaticLocalDataSet(owner, SELF_TEST_DATA_SET) { StaticLocalDataSet(owner, SELF_TEST_DATA_SET) {
} }
SelfTestDataset(object_id_t objectId) : PosXselfTestSet(object_id_t objectId) :
StaticLocalDataSet(sid_t(objectId, SELF_TEST_DATA_SET)) { StaticLocalDataSet(sid_t(objectId, SELF_TEST_DATA_SET)) {
} }
/** INIT block */ /** INIT block */
lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_ERR, this); lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_POS_X_ERR, this);
lp_var_t<uint32_t> initRawMagX = lp_var_t<uint32_t>(sid.objectId, INIT_RAW_MAG_X, this); lp_var_t<uint32_t> initRawMagX = lp_var_t<uint32_t>(sid.objectId, INIT_POS_X_RAW_MAG_X, this);
lp_var_t<uint32_t> initRawMagY = lp_var_t<uint32_t>(sid.objectId, INIT_RAW_MAG_Y, this); lp_var_t<uint32_t> initRawMagY = lp_var_t<uint32_t>(sid.objectId, INIT_POS_X_RAW_MAG_Y, this);
lp_var_t<uint32_t> initRawMagZ = lp_var_t<uint32_t>(sid.objectId, INIT_RAW_MAG_Z, this); lp_var_t<uint32_t> initRawMagZ = lp_var_t<uint32_t>(sid.objectId, INIT_POS_X_RAW_MAG_Z, this);
lp_var_t<uint32_t> initCalMagX = lp_var_t<uint32_t>(sid.objectId, INIT_CAL_MAG_X, this); lp_var_t<uint32_t> initCalMagX = lp_var_t<uint32_t>(sid.objectId, INIT_POS_X_CAL_MAG_X, this);
lp_var_t<uint32_t> initCalMagY = lp_var_t<uint32_t>(sid.objectId, INIT_CAL_MAG_Y, this); lp_var_t<uint32_t> initCalMagY = lp_var_t<uint32_t>(sid.objectId, INIT_POS_X_CAL_MAG_Y, this);
lp_var_t<uint32_t> initCalMagZ = lp_var_t<uint32_t>(sid.objectId, INIT_CAL_MAG_Z, this); lp_var_t<uint32_t> initCalMagZ = lp_var_t<uint32_t>(sid.objectId, INIT_POS_X_CAL_MAG_Z, this);
lp_var_t<uint16_t> initCoilXCurrent = lp_var_t<uint16_t>(sid.objectId, INIT_COIL_X_CURRENT, lp_var_t<uint16_t> initCoilXCurrent = lp_var_t<uint16_t>(sid.objectId, INIT_POS_X_COIL_X_CURRENT,
this); this);
lp_var_t<uint16_t> initCoilYCurrent = lp_var_t<uint16_t>(sid.objectId, INIT_COIL_Y_CURRENT, lp_var_t<uint16_t> initCoilYCurrent = lp_var_t<uint16_t>(sid.objectId, INIT_POS_X_COIL_Y_CURRENT,
this); this);
lp_var_t<uint16_t> initCoilZCurrent = lp_var_t<uint16_t>(sid.objectId, INIT_COIL_Z_CURRENT, lp_var_t<uint16_t> initCoilZCurrent = lp_var_t<uint16_t>(sid.objectId, INIT_POS_X_COIL_Z_CURRENT,
this); this);
lp_var_t<uint16_t> initCoilXTemperature = lp_var_t<uint16_t>(sid.objectId, lp_var_t<uint16_t> initCoilXTemperature = lp_var_t<uint16_t>(sid.objectId,
INIT_COIL_X_TEMPERATURE, this); INIT_POS_X_COIL_X_TEMPERATURE, this);
lp_var_t<uint16_t> initCoilYTemperature = lp_var_t<uint16_t>(sid.objectId, lp_var_t<uint16_t> initCoilYTemperature = lp_var_t<uint16_t>(sid.objectId,
INIT_COIL_Y_TEMPERATURE, this); INIT_POS_X_COIL_Y_TEMPERATURE, this);
lp_var_t<uint16_t> initCoilZTemperature = lp_var_t<uint16_t>(sid.objectId, lp_var_t<uint16_t> initCoilZTemperature = lp_var_t<uint16_t>(sid.objectId,
INIT_COIL_Z_TEMPERATURE, this); INIT_POS_X_COIL_Z_TEMPERATURE, this);
/** +X block */ /** +X block */
lp_var_t<uint8_t> posXErr = lp_var_t<uint8_t>(sid.objectId, POS_X_ERR, this); lp_var_t<uint8_t> err = lp_var_t<uint8_t>(sid.objectId, POS_X_ERR, this);
lp_var_t<uint32_t> posXRawMagX = lp_var_t<uint32_t>(sid.objectId, POS_X_RAW_MAG_X, this); lp_var_t<uint32_t> rawMagX = lp_var_t<uint32_t>(sid.objectId, POS_X_RAW_MAG_X, this);
lp_var_t<uint32_t> posXRawMagY = lp_var_t<uint32_t>(sid.objectId, POS_X_RAW_MAG_Y, this); lp_var_t<uint32_t> rawMagY = lp_var_t<uint32_t>(sid.objectId, POS_X_RAW_MAG_Y, this);
lp_var_t<uint32_t> posXRawMagZ = lp_var_t<uint32_t>(sid.objectId, POS_X_RAW_MAG_Z, this); lp_var_t<uint32_t> rawMagZ = lp_var_t<uint32_t>(sid.objectId, POS_X_RAW_MAG_Z, this);
lp_var_t<uint32_t> posXCalMagX = lp_var_t<uint32_t>(sid.objectId, POS_X_CAL_MAG_X, this); lp_var_t<uint32_t> calMagX = lp_var_t<uint32_t>(sid.objectId, POS_X_CAL_MAG_X, this);
lp_var_t<uint32_t> posXCalMagY = lp_var_t<uint32_t>(sid.objectId, POS_X_CAL_MAG_Y, this); lp_var_t<uint32_t> calMagY = lp_var_t<uint32_t>(sid.objectId, POS_X_CAL_MAG_Y, this);
lp_var_t<uint32_t> posXCalMagZ = lp_var_t<uint32_t>(sid.objectId, POS_X_CAL_MAG_Z, this); lp_var_t<uint32_t> calMagZ = lp_var_t<uint32_t>(sid.objectId, POS_X_CAL_MAG_Z, this);
lp_var_t<uint16_t> posXCoilXCurrent = lp_var_t<uint16_t>(sid.objectId, POS_X_COIL_X_CURRENT, lp_var_t<uint16_t> coilXCurrent = lp_var_t<uint16_t>(sid.objectId, POS_X_COIL_X_CURRENT,
this); this);
lp_var_t<uint16_t> posXCoilYCurrent = lp_var_t<uint16_t>(sid.objectId, POS_X_COIL_Y_CURRENT, lp_var_t<uint16_t> coilYCurrent = lp_var_t<uint16_t>(sid.objectId, POS_X_COIL_Y_CURRENT,
this); this);
lp_var_t<uint16_t> posXCoilZCurrent = lp_var_t<uint16_t>(sid.objectId, POS_X_COIL_Z_CURRENT, lp_var_t<uint16_t> coilZCurrent = lp_var_t<uint16_t>(sid.objectId, POS_X_COIL_Z_CURRENT,
this); this);
lp_var_t<uint16_t> posXCoilXTemperature = lp_var_t<uint16_t>(sid.objectId, lp_var_t<uint16_t> coilXTemperature = lp_var_t<uint16_t>(sid.objectId,
POS_X_COIL_X_TEMPERATURE, this); POS_X_COIL_X_TEMPERATURE, this);
lp_var_t<uint16_t> posXCoilYTemperature = lp_var_t<uint16_t>(sid.objectId, lp_var_t<uint16_t> coilYTemperature = lp_var_t<uint16_t>(sid.objectId,
POS_X_COIL_Y_TEMPERATURE, this); POS_X_COIL_Y_TEMPERATURE, this);
lp_var_t<uint16_t> posXCoilZTemperature = lp_var_t<uint16_t>(sid.objectId, lp_var_t<uint16_t> coilZTemperature = lp_var_t<uint16_t>(sid.objectId,
POS_X_COIL_Z_TEMPERATURE, this); POS_X_COIL_Z_TEMPERATURE, this);
/** -X block */
lp_var_t<uint8_t> negXErr = lp_var_t<uint8_t>(sid.objectId, NEG_X_ERR, this);
lp_var_t<uint32_t> negXRawMagX = lp_var_t<uint32_t>(sid.objectId, NEG_X_RAW_MAG_X, this);
lp_var_t<uint32_t> negXRawMagY = lp_var_t<uint32_t>(sid.objectId, NEG_X_RAW_MAG_Y, this);
lp_var_t<uint32_t> negXRawMagZ = lp_var_t<uint32_t>(sid.objectId, NEG_X_RAW_MAG_Z, this);
lp_var_t<uint32_t> negXCalMagX = lp_var_t<uint32_t>(sid.objectId, NEG_X_CAL_MAG_X, this);
lp_var_t<uint32_t> negXCalMagY = lp_var_t<uint32_t>(sid.objectId, NEG_X_CAL_MAG_Y, this);
lp_var_t<uint32_t> negXCalMagZ = lp_var_t<uint32_t>(sid.objectId, NEG_X_CAL_MAG_Z, this);
lp_var_t<uint16_t> negXCoilXCurrent = lp_var_t<uint16_t>(sid.objectId, NEG_X_COIL_X_CURRENT,
this);
lp_var_t<uint16_t> negXCoilYCurrent = lp_var_t<uint16_t>(sid.objectId, NEG_X_COIL_Y_CURRENT,
this);
lp_var_t<uint16_t> negXCoilZCurrent = lp_var_t<uint16_t>(sid.objectId, NEG_X_COIL_Z_CURRENT,
this);
lp_var_t<uint16_t> negXCoilXTemperature = lp_var_t<uint16_t>(sid.objectId,
NEG_X_COIL_X_TEMPERATURE, this);
lp_var_t<uint16_t> negXCoilYTemperature = lp_var_t<uint16_t>(sid.objectId,
NEG_X_COIL_Y_TEMPERATURE, this);
lp_var_t<uint16_t> negXCoilZTemperature = lp_var_t<uint16_t>(sid.objectId,
NEG_X_COIL_Z_TEMPERATURE, this);
/** +Y block */
lp_var_t<uint8_t> posYErr = lp_var_t<uint8_t>(sid.objectId, POS_Y_ERR, this);
lp_var_t<uint32_t> posYRawMagX = lp_var_t<uint32_t>(sid.objectId, POS_Y_RAW_MAG_X, this);
lp_var_t<uint32_t> posYRawMagY = lp_var_t<uint32_t>(sid.objectId, POS_Y_RAW_MAG_Y, this);
lp_var_t<uint32_t> posYRawMagZ = lp_var_t<uint32_t>(sid.objectId, POS_Y_RAW_MAG_Z, this);
lp_var_t<uint32_t> posYCalMagX = lp_var_t<uint32_t>(sid.objectId, POS_Y_CAL_MAG_X, this);
lp_var_t<uint32_t> posYCalMagY = lp_var_t<uint32_t>(sid.objectId, POS_Y_CAL_MAG_Y, this);
lp_var_t<uint32_t> posYCalMagZ = lp_var_t<uint32_t>(sid.objectId, POS_Y_CAL_MAG_Z, this);
lp_var_t<uint16_t> posYCoilXCurrent = lp_var_t<uint16_t>(sid.objectId, POS_Y_COIL_X_CURRENT,
this);
lp_var_t<uint16_t> posYCoilYCurrent = lp_var_t<uint16_t>(sid.objectId, POS_Y_COIL_Y_CURRENT,
this);
lp_var_t<uint16_t> posYCoilZCurrent = lp_var_t<uint16_t>(sid.objectId, POS_Y_COIL_Z_CURRENT,
this);
lp_var_t<uint16_t> posYCoilXTemperature = lp_var_t<uint16_t>(sid.objectId,
POS_Y_COIL_X_TEMPERATURE, this);
lp_var_t<uint16_t> posYCoilYTemperature = lp_var_t<uint16_t>(sid.objectId,
POS_Y_COIL_Y_TEMPERATURE, this);
lp_var_t<uint16_t> posYCoilZTemperature = lp_var_t<uint16_t>(sid.objectId,
POS_Y_COIL_Z_TEMPERATURE, this);
/** -Y block */
lp_var_t<uint8_t> negYErr = lp_var_t<uint8_t>(sid.objectId, NEG_Y_ERR, this);
lp_var_t<uint32_t> negYRawMagX = lp_var_t<uint32_t>(sid.objectId, NEG_Y_RAW_MAG_X, this);
lp_var_t<uint32_t> negYRawMagY = lp_var_t<uint32_t>(sid.objectId, NEG_Y_RAW_MAG_Y, this);
lp_var_t<uint32_t> negYRawMagZ = lp_var_t<uint32_t>(sid.objectId, NEG_Y_RAW_MAG_Z, this);
lp_var_t<uint32_t> negYCalMagX = lp_var_t<uint32_t>(sid.objectId, NEG_Y_CAL_MAG_X, this);
lp_var_t<uint32_t> negYCalMagY = lp_var_t<uint32_t>(sid.objectId, NEG_Y_CAL_MAG_Y, this);
lp_var_t<uint32_t> negYCalMagZ = lp_var_t<uint32_t>(sid.objectId, NEG_Y_CAL_MAG_Z, this);
lp_var_t<uint16_t> negYCoilXCurrent = lp_var_t<uint16_t>(sid.objectId, NEG_Y_COIL_X_CURRENT,
this);
lp_var_t<uint16_t> negYCoilYCurrent = lp_var_t<uint16_t>(sid.objectId, NEG_Y_COIL_Y_CURRENT,
this);
lp_var_t<uint16_t> negYCoilZCurrent = lp_var_t<uint16_t>(sid.objectId, NEG_Y_COIL_Z_CURRENT,
this);
lp_var_t<uint16_t> negYCoilXTemperature = lp_var_t<uint16_t>(sid.objectId,
NEG_Y_COIL_X_TEMPERATURE, this);
lp_var_t<uint16_t> negYCoilYTemperature = lp_var_t<uint16_t>(sid.objectId,
NEG_Y_COIL_Y_TEMPERATURE, this);
lp_var_t<uint16_t> negYCoilZTemperature = lp_var_t<uint16_t>(sid.objectId,
NEG_Y_COIL_Z_TEMPERATURE, this);
/** +Z block */
lp_var_t<uint8_t> posZErr = lp_var_t<uint8_t>(sid.objectId, POS_Z_ERR, this);
lp_var_t<uint32_t> posZRawMagX = lp_var_t<uint32_t>(sid.objectId, POS_Z_RAW_MAG_X, this);
lp_var_t<uint32_t> posZRawMagY = lp_var_t<uint32_t>(sid.objectId, POS_Z_RAW_MAG_Y, this);
lp_var_t<uint32_t> posZRawMagZ = lp_var_t<uint32_t>(sid.objectId, POS_Z_RAW_MAG_Z, this);
lp_var_t<uint32_t> posZCalMagX = lp_var_t<uint32_t>(sid.objectId, POS_Z_CAL_MAG_X, this);
lp_var_t<uint32_t> posZCalMagY = lp_var_t<uint32_t>(sid.objectId, POS_Z_CAL_MAG_Y, this);
lp_var_t<uint32_t> posZCalMagZ = lp_var_t<uint32_t>(sid.objectId, POS_Z_CAL_MAG_Z, this);
lp_var_t<uint16_t> posZCoilXCurrent = lp_var_t<uint16_t>(sid.objectId, POS_Z_COIL_X_CURRENT,
this);
lp_var_t<uint16_t> posZCoilYCurrent = lp_var_t<uint16_t>(sid.objectId, POS_Z_COIL_Y_CURRENT,
this);
lp_var_t<uint16_t> posZCoilZCurrent = lp_var_t<uint16_t>(sid.objectId, POS_Z_COIL_Z_CURRENT,
this);
lp_var_t<uint16_t> posZCoilXTemperature = lp_var_t<uint16_t>(sid.objectId,
POS_Z_COIL_X_TEMPERATURE, this);
lp_var_t<uint16_t> posZCoilYTemperature = lp_var_t<uint16_t>(sid.objectId,
POS_Z_COIL_Y_TEMPERATURE, this);
lp_var_t<uint16_t> posZCoilZTemperature = lp_var_t<uint16_t>(sid.objectId,
POS_Z_COIL_Z_TEMPERATURE, this);
/** -Z block */
lp_var_t<uint8_t> negZErr = lp_var_t<uint8_t>(sid.objectId, NEG_Z_ERR, this);
lp_var_t<uint32_t> negZRawMagX = lp_var_t<uint32_t>(sid.objectId, NEG_Z_RAW_MAG_X, this);
lp_var_t<uint32_t> negZRawMagY = lp_var_t<uint32_t>(sid.objectId, NEG_Z_RAW_MAG_Y, this);
lp_var_t<uint32_t> negZRawMagZ = lp_var_t<uint32_t>(sid.objectId, NEG_Z_RAW_MAG_Z, this);
lp_var_t<uint32_t> negZCalMagX = lp_var_t<uint32_t>(sid.objectId, NEG_Z_CAL_MAG_X, this);
lp_var_t<uint32_t> negZCalMagY = lp_var_t<uint32_t>(sid.objectId, NEG_Z_CAL_MAG_Y, this);
lp_var_t<uint32_t> negZCalMagZ = lp_var_t<uint32_t>(sid.objectId, NEG_Z_CAL_MAG_Z, this);
lp_var_t<uint16_t> negZCoilXCurrent = lp_var_t<uint16_t>(sid.objectId, NEG_Z_COIL_X_CURRENT,
this);
lp_var_t<uint16_t> negZCoilYCurrent = lp_var_t<uint16_t>(sid.objectId, NEG_Z_COIL_Y_CURRENT,
this);
lp_var_t<uint16_t> negZCoilZCurrent = lp_var_t<uint16_t>(sid.objectId, NEG_Z_COIL_Z_CURRENT,
this);
lp_var_t<uint16_t> negZCoilXTemperature = lp_var_t<uint16_t>(sid.objectId,
NEG_Z_COIL_X_TEMPERATURE, this);
lp_var_t<uint16_t> negZCoilYTemperature = lp_var_t<uint16_t>(sid.objectId,
NEG_Z_COIL_Y_TEMPERATURE, this);
lp_var_t<uint16_t> negZCoilZTemperature = lp_var_t<uint16_t>(sid.objectId,
NEG_Z_COIL_Z_TEMPERATURE, this);
/** FINA block */ /** FINA block */
lp_var_t<uint8_t> finaErr = lp_var_t<uint8_t>(sid.objectId, FINA_ERR, this); lp_var_t<uint8_t> finaErr = lp_var_t<uint8_t>(sid.objectId, FINA_POS_X_ERR, this);
lp_var_t<uint32_t> finaRawMagX = lp_var_t<uint32_t>(sid.objectId, FINA_RAW_MAG_X, this); lp_var_t<uint32_t> finaRawMagX = lp_var_t<uint32_t>(sid.objectId, FINA_POS_X_RAW_MAG_X, this);
lp_var_t<uint32_t> finaRawMagY = lp_var_t<uint32_t>(sid.objectId, FINA_RAW_MAG_Y, this); lp_var_t<uint32_t> finaRawMagY = lp_var_t<uint32_t>(sid.objectId, FINA_POS_X_RAW_MAG_Y, this);
lp_var_t<uint32_t> finaRawMagZ = lp_var_t<uint32_t>(sid.objectId, FINA_RAW_MAG_Z, this); lp_var_t<uint32_t> finaRawMagZ = lp_var_t<uint32_t>(sid.objectId, FINA_POS_X_RAW_MAG_Z, this);
lp_var_t<uint32_t> finaCalMagX = lp_var_t<uint32_t>(sid.objectId, FINA_CAL_MAG_X, this); lp_var_t<uint32_t> finaCalMagX = lp_var_t<uint32_t>(sid.objectId, FINA_POS_X_CAL_MAG_X, this);
lp_var_t<uint32_t> finaCalMagY = lp_var_t<uint32_t>(sid.objectId, FINA_CAL_MAG_Y, this); lp_var_t<uint32_t> finaCalMagY = lp_var_t<uint32_t>(sid.objectId, FINA_POS_X_CAL_MAG_Y, this);
lp_var_t<uint32_t> finaCalMagZ = lp_var_t<uint32_t>(sid.objectId, FINA_CAL_MAG_Z, this); lp_var_t<uint32_t> finaCalMagZ = lp_var_t<uint32_t>(sid.objectId, FINA_POS_X_CAL_MAG_Z, this);
lp_var_t<uint16_t> finaCoilXCurrent = lp_var_t<uint16_t>(sid.objectId, FINA_COIL_X_CURRENT, lp_var_t<uint16_t> finaCoilXCurrent = lp_var_t<uint16_t>(sid.objectId, FINA_POS_X_COIL_X_CURRENT,
this); this);
lp_var_t<uint16_t> finaCoilYCurrent = lp_var_t<uint16_t>(sid.objectId, FINA_COIL_Y_CURRENT, lp_var_t<uint16_t> finaCoilYCurrent = lp_var_t<uint16_t>(sid.objectId, FINA_POS_X_COIL_Y_CURRENT,
this); this);
lp_var_t<uint16_t> finaCoilZCurrent = lp_var_t<uint16_t>(sid.objectId, FINA_COIL_Z_CURRENT, lp_var_t<uint16_t> finaCoilZCurrent = lp_var_t<uint16_t>(sid.objectId, FINA_POS_X_COIL_Z_CURRENT,
this); this);
lp_var_t<uint16_t> finaCoilXTemperature = lp_var_t<uint16_t>(sid.objectId, lp_var_t<uint16_t> finaCoilXTemperature = lp_var_t<uint16_t>(sid.objectId,
FINA_COIL_X_TEMPERATURE, this); FINA_POS_X_COIL_X_TEMPERATURE, this);
lp_var_t<uint16_t> finaCoilYTemperature = lp_var_t<uint16_t>(sid.objectId, lp_var_t<uint16_t> finaCoilYTemperature = lp_var_t<uint16_t>(sid.objectId,
FINA_COIL_Y_TEMPERATURE, this); FINA_POS_X_COIL_Y_TEMPERATURE, this);
lp_var_t<uint16_t> finaCoilZTemperature = lp_var_t<uint16_t>(sid.objectId, lp_var_t<uint16_t> finaCoilZTemperature = lp_var_t<uint16_t>(sid.objectId,
FINA_COIL_Z_TEMPERATURE, this); FINA_POS_X_COIL_Z_TEMPERATURE, this);
}; };
/** /**