imqt base functions

mission/devices/IMTQHandler.cpp

@@ -6,7 +6,8 @@
 #include <fsfwconfig/OBSWConfig.h>
 
 IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
-        DeviceHandlerBase(objectId, comIF, comCookie), engHkDataset(this) {
+        DeviceHandlerBase(objectId, comIF, comCookie), engHkDataset(this), calMtmMeasurementSet(
+                this), rawMtmMeasurementSet(this) {
     if (comCookie == NULL) {
         sif::error << "IMTQHandler: Invalid com cookie" << std::endl;
     }
@@ -29,7 +30,28 @@ void IMTQHandler::doShutDown(){
 
 ReturnValue_t IMTQHandler::buildNormalDeviceCommand(
 		DeviceCommandId_t * id) {
-    *id = IMTQ::GET_ENG_HK_DATA;
+    switch (communicationStep) {
+    case CommunicationStep::GET_ENG_HK_DATA:
+        *id = IMTQ::GET_ENG_HK_DATA;
+        communicationStep = CommunicationStep::START_MTM_MEASUREMENT;
+        break;
+    case CommunicationStep::START_MTM_MEASUREMENT:
+        *id = IMTQ::START_MTM_MEASUREMENT;
+        communicationStep = CommunicationStep::GET_CAL_MTM_MEASUREMENT;
+        break;
+    case CommunicationStep::GET_CAL_MTM_MEASUREMENT:
+        *id = IMTQ::GET_CAL_MTM_MEASUREMENT;
+        communicationStep = CommunicationStep::GET_RAW_MTM_MEASUREMENT;
+        break;
+    case CommunicationStep::GET_RAW_MTM_MEASUREMENT:
+        *id = IMTQ::GET_RAW_MTM_MEASUREMENT;
+        communicationStep = CommunicationStep::GET_ENG_HK_DATA;
+        break;
+    default:
+        sif::debug << "IMTQHandler::buildNormalDeviceCommand: Invalid communication step"
+            << std::endl;
+        break;
+    }
     return buildCommandFromCommand(*id, NULL, 0);
 }
 
@@ -69,6 +91,24 @@ ReturnValue_t IMTQHandler::buildCommandFromCommand(
 		rawPacketLen = 1;
 		return RETURN_OK;
 	}
+	case(IMTQ::START_MTM_MEASUREMENT): {
+	    commandBuffer[0] = IMTQ::CC::START_MTM_MEASUREMENT;
+		rawPacket = commandBuffer;
+		rawPacketLen = 1;
+		return RETURN_OK;
+	}
+	case(IMTQ::GET_CAL_MTM_MEASUREMENT): {
+	    commandBuffer[0] = IMTQ::CC::GET_CAL_MTM_MEASUREMENT;
+		rawPacket = commandBuffer;
+		rawPacketLen = 1;
+		return RETURN_OK;
+	}
+	case(IMTQ::GET_RAW_MTM_MEASUREMENT): {
+	    commandBuffer[0] = IMTQ::CC::GET_RAW_MTM_MEASUREMENT;
+		rawPacket = commandBuffer;
+		rawPacketLen = 1;
+		return RETURN_OK;
+	}
 	default:
 		return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
 	}
@@ -81,7 +121,13 @@ void IMTQHandler::fillCommandAndReplyMap() {
     this->insertInCommandAndReplyMap(IMTQ::GET_ENG_HK_DATA, 1, &engHkDataset,
             IMTQ::SIZE_ENG_HK_DATA_REPLY);
     this->insertInCommandAndReplyMap(IMTQ::GET_COMMANDED_DIPOLE, 1, nullptr,
-            IMTQ::SIZE_ENG_HK_DATA_REPLY);
+            IMTQ::SIZE_GET_COMMANDED_DIPOLE_REPLY);
+    this->insertInCommandAndReplyMap(IMTQ::START_MTM_MEASUREMENT, 1, nullptr,
+            IMTQ::SIZE_STATUS_REPLY);
+    this->insertInCommandAndReplyMap(IMTQ::GET_CAL_MTM_MEASUREMENT, 1, &calMtmMeasurementSet,
+            IMTQ::SIZE_GET_CAL_MTM_MEASUREMENT);
+    this->insertInCommandAndReplyMap(IMTQ::GET_RAW_MTM_MEASUREMENT, 1, &rawMtmMeasurementSet,
+            IMTQ::SIZE_GET_RAW_MTM_MEASUREMENT);
 }
 
 ReturnValue_t IMTQHandler::scanForReply(const uint8_t *start,
@@ -94,6 +140,10 @@ ReturnValue_t IMTQHandler::scanForReply(const uint8_t *start,
         *foundLen = IMTQ::SIZE_STATUS_REPLY;
         *foundId = IMTQ::START_ACTUATION_DIPOLE;
 		break;
+	case(IMTQ::CC::START_MTM_MEASUREMENT):
+        *foundLen = IMTQ::SIZE_STATUS_REPLY;
+        *foundId = IMTQ::START_MTM_MEASUREMENT;
+		break;
 	case(IMTQ::CC::GET_ENG_HK_DATA):
         *foundLen = IMTQ::SIZE_ENG_HK_DATA_REPLY;
         *foundId = IMTQ::GET_ENG_HK_DATA;
@@ -102,6 +152,14 @@ ReturnValue_t IMTQHandler::scanForReply(const uint8_t *start,
         *foundLen = IMTQ::SIZE_GET_COMMANDED_DIPOLE_REPLY;
         *foundId = IMTQ::GET_COMMANDED_DIPOLE;
 		break;
+	case(IMTQ::CC::GET_CAL_MTM_MEASUREMENT):
+        *foundLen = IMTQ::SIZE_GET_CAL_MTM_MEASUREMENT;
+        *foundId = IMTQ::GET_CAL_MTM_MEASUREMENT;
+		break;
+	case(IMTQ::CC::GET_RAW_MTM_MEASUREMENT):
+        *foundLen = IMTQ::SIZE_GET_RAW_MTM_MEASUREMENT;
+        *foundId = IMTQ::GET_RAW_MTM_MEASUREMENT;
+		break;
 	default:
         sif::debug << "IMTQHandler::scanForReply: Reply contains invalid command code" << std::endl;
         result = IGNORE_REPLY_DATA;
@@ -124,7 +182,8 @@ ReturnValue_t IMTQHandler::interpretDeviceReply(DeviceCommandId_t id,
 
     switch (id) {
     case (IMTQ::START_ACTUATION_DIPOLE):
-        // Replies only the status byte which is already handled with parseStatusByte
+    case (IMTQ::START_MTM_MEASUREMENT):
+        /* Replies only the status byte which is already handled with parseStatusByte */
         break;
     case (IMTQ::GET_ENG_HK_DATA):
         fillEngHkDataset(packet);
@@ -132,6 +191,12 @@ ReturnValue_t IMTQHandler::interpretDeviceReply(DeviceCommandId_t id,
     case (IMTQ::GET_COMMANDED_DIPOLE):
         handleGetCommandedDipoleReply(packet);
         break;
+    case (IMTQ::GET_CAL_MTM_MEASUREMENT):
+        fillCalibratedMtmDataset(packet);
+        break;
+    case (IMTQ::GET_RAW_MTM_MEASUREMENT):
+        fillRawMtmDataset(packet);
+        break;
     default: {
         sif::debug << "IMTQHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
 		return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
@@ -152,18 +217,31 @@ uint32_t IMTQHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
 ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
         LocalDataPoolManager& poolManager) {
 
+    /** Entries of engineering housekeeping dataset */
     localDataPoolMap.emplace(IMTQ::DIGITAL_VOLTAGE_MV, new PoolEntry<uint16_t>( { 0 }));
     localDataPoolMap.emplace(IMTQ::ANALOG_VOLTAGE_MV, new PoolEntry<uint16_t>( { 0 }));
-    localDataPoolMap.emplace(IMTQ::DIGITAL_CURRENT_A, new PoolEntry<float>( { 0 }));
+    localDataPoolMap.emplace(IMTQ::DIGITAL_CURRENT, new PoolEntry<float>( { 0 }));
-    localDataPoolMap.emplace(IMTQ::ANALOG_CURRENT_A, new PoolEntry<float>( { 0 }));
+    localDataPoolMap.emplace(IMTQ::ANALOG_CURRENT, new PoolEntry<float>( { 0 }));
-    localDataPoolMap.emplace(IMTQ::COIL_X_CURRENT_A, new PoolEntry<float>( { 0 }));
+    localDataPoolMap.emplace(IMTQ::COIL_X_CURRENT, new PoolEntry<float>( { 0 }));
-    localDataPoolMap.emplace(IMTQ::COIL_Y_CURRENT_A, new PoolEntry<float>( { 0 }));
+    localDataPoolMap.emplace(IMTQ::COIL_Y_CURRENT, new PoolEntry<float>( { 0 }));
-    localDataPoolMap.emplace(IMTQ::COIL_Z_CURRENT_A, new PoolEntry<float>( { 0 }));
+    localDataPoolMap.emplace(IMTQ::COIL_Z_CURRENT, new PoolEntry<float>( { 0 }));
     localDataPoolMap.emplace(IMTQ::COIL_X_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
     localDataPoolMap.emplace(IMTQ::COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
     localDataPoolMap.emplace(IMTQ::COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
     localDataPoolMap.emplace(IMTQ::MCU_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
 
+    /** Entries of calibrated MTM measurement dataset */
+    localDataPoolMap.emplace(IMTQ::MTM_CAL_X, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(IMTQ::MTM_CAL_Y, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(IMTQ::MTM_CAL_Z, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(IMTQ::ACTUATION_CAL_STATUS, new PoolEntry<uint8_t>( { 0 }));
+
+    /** Entries of raw MTM measurement dataset */
+    localDataPoolMap.emplace(IMTQ::MTM_RAW_X, new PoolEntry<float>( { 0 }));
+    localDataPoolMap.emplace(IMTQ::MTM_RAW_Y, 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 }));
+
     return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -200,36 +278,36 @@ ReturnValue_t IMTQHandler::parseStatusByte(const uint8_t* packet) {
 
 void IMTQHandler::fillEngHkDataset(const uint8_t* packet) {
     uint8_t offset = 2;
-    engHkDataset.digitalVoltageMv = *(packet + offset + 1) | *(packet + offset);
+    engHkDataset.digitalVoltageMv = *(packet + offset + 1) << 8 | *(packet + offset);
     offset += 2;
-    engHkDataset.analogVoltageMv = *(packet + offset + 1) | *(packet + offset);
+    engHkDataset.analogVoltageMv = *(packet + offset + 1) << 8 | *(packet + offset);
     offset += 2;
-    engHkDataset.digitalCurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
+    engHkDataset.digitalCurrentmA = (*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
     offset += 2;
-    engHkDataset.analogCurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
+    engHkDataset.analogCurrentmA = (*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
     offset += 2;
-    engHkDataset.coilXcurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
+    engHkDataset.coilXCurrentmA = (*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
     offset += 2;
-    engHkDataset.coilYcurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
+    engHkDataset.coilYCurrentmA = (*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
     offset += 2;
-    engHkDataset.coilZcurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
+    engHkDataset.coilZCurrentmA = (*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
     offset += 2;
-    engHkDataset.coilXTemperature = (*(packet + offset + 1) | *(packet + offset));
+    engHkDataset.coilXTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
     offset += 2;
-    engHkDataset.coilYTemperature = (*(packet + offset + 1) | *(packet + offset));
+    engHkDataset.coilYTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
     offset += 2;
-    engHkDataset.coilZTemperature = (*(packet + offset + 1) | *(packet + offset));
+    engHkDataset.coilZTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
     offset += 2;
-    engHkDataset.mcuTemperature = (*(packet + offset + 1) | *(packet + offset));
+    engHkDataset.mcuTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
 
 #if OBSW_VERBOSE_LEVEL >= 1 && IMQT_DEBUG == 1
     sif::info << "IMTQ digital voltage: " << engHkDataset.digitalVoltageMv << " mV" << std::endl;
     sif::info << "IMTQ analog voltage: " << engHkDataset.analogVoltageMv << " mV" << std::endl;
-    sif::info << "IMTQ digital current: " << engHkDataset.digitalCurrentA << " A" << std::endl;
+    sif::info << "IMTQ digital current: " << engHkDataset.digitalCurrentmA << " mA" << std::endl;
-    sif::info << "IMTQ analog current: " << engHkDataset.analogCurrentA << " A" << std::endl;
+    sif::info << "IMTQ analog current: " << engHkDataset.analogCurrentmA << " mA" << std::endl;
-    sif::info << "IMTQ coil X current: " << engHkDataset.coilXcurrentA << " A" << std::endl;
+    sif::info << "IMTQ coil X current: " << engHkDataset.coilXCurrentmA << " mA" << std::endl;
-    sif::info << "IMTQ coil Y current: " << engHkDataset.coilYcurrentA << " A" << std::endl;
+    sif::info << "IMTQ coil Y current: " << engHkDataset.coilYCurrentmA << " mA" << std::endl;
-    sif::info << "IMTQ coil Z current: " << engHkDataset.coilZcurrentA << " A" << std::endl;
+    sif::info << "IMTQ coil Z current: " << engHkDataset.coilZCurrentmA << " mA" << std::endl;
     sif::info << "IMTQ coil X temperature: " << engHkDataset.coilXTemperature << " °C"
             << std::endl;
     sif::info << "IMTQ coil Y temperature: " << engHkDataset.coilYTemperature << " °C"
@@ -245,15 +323,11 @@ void IMTQHandler::setModeNormal() {
     mode = MODE_NORMAL;
 }
 
-
-
 void IMTQHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {
 
-    ReturnValue_t result = RETURN_OK;
-
     if (wiretappingMode == RAW) {
         /* Data already sent in doGetRead() */
-        return result;
+        return;
     }
 
     DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
@@ -267,8 +341,71 @@ void IMTQHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCom
         return;
     }
 
-    result = actionHelper.reportData(queueId, replyId, data, dataSize);
+    ReturnValue_t result = actionHelper.reportData(queueId, replyId, data, dataSize);
     if (result != RETURN_OK) {
         sif::debug << "IMTQHandler::handleDeviceTM: Failed to report data" << std::endl;
+        return;
     }
 }
+
+void IMTQHandler::handleGetCommandedDipoleReply(const uint8_t* packet) {
+    uint8_t tmData[6];
+    /* Switching endianess of received dipole values */
+    tmData[0] = *(packet + 3);
+    tmData[1] = *(packet + 2);
+    tmData[2] = *(packet + 5);
+    tmData[3] = *(packet + 4);
+    tmData[4] = *(packet + 7);
+    tmData[5] = *(packet + 6);
+    handleDeviceTM(tmData, sizeof(tmData), IMTQ::GET_COMMANDED_DIPOLE);
+}
+
+void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
+    int8_t offset = 2;
+    calMtmMeasurementSet.mtmXnT = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+            | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    calMtmMeasurementSet.mtmYnT = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+            | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    calMtmMeasurementSet.mtmZnT = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+            | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    calMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24)
+            | (*(packet + offset + 2) << 16) | (*(packet + offset + 1) << 8) | (*(packet + offset));
+#if OBSW_VERBOSE_LEVEL >= 1 && IMQT_DEBUG == 1
+    sif::info << "IMTQ calibrated MTM measurement X: " << calMtmMeasurementSet.mtmXnT << " nT"
+            << std::endl;
+    sif::info << "IMTQ calibrated MTM measurement Y: " << calMtmMeasurementSet.mtmYnT << " nT"
+            << std::endl;
+    sif::info << "IMTQ calibrated MTM measurement Z: " << calMtmMeasurementSet.mtmZnT << " nT"
+            << std::endl;
+    sif::info << "IMTQ coil actuation status during MTM measurement: "
+            << (unsigned int) calMtmMeasurementSet.coilActuationStatus.value << std::endl;
+#endif
+}
+
+void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) {
+    int8_t offset = 2;
+    rawMtmMeasurementSet.mtmXnT = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+            | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5;
+    offset += 4;
+    rawMtmMeasurementSet.mtmYnT = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+            | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5;
+    offset += 4;
+    rawMtmMeasurementSet.mtmZnT = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+            | *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5;
+    offset += 4;
+    rawMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24)
+            | (*(packet + offset + 2) << 16) | (*(packet + offset + 1) << 8) | (*(packet + offset));
+#if OBSW_VERBOSE_LEVEL >= 1 && IMQT_DEBUG == 1
+    sif::info << "IMTQ raw MTM measurement X: " << rawMtmMeasurementSet.mtmXnT << " nT"
+            << std::endl;
+    sif::info << "IMTQ raw MTM measurement Y: " << rawMtmMeasurementSet.mtmYnT << " nT"
+            << std::endl;
+    sif::info << "IMTQ raw MTM measurement Z: " << rawMtmMeasurementSet.mtmZnT << " nT"
+            << std::endl;
+    sif::info << "IMTQ coil actuation status during MTM measurement: "
+            << (unsigned int) rawMtmMeasurementSet.coilActuationStatus.value << std::endl;
+#endif
+}

mission/devices/IMTQHandler.h

@@ -52,9 +52,20 @@ private:
 
 
 	IMTQ::EngHkDataset engHkDataset;
+	IMTQ::CalibratedMtmMeasurementSet calMtmMeasurementSet;
+	IMTQ::RawMtmMeasurementSet rawMtmMeasurementSet;
 
 	uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE];
 
+	enum class CommunicationStep {
+        GET_ENG_HK_DATA,
+        START_MTM_MEASUREMENT,
+        GET_CAL_MTM_MEASUREMENT,
+        GET_RAW_MTM_MEASUREMENT
+    };
+
+	CommunicationStep communicationStep = CommunicationStep::GET_ENG_HK_DATA;
+
 	/**
 	 * @brief   Each reply contains a status byte giving information about a request. This function
 	 *          parses this byte and returns the associated failure message.
@@ -72,6 +83,36 @@ private:
 	 *
 	 */
 	void fillEngHkDataset(const uint8_t* packet);
+
+	/**
+     * @brief   This function sends a command reply to the requesting queue.
+     *
+     * @param data  Pointer to the data to send.
+     * @param dataSize  Size of the data to send.
+     * @param relplyId  Reply id which will be inserted at the beginning of the action message.
+     */
+    void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
+
+    /**
+     * @brief   This function handles the reply containing the commanded dipole.
+     *
+     * @param packet    Pointer to the reply data.
+     */
+    void handleGetCommandedDipoleReply(const uint8_t* packet);
+
+    /**
+     * @brief   This function parses the reply containing the calibrated MTM measurement and writes
+     *          the values to the appropriate dataset.
+     * @param packet    Pointer to the reply data.
+     */
+    void fillCalibratedMtmDataset(const uint8_t* packet);
+
+    /**
+     * @brief   This function copies the raw MTM measurements to the MTM raw dataset.
+     * @param packet    Pointer to the reply data requested with the GET_RAW_MTM_MEASUREMENTS
+     *                  command.
+     */
+    void fillRawMtmDataset(const uint8_t* packet);
 };
 
 #endif /* MISSION_DEVICES_IMTQHANDLER_H_ */

mission/devices/devicedefinitions/IMTQHandlerDefinitions.h

@@ -7,49 +7,71 @@ namespace IMTQ {
 	static const DeviceCommandId_t GET_ENG_HK_DATA = 0x1;
 	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 uint8_t GET_TEMP_REPLY_SIZE = 2;
 	static const uint8_t CFGR_CMD_SIZE = 3;
 	static const uint8_t POINTER_REG_SIZE = 1;
 
 	static const uint32_t ENG_HK_DATA_SET_ID = GET_ENG_HK_DATA;
+	static const uint32_t CAL_MTM_SET = GET_CAL_MTM_MEASUREMENT;
+
 	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 uint8_t MAX_REPLY_SIZE = SIZE_ENG_HK_DATA_REPLY;
 	static const uint8_t MAX_COMMAND_SIZE = 9;
 
-	static const uint8_t POOL_ENTRIES = 11;
+	static const uint8_t ENG_HK_SET_POOL_ENTRIES = 11;
+	static const uint8_t CAL_MTM_POOL_ENTRIES = 4;
 
 	/**
 	 * 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 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;
 	};
 
 	enum IMTQPoolIds: lp_id_t {
 		DIGITAL_VOLTAGE_MV,
 		ANALOG_VOLTAGE_MV,
-		DIGITAL_CURRENT_A,
+		DIGITAL_CURRENT,
-		ANALOG_CURRENT_A,
+		ANALOG_CURRENT,
-		COIL_X_CURRENT_A,
+		COIL_X_CURRENT,
-		COIL_Y_CURRENT_A,
+		COIL_Y_CURRENT,
-		COIL_Z_CURRENT_A,
+		COIL_Z_CURRENT,
 		COIL_X_TEMPERATURE,
 		COIL_Y_TEMPERATURE,
 		COIL_Z_TEMPERATURE,
-		MCU_TEMPERATURE
+		MCU_TEMPERATURE,
+		MTM_CAL_X,
+		MTM_CAL_Y,
+		MTM_CAL_Z,
+		ACTUATION_CAL_STATUS,
+		MTM_RAW_X,
+		MTM_RAW_Y,
+		MTM_RAW_Z,
+		ACTUATION_RAW_STATUS
 	};
 
 class EngHkDataset:
-		public StaticLocalDataSet<POOL_ENTRIES> {
+		public StaticLocalDataSet<ENG_HK_SET_POOL_ENTRIES> {
 public:
 
     EngHkDataset(HasLocalDataPoolIF* owner):
@@ -64,16 +86,16 @@ public:
 			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> digitalCurrentA = lp_var_t<float>(sid.objectId,
+	lp_var_t<float> digitalCurrentmA = lp_var_t<float>(sid.objectId,
-			DIGITAL_CURRENT_A, this);
+			DIGITAL_CURRENT, this);
-	lp_var_t<float> analogCurrentA = lp_var_t<float>(sid.objectId,
+	lp_var_t<float> analogCurrentmA = lp_var_t<float>(sid.objectId,
-			ANALOG_CURRENT_A, this);
+			ANALOG_CURRENT, this);
-	lp_var_t<float> coilXcurrentA = lp_var_t<float>(sid.objectId,
+	lp_var_t<float> coilXCurrentmA = lp_var_t<float>(sid.objectId,
-			COIL_X_CURRENT_A, this);
+			COIL_X_CURRENT, this);
-	lp_var_t<float> coilYcurrentA = lp_var_t<float>(sid.objectId,
+	lp_var_t<float> coilYCurrentmA = lp_var_t<float>(sid.objectId,
-			COIL_Y_CURRENT_A, this);
+			COIL_Y_CURRENT, this);
-	lp_var_t<float> coilZcurrentA = lp_var_t<float>(sid.objectId,
+	lp_var_t<float> coilZCurrentmA = lp_var_t<float>(sid.objectId,
-			COIL_Z_CURRENT_A, this);
+			COIL_Z_CURRENT, this);
 	/** All temperatures in [°C] */
 	lp_var_t<uint16_t> coilXTemperature = lp_var_t<uint16_t>(sid.objectId,
 			COIL_X_TEMPERATURE, this);
@@ -85,6 +107,60 @@ public:
 			MCU_TEMPERATURE, this);
 };
 
+/**
+ * @brief   This dataset holds the raw MTM measurements.
+ */
+class CalibratedMtmMeasurementSet:
+        public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
+public:
+
+    CalibratedMtmMeasurementSet(HasLocalDataPoolIF* owner):
+        StaticLocalDataSet(owner, CAL_MTM_SET) {
+    }
+
+    CalibratedMtmMeasurementSet(object_id_t objectId):
+        StaticLocalDataSet(sid_t(objectId, CAL_MTM_SET)) {
+    }
+
+    /** The unit of all measurements is nT */
+    lp_var_t<int32_t> mtmXnT = lp_var_t<int32_t>(sid.objectId,
+            MTM_CAL_X, this);
+    lp_var_t<int32_t> mtmYnT = lp_var_t<int32_t>(sid.objectId,
+            MTM_CAL_Y, this);
+    lp_var_t<int32_t> mtmZnT = lp_var_t<int32_t>(sid.objectId,
+            MTM_CAL_Z, this);
+    /** 1 if coils were actuating during measurement otherwise 0 */
+    lp_var_t<uint8_t> coilActuationStatus = lp_var_t<uint8_t>(sid.objectId,
+            ACTUATION_CAL_STATUS, this);
+};
+
+/**
+ * @brief   This dataset holds the last calibrated MTM measurement.
+ */
+class RawMtmMeasurementSet:
+        public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
+public:
+
+    RawMtmMeasurementSet(HasLocalDataPoolIF* owner):
+        StaticLocalDataSet(owner, CAL_MTM_SET) {
+    }
+
+    RawMtmMeasurementSet(object_id_t objectId):
+        StaticLocalDataSet(sid_t(objectId, CAL_MTM_SET)) {
+    }
+
+    /** The unit of all measurements is nT */
+    lp_var_t<float> mtmXnT = lp_var_t<float>(sid.objectId,
+            MTM_RAW_X, this);
+    lp_var_t<float> mtmYnT = lp_var_t<float>(sid.objectId,
+            MTM_RAW_Y, this);
+    lp_var_t<float> mtmZnT = lp_var_t<float>(sid.objectId,
+            MTM_RAW_Z, this);
+    /** 1 if coils were actuating during measurement otherwise 0 */
+    lp_var_t<uint8_t> coilActuationStatus = lp_var_t<uint8_t>(sid.objectId,
+            ACTUATION_RAW_STATUS, this);
+};
+
 /**
  * @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.

tmtc

@@ -1 +1 @@
-Subproject commit 3e466f06ef7737f2f1bab8c3d68feb633da76dbc
+Subproject commit 4d2b7a61509a41e67cf62ecaa2864bba3acd9ef4