IMQT wip
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@ -25,7 +25,8 @@ debugging. */
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#define PDU1_DEBUG 0
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#define PDU1_DEBUG 0
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#define PDU2_DEBUG 0
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#define PDU2_DEBUG 0
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#define ACU_DEBUG 0
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#define ACU_DEBUG 0
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#define SYRLINKS_DEBUG 1
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#define SYRLINKS_DEBUG 0
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#define IMQT_DEBUG 1
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#include "OBSWVersion.h"
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#include "OBSWVersion.h"
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@ -19,6 +19,7 @@ enum {
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HEATER_HANDLER,
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HEATER_HANDLER,
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SA_DEPL_HANDLER,
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SA_DEPL_HANDLER,
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SYRLINKS_HANDLER,
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SYRLINKS_HANDLER,
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IMQT_HANDLER,
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};
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};
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}
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}
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241
mission/devices/IMTQHandler.cpp
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241
mission/devices/IMTQHandler.cpp
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@ -0,0 +1,241 @@
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#include "IMTQHandler.h"
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#include <fsfwconfig/OBSWConfig.h>
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#include <fsfw/globalfunctions/CRC.h>
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#include <fsfw/datapool/PoolReadHelper.h>
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#include <fsfwconfig/OBSWConfig.h>
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IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
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DeviceHandlerBase(objectId, comIF, comCookie), engHkDataset(this) {
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if (comCookie == NULL) {
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sif::error << "IMTQHandler: Invalid com cookie" << std::endl;
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}
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}
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IMTQHandler::~IMTQHandler() {
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}
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void IMTQHandler::doStartUp(){
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if(mode == _MODE_START_UP){
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setMode(MODE_ON);
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}
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}
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void IMTQHandler::doShutDown(){
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}
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ReturnValue_t IMTQHandler::buildNormalDeviceCommand(
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DeviceCommandId_t * id) {
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*id = IMTQ::GET_ENG_HK_DATA;
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return buildCommandFromCommand(*id, NULL, 0);
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}
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ReturnValue_t IMTQHandler::buildTransitionDeviceCommand(
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DeviceCommandId_t * id){
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t IMTQHandler::buildCommandFromCommand(
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DeviceCommandId_t deviceCommand, const uint8_t * commandData,
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size_t commandDataLen) {
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switch(deviceCommand) {
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case(IMTQ::GET_ENG_HK_DATA): {
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commandBuffer[0] = IMTQ::CC::GET_ENG_HK_DATA;
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rawPacket = commandBuffer;
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return RETURN_OK;
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}
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case(IMTQ::START_ACTUATION_DIPOLE): {
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commandBuffer[0] = IMTQ::CC::START_ACTUATION_DIPOLE;
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commandBuffer[1] = *(commandData + 1);
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commandBuffer[2] = *(commandData + 2);
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rawPacket = commandBuffer;
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return RETURN_OK;
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}
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default:
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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void IMTQHandler::fillCommandAndReplyMap() {
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this->insertInCommandAndReplyMap(IMTQ::GET_ENG_HK_DATA, 1, &engHkDataset,
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IMTQ::SIZE_ENG_HK_COMMAND, false, true, IMTQ::SIZE_ENG_HK_DATA);
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}
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ReturnValue_t IMTQHandler::scanForReply(const uint8_t *start,
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size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
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ReturnValue_t result = RETURN_OK;
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switch(*start) {
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case(IMTQ::CC::GET_ENG_HK_DATA):
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*foundLen = IMTQ::SIZE_ENG_HK_DATA_REPLY;
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*foundId = IMTQ::GET_ENG_HK_DATA;
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break;
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default:
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sif::debug << "IMTQHandler::scanForReply: Reply contains invalid command code" << std::endl;
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result = IGNORE_REPLY_DATA;
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break;
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}
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return result;
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}
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ReturnValue_t IMTQHandler::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) {
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ReturnValue_t result = RETURN_OK;
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result = parseStatusByte(packet);
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if (result != RETURN_OK) {
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return result;
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}
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switch (id) {
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case (IMTQ::GET_ENG_HK_DATA):
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fillEngHkDataset(packet);
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break;
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default: {
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sif::debug << "IMTQHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
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return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
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}
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}
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return RETURN_OK;
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}
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ReturnValue_t IMTQHandler::parseStatusByte(const uint8_t* packet) {
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uint8_t cmdErrorField = *(packet + 1) & 0xF;
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switch (cmdErrorField) {
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case 0:
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return RETURN_OK;
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case 1:
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return REJECTED_WITHOUT_REASON;
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case 2:
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return INVALID_COMMAND_CODE;
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case 3:
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return PARAMETER_MISSING;
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case 4:
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return PARAMETER_INVALID;
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case 5:
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return CC_UNAVAILABLE;
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case 7:
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return INTERNAL_PROCESSING_ERROR;
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default:
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sif::error << "IMTQHandler::parseStatusByte: CMD Error field contains unknown error code "
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<< cmdErrorField << std::endl;
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return CMD_ERR_UNKNOWN;
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}
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}
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void IMTQHandler::fillEngHkDataset(const uint8_t* packet) {
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uint8_t offset = 2;
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engHkDataset.digitalVoltageMv = *(packet + offset + 1) | *(packet + offset);
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offset += 2;
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engHkDataset.analogVoltageMv = *(packet + offset + 1) | *(packet + offset);
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offset += 2;
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engHkDataset.digitalCurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
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offset += 2;
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engHkDataset.analogCurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
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offset += 2;
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engHkDataset.coilXcurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
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offset += 2;
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engHkDataset.coilYcurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
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offset += 2;
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engHkDataset.coilZcurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
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offset += 2;
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engHkDataset.coilXTemperature = (*(packet + offset + 1) | *(packet + offset));
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offset += 2;
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engHkDataset.coilYTemperature = (*(packet + offset + 1) | *(packet + offset));
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offset += 2;
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engHkDataset.coilZTemperature = (*(packet + offset + 1) | *(packet + offset));
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offset += 2;
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engHkDataset.mcuTemperature = (*(packet + offset + 1) | *(packet + offset));
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#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1
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sif::info << "IMTQ digital voltage: " << engHkDataset.digitalVoltageMv << " mV" << std::endl;
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sif::info << "IMTQ analog voltage: " << engHkDataset.analogVoltageMv << " mV" << std::endl;
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sif::info << "IMTQ digital current: " << engHkDataset.digitalCurrentA << " A" << std::endl;
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sif::info << "IMTQ analog current: " << engHkDataset.analogCurrentA << " A" << std::endl;
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sif::info << "IMTQ coil X current: " << engHkDataset.coilXcurrentA << " A" << std::endl;
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sif::info << "IMTQ coil Y current: " << engHkDataset.coilYcurrentA << " A" << std::endl;
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sif::info << "IMTQ coil Z current: " << engHkDataset.coilZcurrentA << " A" << std::endl;
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sif::info << "IMTQ coil X temperature: " << engHkDataset.coilXTemperature << " °C"
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<< std::endl;
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sif::info << "IMTQ coil Y temperature: " << engHkDataset.coilYTemperature << " °C"
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<< std::endl;
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sif::info << "IMTQ coil Z temperature: " << engHkDataset.coilZTemperature << " °C"
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<< std::endl;
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sif::info << "IMTQ coil MCU temperature: " << engHkDataset.mcuTemperature << " °C"
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<< std::endl;
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#endif
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}
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void IMTQHandler::parseRxStatusRegistersReply(const uint8_t* packet) {
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PoolReadHelper readHelper(&rxDataset);
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uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
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rxDataset.rxStatus = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
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offset += 2;
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rxDataset.rxSensitivity = convertHexStringToUint32(reinterpret_cast<const char*>(packet + offset), 6);
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offset += 6;
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rxDataset.rxFrequencyShift = convertHexStringToUint32(reinterpret_cast<const char*>(packet + offset), 6);
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offset += 6;
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rxDataset.rxIqPower = convertHexStringToUint16(reinterpret_cast<const char*>(packet + offset));
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offset += 4;
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rxDataset.rxAgcValue = convertHexStringToUint16(reinterpret_cast<const char*>(packet + offset));
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offset += 4;
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offset += 2; // reserved register
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rxDataset.rxDemodEb= convertHexStringToUint32(reinterpret_cast<const char*>(packet + offset), 6);
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offset += 6;
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rxDataset.rxDemodN0= convertHexStringToUint32(reinterpret_cast<const char*>(packet + offset), 6);
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offset += 6;
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rxDataset.rxDataRate = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
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#if OBSW_VERBOSE_LEVEL >= 1 && SYRLINKS_DEBUG == 1
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sif::info << "Syrlinks RX Status: 0x" << std::hex << (unsigned int)rxDataset.rxStatus.value << std::endl;
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sif::info << "Syrlinks RX Sensitivity: " << std::dec << rxDataset.rxSensitivity << std::endl;
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sif::info << "Syrlinks RX Frequency Shift: " << rxDataset.rxFrequencyShift << std::endl;
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sif::info << "Syrlinks RX IQ Power: " << rxDataset.rxIqPower << std::endl;
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sif::info << "Syrlinks RX AGC Value: " << rxDataset.rxAgcValue << std::endl;
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sif::info << "Syrlinks RX Demod Eb: " << rxDataset.rxDemodEb << std::endl;
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sif::info << "Syrlinks RX Demod N0: " << rxDataset.rxDemodN0 << std::endl;
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sif::info << "Syrlinks RX Datarate: " << (unsigned int)rxDataset.rxDataRate.value << std::endl;
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#endif
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}
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void IMTQHandler::setNormalDatapoolEntriesInvalid(){
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}
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uint32_t IMTQHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
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return 500;
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}
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ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) {
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localDataPoolMap.emplace(IMTQ::DIGITAL_VOLTAGE_MV, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::ANALOG_VOLTAGE_MV, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::DIGITAL_CURRENT_A, new PoolEntry<float>( { 0 }));
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localDataPoolMap.emplace(IMTQ::ANALOG_CURRENT_A, new PoolEntry<float>( { 0 }));
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localDataPoolMap.emplace(IMTQ::COIL_X_CURRENT_A, new PoolEntry<float>( { 0 }));
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localDataPoolMap.emplace(IMTQ::COIL_Y_CURRENT_A, new PoolEntry<float>( { 0 }));
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localDataPoolMap.emplace(IMTQ::COIL_Z_CURRENT_A, new PoolEntry<float>( { 0 }));
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localDataPoolMap.emplace(IMTQ::COIL_X_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::MCU_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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return HasReturnvaluesIF::RETURN_OK;
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}
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void IMTQHandler::setModeNormal() {
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mode = MODE_NORMAL;
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}
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79
mission/devices/IMTQHandler.h
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79
mission/devices/IMTQHandler.h
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@ -0,0 +1,79 @@
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#ifndef MISSION_DEVICES_IMTQHANDLER_H_
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#define MISSION_DEVICES_IMTQHANDLER_H_
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include <mission/devices/devicedefinitions/IMTQHandlerDefinitions.h>
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#include <string.h>
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/**
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* @brief This is the device handler for the ISIS Magnetorquer iMTQ.
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*
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* @author J. Meier
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*/
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class IMTQHandler: public DeviceHandlerBase {
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public:
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IMTQHandler(object_id_t objectId, object_id_t comIF,
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CookieIF * comCookie);
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virtual ~IMTQHandler();
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/**
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* @brief Sets mode to MODE_NORMAL. Can be used for debugging.
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*/
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void setModeNormal();
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protected:
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void doStartUp() override;
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void doShutDown() override;
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ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
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ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) override;
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void fillCommandAndReplyMap() override;
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ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t * commandData,size_t commandDataLen) override;
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ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
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DeviceCommandId_t *foundId, size_t *foundLen) override;
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ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) override;
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void setNormalDatapoolEntriesInvalid() override;
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uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) override;
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LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
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private:
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static const uint8_t INTERFACE_ID = CLASS_ID::IMTQ_HANDLER;
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static const ReturnValue_t INVALID_COMMAND_CODE = MAKE_RETURN_CODE(0xA0);
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static const ReturnValue_t PARAMETER_MISSING = MAKE_RETURN_CODE(0xA1);
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static const ReturnValue_t PARAMETER_INVALID = MAKE_RETURN_CODE(0xA2);
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static const ReturnValue_t CC_UNAVAILABLE = MAKE_RETURN_CODE(0xA3);
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static const ReturnValue_t INTERNAL_PROCESSING_ERROR = MAKE_RETURN_CODE(0xA4);
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static const ReturnValue_t REJECTED_WITHOUT_REASON = MAKE_RETURN_CODE(0xA5);
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static const ReturnValue_t CMD_ERR_UNKNOWN = MAKE_RETURN_CODE(0xA6);
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IMTQ::EngHkDataset engHkDataset;
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uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE];
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/**
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* @brief Each reply contains a status byte giving information about a request. This function
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* parses this byte and returns the associated failure message.
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*
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* @param packet Pointer to the received message containing the status byte.
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*
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* @return The return code derived from the received status byte.
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*/
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ReturnValue_t parseStatusByte(const uint8_t* packet);
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/**
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* @brief This function fills the engineering housekeeping dataset with the received data.
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* @param packet Pointer to the received data.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
void fillEngHkDataset(const uint8_t* packet);
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif /* MISSION_DEVICES_IMTQHANDLER_H_ */
|
||||||
110
mission/devices/devicedefinitions/IMTQHandlerDefinitions.h
Normal file
110
mission/devices/devicedefinitions/IMTQHandlerDefinitions.h
Normal file
@ -0,0 +1,110 @@
|
|||||||
|
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_
|
||||||
|
#define MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_
|
||||||
|
|
||||||
|
namespace IMTQ {
|
||||||
|
|
||||||
|
static const DeviceCommandId_t NONE = 0x0;
|
||||||
|
static const DeviceCommandId_t GET_ENG_HK_DATA = 0x1;
|
||||||
|
static const DeviceCommandId_t START_ACTUATION_DIPOLE = 0x2;
|
||||||
|
|
||||||
|
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 uint8_t SIZE_ENG_HK_COMMAND = 1;
|
||||||
|
static const uint8_t SIZE_ENG_HK_DATA_REPLY = 24;
|
||||||
|
|
||||||
|
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 = 8;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* 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_ACTUATION_DIPOLE = 0x6;
|
||||||
|
static const uint8_t SOFTWARE_RESET = 0xAA;
|
||||||
|
static const uint8_t GET_ENG_HK_DATA = 0x4A;
|
||||||
|
};
|
||||||
|
|
||||||
|
enum IMTQPoolIds: lp_id_t {
|
||||||
|
DIGITAL_VOLTAGE_MV,
|
||||||
|
ANALOG_VOLTAGE_MV,
|
||||||
|
DIGITAL_CURRENT_A,
|
||||||
|
ANALOG_CURRENT_A,
|
||||||
|
COIL_X_CURRENT_A,
|
||||||
|
COIL_Y_CURRENT_A,
|
||||||
|
COIL_Z_CURRENT_A,
|
||||||
|
COIL_X_TEMPERATURE,
|
||||||
|
COIL_Y_TEMPERATURE,
|
||||||
|
COIL_Z_TEMPERATURE,
|
||||||
|
MCU_TEMPERATURE
|
||||||
|
};
|
||||||
|
|
||||||
|
class EngHkDataset:
|
||||||
|
public StaticLocalDataSet<POOL_ENTRIES> {
|
||||||
|
public:
|
||||||
|
|
||||||
|
EngHkDataset(HasLocalDataPoolIF* owner):
|
||||||
|
StaticLocalDataSet(owner, ENG_HK_DATA_SET_ID) {
|
||||||
|
}
|
||||||
|
|
||||||
|
EngHkDataset(object_id_t objectId):
|
||||||
|
StaticLocalDataSet(sid_t(objectId, ENG_HK_DATA_SET_ID)) {
|
||||||
|
}
|
||||||
|
|
||||||
|
lp_var_t<uint16_t> digitalVoltageMv = lp_var_t<uint16_t>(sid.objectId,
|
||||||
|
DIGITAL_VOLTAGE_MV, this);
|
||||||
|
lp_var_t<uint16_t> analogVoltageMv = lp_var_t<uint16_t>(sid.objectId,
|
||||||
|
ANALOG_VOLTAGE_MV, this);
|
||||||
|
lp_var_t<float> digitalCurrentA = lp_var_t<float>(sid.objectId,
|
||||||
|
DIGITAL_CURRENT_A, this);
|
||||||
|
lp_var_t<float> analogCurrentA = lp_var_t<float>(sid.objectId,
|
||||||
|
ANALOG_CURRENT_A, this);
|
||||||
|
lp_var_t<float> coilXcurrentA = lp_var_t<float>(sid.objectId,
|
||||||
|
COIL_X_CURRENT_A, this);
|
||||||
|
lp_var_t<float> coilYcurrentA = lp_var_t<float>(sid.objectId,
|
||||||
|
COIL_Y_CURRENT_A, this);
|
||||||
|
lp_var_t<float> coilZcurrentA = lp_var_t<float>(sid.objectId,
|
||||||
|
COIL_Z_CURRENT_A, this);
|
||||||
|
/** All temperatures in [°C] */
|
||||||
|
lp_var_t<uint16_t> coilXTemperature = lp_var_t<uint16_t>(sid.objectId,
|
||||||
|
COIL_X_TEMPEARTURE, this);
|
||||||
|
lp_var_t<uint16_t> coilYTemperature = lp_var_t<uint16_t>(sid.objectId,
|
||||||
|
COIL_Y_TEMPERATURE, this);
|
||||||
|
lp_var_t<uint16_t> coilZTemperature = lp_var_t<uint16_t>(sid.objectId,
|
||||||
|
COIL_Z_TEMPERATURE, this);
|
||||||
|
lp_var_t<uint16_t> mcuTemperature = lp_var_t<uint16_t>(sid.objectId,
|
||||||
|
MCU_TEMPERATURE, 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.
|
||||||
|
*/
|
||||||
|
class CommandDipolePacket : public SerialLinkedListAdapter<SerializeIF> {
|
||||||
|
public:
|
||||||
|
|
||||||
|
CommandDipolePacket() {
|
||||||
|
setLinks();
|
||||||
|
}
|
||||||
|
|
||||||
|
private:
|
||||||
|
CommandDipolePacket(uint16_t xDipole, uint16_t yDipole, uint16_t zDipole);
|
||||||
|
void setLinks() {
|
||||||
|
setStart(&cspPort);
|
||||||
|
cspPort.setNext(&querySize);
|
||||||
|
querySize.setNext(&magic);
|
||||||
|
}
|
||||||
|
SerializeElement<uint8_t> cspPort = GOMSPACE::P60_PORT_GNDWDT_RESET;
|
||||||
|
SerializeElement<uint16_t> querySize = 1;
|
||||||
|
/* Sending 0x78 to port 9 of a gomspace device resets the ground watchdog */
|
||||||
|
SerializeElement<uint8_t> magic = 0x78;
|
||||||
|
};
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_ */
|
||||||
Loading…
Reference in New Issue
Block a user