positive x axis self test, untested
This commit is contained in:
parent
0de484e423
commit
d13b232658
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@ -7,7 +7,7 @@
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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), calMtmMeasurementSet(
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this), rawMtmMeasurementSet(this), selfTestDataset(this) {
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this), rawMtmMeasurementSet(this), posXselfTestDataset(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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@ -18,14 +18,11 @@ IMTQHandler::~IMTQHandler() {
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void IMTQHandler::doStartUp(){
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if(selfTestPerformed == true){
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#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
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setMode(MODE_NORMAL);
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#else
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setMode(_MODE_TO_ON);
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#endif
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selfTestPerformed = false;
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}
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}
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void IMTQHandler::doShutDown(){
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@ -61,31 +58,16 @@ ReturnValue_t IMTQHandler::buildNormalDeviceCommand(
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ReturnValue_t IMTQHandler::buildTransitionDeviceCommand(
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DeviceCommandId_t * id){
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if (mode == _MODE_START_UP) {
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switch (startupStep) {
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case StartupStep::COMMAND_SELF_TEST:
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*id = IMTQ::SELF_TEST_CMD;
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startupStep = StartupStep::GET_SELF_TEST_RESULT;
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break;
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case StartupStep::GET_SELF_TEST_RESULT:
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*id = IMTQ::GET_SELF_TEST_RESULT;
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startupStep = StartupStep::NONE;
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break;
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default:
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sif::debug << "IMTQHandler::buildTransitionDeviceCommand: Unknown startup step"
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<< std::endl;
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}
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}
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return buildCommandFromCommand(*id, nullptr, 0);;
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return 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::SELF_TEST_CMD): {
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case(IMTQ::POS_X_SELF_TEST): {
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commandBuffer[0] = IMTQ::CC::SELF_TEST_CMD;
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commandBuffer[1] = IMTQ::SELF_TEST_AXIS::ALL;
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commandBuffer[1] = IMTQ::SELF_TEST_AXIS::X_POSITIVE;
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rawPacket = commandBuffer;
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rawPacketLen = 2;
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return RETURN_OK;
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@ -148,7 +130,17 @@ ReturnValue_t IMTQHandler::buildCommandFromCommand(
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}
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void IMTQHandler::fillCommandAndReplyMap() {
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this->insertInCommandAndReplyMap(IMTQ::SELF_TEST_CMD, 1, nullptr,
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this->insertInCommandAndReplyMap(IMTQ::POS_X_SELF_TEST, 1, nullptr,
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IMTQ::SIZE_STATUS_REPLY);
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this->insertInCommandAndReplyMap(IMTQ::NEG_X_SELF_TEST, 1, nullptr,
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IMTQ::SIZE_STATUS_REPLY);
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this->insertInCommandAndReplyMap(IMTQ::POS_Y_SELF_TEST, 1, nullptr,
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IMTQ::SIZE_STATUS_REPLY);
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this->insertInCommandAndReplyMap(IMTQ::NEG_Y_SELF_TEST, 1, nullptr,
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IMTQ::SIZE_STATUS_REPLY);
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this->insertInCommandAndReplyMap(IMTQ::POS_Z_SELF_TEST, 1, nullptr,
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IMTQ::SIZE_STATUS_REPLY);
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this->insertInCommandAndReplyMap(IMTQ::NEG_Z_SELF_TEST, 1, nullptr,
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IMTQ::SIZE_STATUS_REPLY);
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this->insertInCommandAndReplyMap(IMTQ::GET_SELF_TEST_RESULT, 1, nullptr,
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IMTQ::SIZE_SELF_TEST_RESULTS);
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@ -198,8 +190,8 @@ ReturnValue_t IMTQHandler::scanForReply(const uint8_t *start,
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break;
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case(IMTQ::CC::SELF_TEST_CMD):
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*foundLen = IMTQ::SIZE_STATUS_REPLY;
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*foundId = IMTQ::SELF_TEST_CMD;
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break;
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result = getSelfTestCommandId(foundId);
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break;
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case(IMTQ::CC::GET_SELF_TEST_RESULT):
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*foundLen = IMTQ::SIZE_SELF_TEST_RESULTS;
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*foundId = IMTQ::GET_SELF_TEST_RESULT;
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@ -225,7 +217,12 @@ ReturnValue_t IMTQHandler::interpretDeviceReply(DeviceCommandId_t id,
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}
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switch (id) {
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case (IMTQ::SELF_TEST_CMD):
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case (IMTQ::POS_X_SELF_TEST):
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case (IMTQ::NEG_X_SELF_TEST):
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case (IMTQ::POS_Y_SELF_TEST):
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case (IMTQ::NEG_Y_SELF_TEST):
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case (IMTQ::POS_Z_SELF_TEST):
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case (IMTQ::NEG_Z_SELF_TEST):
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case (IMTQ::START_ACTUATION_DIPOLE):
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case (IMTQ::START_MTM_MEASUREMENT):
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/* Replies only the status byte which is already handled with parseStatusByte */
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@ -290,20 +287,20 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat
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localDataPoolMap.emplace(IMTQ::MTM_RAW_Z, new PoolEntry<float>( { 0 }));
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localDataPoolMap.emplace(IMTQ::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>( { 0 }));
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/** Entries of dataset for self test results */
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localDataPoolMap.emplace(IMTQ::INIT_ERR, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_RAW_MAG_X, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_RAW_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_RAW_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_CAL_MAG_X, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_CAL_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_CAL_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_COIL_X_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_COIL_Y_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_COIL_Z_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_COIL_X_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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/** Entries of dataset for self test results of positive X axis test */
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localDataPoolMap.emplace(IMTQ::INIT_POS_X_ERR, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_POS_X_RAW_MAG_X, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_POS_X_RAW_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_POS_X_RAW_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_POS_X_CAL_MAG_X, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_POS_X_CAL_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_POS_X_CAL_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_X_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Y_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Z_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_X_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_X_ERR, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_X_RAW_MAG_X, new PoolEntry<uint32_t>( { 0 }));
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@ -319,6 +316,20 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat
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localDataPoolMap.emplace(IMTQ::POS_X_COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_X_COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::INIT_POS_X_ERR, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_X, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_X, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_X_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Y_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Z_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_X_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_X_ERR, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_X_RAW_MAG_X, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_X_RAW_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
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@ -389,23 +400,28 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat
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localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_ERR, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_RAW_MAG_X, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_RAW_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_RAW_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_CAL_MAG_X, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_CAL_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_CAL_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_COIL_X_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_COIL_Y_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_COIL_Z_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_COIL_X_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::FINA_COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t IMTQHandler::getSelfTestCommandId(DeviceCommandId_t* id) {
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DeviceCommandId_t commandId = getPendingCommand();
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switch(commandId) {
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case IMTQ::POS_X_SELF_TEST:
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case IMTQ::NEG_X_SELF_TEST:
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case IMTQ::POS_Y_SELF_TEST:
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case IMTQ::NEG_Y_SELF_TEST:
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case IMTQ::POS_Z_SELF_TEST:
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case IMTQ::NEG_Z_SELF_TEST:
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*id = commandId;
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break;
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default:
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sif::error << "IMTQHandler::getSelfTestCommandId: Reply does not match to pending "
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<< "command" << std::endl;
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return UNEXPECTED_SELF_TEST_REPLY;
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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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@ -575,506 +591,209 @@ void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) {
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}
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void IMTQHandler::handleSelfTestReply(const uint8_t* packet) {
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PoolReadGuard rg(&selfTestDataset);
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/** Init measurements */
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int8_t offset = 2;
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uint16_t offset = 2;
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checkErrorByte(*(packet + offset), *(packet + offset + 1));
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selfTestDataset.initErr = *(packet + offset);
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switch(*(packet + IMTQ::MAIN_STEP_OFFSET)) {
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case IMTQ::SELF_TEST_STEPS::X_POSITIVE: {
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handlePositiveXSelfTestReply(packet);
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break;
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}
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default:
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break;
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}
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}
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void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) {
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PoolReadGuard rg(&posXselfTestDataset);
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uint16_t offset = 2;
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/** Init measurements */
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posXselfTestDataset.initErr = *(packet + offset);
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offset += 2; // STEP byte will not be stored
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selfTestDataset.initRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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posXselfTestDataset.initRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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selfTestDataset.initRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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posXselfTestDataset.initRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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selfTestDataset.initRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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posXselfTestDataset.initRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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selfTestDataset.initCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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posXselfTestDataset.initCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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selfTestDataset.initCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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posXselfTestDataset.initCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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selfTestDataset.initCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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posXselfTestDataset.initCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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selfTestDataset.initCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
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posXselfTestDataset.initCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 2;
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selfTestDataset.initCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
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posXselfTestDataset.initCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 2;
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selfTestDataset.initCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
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posXselfTestDataset.initCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 2;
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selfTestDataset.initCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
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posXselfTestDataset.initCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 2;
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selfTestDataset.initCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
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posXselfTestDataset.initCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 2;
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selfTestDataset.initCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
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posXselfTestDataset.initCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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/** +X measurements */
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checkErrorByte(*(packet + offset), *(packet + offset + 1));
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selfTestDataset.posXErr = *(packet + offset);
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posXselfTestDataset.err = *(packet + offset);
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offset += 2; // STEP byte will not be stored
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selfTestDataset.posXRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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posXselfTestDataset.rawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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selfTestDataset.posXRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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posXselfTestDataset.rawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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selfTestDataset.posXRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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posXselfTestDataset.rawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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selfTestDataset.posXCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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posXselfTestDataset.calMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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selfTestDataset.posXCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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posXselfTestDataset.calMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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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);
|
||||
offset += 4;
|
||||
selfTestDataset.posXCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
posXselfTestDataset.coilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.posXCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
posXselfTestDataset.coilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.posXCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
posXselfTestDataset.coilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.posXCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
posXselfTestDataset.coilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.posXCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
posXselfTestDataset.coilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.posXCoilZTemperature = *(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);
|
||||
posXselfTestDataset.coilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 4;
|
||||
|
||||
/** FINA measurements */
|
||||
selfTestDataset.finaErr = *(packet + offset);
|
||||
checkErrorByte(*(packet + offset), *(packet + offset + 1));
|
||||
posXselfTestDataset.finaErr = *(packet + offset);
|
||||
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);
|
||||
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);
|
||||
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);
|
||||
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);
|
||||
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);
|
||||
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);
|
||||
offset += 4;
|
||||
selfTestDataset.finaCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
posXselfTestDataset.finaCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.finaCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
posXselfTestDataset.finaCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.finaCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
posXselfTestDataset.finaCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.finaCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
posXselfTestDataset.finaCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.finaCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
posXselfTestDataset.finaCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
posXselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 4;
|
||||
|
||||
#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1
|
||||
sif::info << "IMTQ self test (INIT) err: "
|
||||
<< static_cast<unsigned int>(selfTestDataset.initErr.value) << std::endl;
|
||||
sif::info << "IMTQ self test (INIT) raw magnetic field X: " << selfTestDataset.initRawMagX
|
||||
<< static_cast<unsigned int>(posXselfTestDataset.initErr.value) << std::endl;
|
||||
sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posXselfTestDataset.initRawMagX
|
||||
<< " 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;
|
||||
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;
|
||||
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;
|
||||
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;
|
||||
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;
|
||||
sif::info << "IMTQ self test (INIT) coil X current: " << selfTestDataset.initCoilXCurrent
|
||||
<< " 10^-4 A" << std::endl;
|
||||
sif::info << "IMTQ self test (INIT) coil Y current: " << selfTestDataset.initCoilYCurrent
|
||||
<< " 10^-4 A" << std::endl;
|
||||
sif::info << "IMTQ self test (INIT) coil Z current: " << selfTestDataset.initCoilZCurrent
|
||||
<< " 10^-4 A" << std::endl;
|
||||
sif::info << "IMTQ self test (INIT) coil X current: " << posXselfTestDataset.initCoilXCurrent
|
||||
<< " * 10^-4 A" << std::endl;
|
||||
sif::info << "IMTQ self test (INIT) coil Y current: " << posXselfTestDataset.initCoilYCurrent
|
||||
<< " * 10^-4 A" << std::endl;
|
||||
sif::info << "IMTQ self test (INIT) coil Z current: " << posXselfTestDataset.initCoilZCurrent
|
||||
<< " * 10^-4 A" << std::endl;
|
||||
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: "
|
||||
<< selfTestDataset.initCoilYTemperature << " °C" << std::endl;
|
||||
<< posXselfTestDataset.initCoilYTemperature << " °C" << std::endl;
|
||||
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: " <<
|
||||
static_cast<unsigned int>(selfTestDataset.posXErr.value) << std::endl;
|
||||
sif::info << "IMTQ self test (+X) raw magnetic field X: " << selfTestDataset.posXRawMagX
|
||||
static_cast<unsigned int>(posXselfTestDataset.err.value) << std::endl;
|
||||
sif::info << "IMTQ self test (+X) raw magnetic field X: " << posXselfTestDataset.rawMagX
|
||||
<< " 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;
|
||||
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;
|
||||
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;
|
||||
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;
|
||||
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;
|
||||
sif::info << "IMTQ self test (+X) coil X current: " << selfTestDataset.posXCoilXCurrent
|
||||
<< " 10^-4 A" << std::endl;
|
||||
sif::info << "IMTQ self test (+X) coil Y current: " << selfTestDataset.posXCoilYCurrent
|
||||
<< " 10^-4 A" << std::endl;
|
||||
sif::info << "IMTQ self test (+X) coil Z current: " << selfTestDataset.initCoilZCurrent
|
||||
<< " 10^-4 A" << std::endl;
|
||||
sif::info << "IMTQ self test (+X) coil X current: " << posXselfTestDataset.coilXCurrent
|
||||
<< " * 10^-4 A" << std::endl;
|
||||
sif::info << "IMTQ self test (+X) coil Y current: " << posXselfTestDataset.coilYCurrent
|
||||
<< " * 10^-4 A" << std::endl;
|
||||
sif::info << "IMTQ self test (+X) coil Z current: " << posXselfTestDataset.coilZCurrent
|
||||
<< " * 10^-4 A" << std::endl;
|
||||
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: "
|
||||
<< selfTestDataset.posXCoilYTemperature << " °C" << std::endl;
|
||||
<< posXselfTestDataset.coilYTemperature << " °C" << std::endl;
|
||||
sif::info << "IMTQ self test (+X) coil Z temperature: "
|
||||
<< selfTestDataset.posXCoilZTemperature << " °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;
|
||||
<< posXselfTestDataset.coilZTemperature << " °C" << std::endl;
|
||||
|
||||
sif::info << "IMTQ self test (FINA) err: "
|
||||
<< static_cast<unsigned int>(selfTestDataset.finaErr.value) << std::endl;
|
||||
sif::info << "IMTQ self test (FINA) raw magnetic field X: " << selfTestDataset.finaRawMagX
|
||||
<< static_cast<unsigned int>(posXselfTestDataset.finaErr.value) << std::endl;
|
||||
sif::info << "IMTQ self test (FINA) raw magnetic field X: " << posXselfTestDataset.finaRawMagX
|
||||
<< " 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;
|
||||
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;
|
||||
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;
|
||||
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;
|
||||
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;
|
||||
sif::info << "IMTQ self test (FINA) coil X current: " << selfTestDataset.finaCoilXCurrent
|
||||
<< " 10^-4 A" << std::endl;
|
||||
sif::info << "IMTQ self test (FINA) coil Y current: " << selfTestDataset.finaCoilYCurrent
|
||||
<< " 10^-4 A" << std::endl;
|
||||
sif::info << "IMTQ self test (FINA) coil Z current: " << selfTestDataset.finaCoilZCurrent
|
||||
<< " 10^-4 A" << std::endl;
|
||||
sif::info << "IMTQ self test (FINA) coil X current: " << posXselfTestDataset.finaCoilXCurrent
|
||||
<< " * 10^-4 A" << std::endl;
|
||||
sif::info << "IMTQ self test (FINA) coil Y current: " << posXselfTestDataset.finaCoilYCurrent
|
||||
<< " * 10^-4 A" << std::endl;
|
||||
sif::info << "IMTQ self test (FINA) coil Z current: " << posXselfTestDataset.finaCoilZCurrent
|
||||
<< " * 10^-4 A" << std::endl;
|
||||
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: "
|
||||
<< selfTestDataset.finaCoilYTemperature << " °C" << std::endl;
|
||||
<< posXselfTestDataset.finaCoilYTemperature << " °C" << std::endl;
|
||||
sif::info << "IMTQ self test (FINA) coil Z temperature: "
|
||||
<< selfTestDataset.finaCoilZTemperature << " °C" << std::endl;
|
||||
<< posXselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
|
||||
#endif
|
||||
if (mode == _MODE_START_UP) {
|
||||
selfTestPerformed = true;
|
||||
}
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
if (errorByte == 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (errorByte & IMTQ::I2C_FAILURE_MASK) {
|
||||
triggerEvent(SELF_TEST_I2C_FAILURE, step);
|
||||
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 "
|
||||
"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) {
|
||||
|
|
|
|||
|
|
@ -49,6 +49,8 @@ private:
|
|||
static const ReturnValue_t INTERNAL_PROCESSING_ERROR = MAKE_RETURN_CODE(0xA4);
|
||||
static const ReturnValue_t REJECTED_WITHOUT_REASON = MAKE_RETURN_CODE(0xA5);
|
||||
static const ReturnValue_t CMD_ERR_UNKNOWN = MAKE_RETURN_CODE(0xA6);
|
||||
//! [EXPORT] : [COMMENT] The status reply to a self test command was received but no self test command has been sent. This should normally never happen.
|
||||
static const ReturnValue_t UNEXPECTED_SELF_TEST_REPLY = MAKE_RETURN_CODE(0xA7);
|
||||
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::IMTQ_HANDLER;
|
||||
|
||||
|
|
@ -73,11 +75,13 @@ private:
|
|||
//! [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
|
||||
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::CalibratedMtmMeasurementSet calMtmMeasurementSet;
|
||||
IMTQ::RawMtmMeasurementSet rawMtmMeasurementSet;
|
||||
IMTQ::SelfTestDataset selfTestDataset;
|
||||
IMTQ::PosXselfTestSet posXselfTestDataset;
|
||||
|
||||
uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE];
|
||||
|
||||
|
|
@ -100,6 +104,12 @@ private:
|
|||
|
||||
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
|
||||
* parses this byte and returns the associated failure message.
|
||||
|
|
@ -149,12 +159,17 @@ private:
|
|||
void fillRawMtmDataset(const uint8_t* packet);
|
||||
|
||||
/**
|
||||
* @brief This function fills the self test dataset and parses error bytes by means of the
|
||||
* self test reply data.
|
||||
* @param packet Pointer to the reply data holding the self test results.
|
||||
* @brief This function handles all self test results. This comprises parsing the error byte
|
||||
* and step byte and calling the function to fill the respective dataset.
|
||||
*/
|
||||
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.
|
||||
*
|
||||
|
|
|
|||
|
|
@ -13,8 +13,13 @@ namespace IMTQ {
|
|||
static const DeviceCommandId_t GET_CAL_MTM_MEASUREMENT = 0x5;
|
||||
/** Requests the raw values measured by the built-in MTM XEN1210 */
|
||||
static const DeviceCommandId_t GET_RAW_MTM_MEASUREMENT = 0x6;
|
||||
static const DeviceCommandId_t SELF_TEST_CMD = 0x7;
|
||||
static const DeviceCommandId_t GET_SELF_TEST_RESULT = 0x8;
|
||||
static const DeviceCommandId_t POS_X_SELF_TEST = 0x7;
|
||||
static const DeviceCommandId_t NEG_X_SELF_TEST = 0x8;
|
||||
static const DeviceCommandId_t POS_Y_SELF_TEST = 0x9;
|
||||
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 CFGR_CMD_SIZE = 3;
|
||||
|
|
@ -48,6 +53,9 @@ namespace IMTQ {
|
|||
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 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
|
||||
|
|
@ -107,19 +115,89 @@ namespace IMTQ {
|
|||
MTM_RAW_Z,
|
||||
ACTUATION_RAW_STATUS,
|
||||
|
||||
INIT_ERR,
|
||||
INIT_RAW_MAG_X,
|
||||
INIT_RAW_MAG_Y,
|
||||
INIT_RAW_MAG_Z,
|
||||
INIT_CAL_MAG_X,
|
||||
INIT_CAL_MAG_Y,
|
||||
INIT_CAL_MAG_Z,
|
||||
INIT_COIL_X_CURRENT,
|
||||
INIT_COIL_Y_CURRENT,
|
||||
INIT_COIL_Z_CURRENT,
|
||||
INIT_COIL_X_TEMPERATURE,
|
||||
INIT_COIL_Y_TEMPERATURE,
|
||||
INIT_COIL_Z_TEMPERATURE,
|
||||
INIT_POS_X_ERR,
|
||||
INIT_POS_X_RAW_MAG_X,
|
||||
INIT_POS_X_RAW_MAG_Y,
|
||||
INIT_POS_X_RAW_MAG_Z,
|
||||
INIT_POS_X_CAL_MAG_X,
|
||||
INIT_POS_X_CAL_MAG_Y,
|
||||
INIT_POS_X_CAL_MAG_Z,
|
||||
INIT_POS_X_COIL_X_CURRENT,
|
||||
INIT_POS_X_COIL_Y_CURRENT,
|
||||
INIT_POS_X_COIL_Z_CURRENT,
|
||||
INIT_POS_X_COIL_X_TEMPERATURE,
|
||||
INIT_POS_X_COIL_Y_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_RAW_MAG_X,
|
||||
|
|
@ -205,19 +283,89 @@ namespace IMTQ {
|
|||
NEG_Z_COIL_Y_TEMPERATURE,
|
||||
NEG_Z_COIL_Z_TEMPERATURE,
|
||||
|
||||
FINA_ERR,
|
||||
FINA_RAW_MAG_X,
|
||||
FINA_RAW_MAG_Y,
|
||||
FINA_RAW_MAG_Z,
|
||||
FINA_CAL_MAG_X,
|
||||
FINA_CAL_MAG_Y,
|
||||
FINA_CAL_MAG_Z,
|
||||
FINA_COIL_X_CURRENT,
|
||||
FINA_COIL_Y_CURRENT,
|
||||
FINA_COIL_Z_CURRENT,
|
||||
FINA_COIL_X_TEMPERATURE,
|
||||
FINA_COIL_Y_TEMPERATURE,
|
||||
FINA_COIL_Z_TEMPERATURE,
|
||||
FINA_POS_X_ERR,
|
||||
FINA_POS_X_RAW_MAG_X,
|
||||
FINA_POS_X_RAW_MAG_Y,
|
||||
FINA_POS_X_RAW_MAG_Z,
|
||||
FINA_POS_X_CAL_MAG_X,
|
||||
FINA_POS_X_CAL_MAG_Y,
|
||||
FINA_POS_X_CAL_MAG_Z,
|
||||
FINA_POS_X_COIL_X_CURRENT,
|
||||
FINA_POS_X_COIL_Y_CURRENT,
|
||||
FINA_POS_X_COIL_Z_CURRENT,
|
||||
FINA_POS_X_COIL_X_TEMPERATURE,
|
||||
FINA_POS_X_COIL_Y_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> {
|
||||
|
|
@ -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:
|
||||
* Currents: [10^-4 A]
|
||||
|
|
@ -306,193 +454,82 @@ public:
|
|||
* 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:
|
||||
* 1. All coils off (INIT step)
|
||||
* 2. +X
|
||||
* 3. -X
|
||||
* 4. +Y
|
||||
* 5. -Y
|
||||
* 6. +Z
|
||||
* 7. -Z
|
||||
* 8. All coils off (FINA step)
|
||||
* 2. +X (apply current to generate dipole in positive X direction)
|
||||
* 3. All coils off (FINA step)
|
||||
*/
|
||||
class SelfTestDataset: public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
|
||||
class PosXselfTestSet: public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
|
||||
public:
|
||||
|
||||
SelfTestDataset(HasLocalDataPoolIF* owner) :
|
||||
PosXselfTestSet(HasLocalDataPoolIF* owner) :
|
||||
StaticLocalDataSet(owner, SELF_TEST_DATA_SET) {
|
||||
}
|
||||
|
||||
SelfTestDataset(object_id_t objectId) :
|
||||
PosXselfTestSet(object_id_t objectId) :
|
||||
StaticLocalDataSet(sid_t(objectId, SELF_TEST_DATA_SET)) {
|
||||
}
|
||||
|
||||
/** INIT block */
|
||||
lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_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> initRawMagY = lp_var_t<uint32_t>(sid.objectId, INIT_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> initCalMagX = lp_var_t<uint32_t>(sid.objectId, INIT_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> initCalMagZ = lp_var_t<uint32_t>(sid.objectId, INIT_CAL_MAG_Z, this);
|
||||
lp_var_t<uint16_t> initCoilXCurrent = lp_var_t<uint16_t>(sid.objectId, INIT_COIL_X_CURRENT,
|
||||
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_POS_X_RAW_MAG_X, 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_POS_X_RAW_MAG_Z, 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_POS_X_CAL_MAG_Y, 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_POS_X_COIL_X_CURRENT,
|
||||
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);
|
||||
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);
|
||||
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,
|
||||
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,
|
||||
INIT_COIL_Z_TEMPERATURE, this);
|
||||
INIT_POS_X_COIL_Z_TEMPERATURE, this);
|
||||
|
||||
/** +X block */
|
||||
lp_var_t<uint8_t> posXErr = 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> posXRawMagY = 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> posXCalMagX = 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> posXCalMagZ = 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<uint8_t> err = lp_var_t<uint8_t>(sid.objectId, POS_X_ERR, 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> rawMagY = lp_var_t<uint32_t>(sid.objectId, POS_X_RAW_MAG_Y, 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> calMagX = lp_var_t<uint32_t>(sid.objectId, POS_X_CAL_MAG_X, 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> calMagZ = lp_var_t<uint32_t>(sid.objectId, POS_X_CAL_MAG_Z, this);
|
||||
lp_var_t<uint16_t> coilXCurrent = lp_var_t<uint16_t>(sid.objectId, POS_X_COIL_X_CURRENT,
|
||||
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);
|
||||
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);
|
||||
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);
|
||||
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);
|
||||
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);
|
||||
|
||||
/** -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 */
|
||||
lp_var_t<uint8_t> finaErr = lp_var_t<uint8_t>(sid.objectId, FINA_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> finaRawMagY = lp_var_t<uint32_t>(sid.objectId, FINA_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> finaCalMagX = lp_var_t<uint32_t>(sid.objectId, FINA_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> finaCalMagZ = lp_var_t<uint32_t>(sid.objectId, FINA_CAL_MAG_Z, this);
|
||||
lp_var_t<uint16_t> finaCoilXCurrent = lp_var_t<uint16_t>(sid.objectId, FINA_COIL_X_CURRENT,
|
||||
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_POS_X_RAW_MAG_X, 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_POS_X_RAW_MAG_Z, 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_POS_X_CAL_MAG_Y, 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_POS_X_COIL_X_CURRENT,
|
||||
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);
|
||||
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);
|
||||
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,
|
||||
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,
|
||||
FINA_COIL_Z_TEMPERATURE, this);
|
||||
|
||||
FINA_POS_X_COIL_Z_TEMPERATURE, this);
|
||||
};
|
||||
|
||||
/**
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user