added self test, untested
This commit is contained in:
@ -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) {
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this), rawMtmMeasurementSet(this), selfTestDataset(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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@ -18,10 +18,13 @@ IMTQHandler::~IMTQHandler() {
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void IMTQHandler::doStartUp(){
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if(mode == _MODE_START_UP){
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//TODO: Set to MODE_ON again
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setMode(MODE_NORMAL);
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communicationStep = CommunicationStep::SELF_TEST;
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if(selfTestSuccess == 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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selfTestSuccess = false;
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}
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}
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@ -32,12 +35,6 @@ void IMTQHandler::doShutDown(){
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ReturnValue_t IMTQHandler::buildNormalDeviceCommand(
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DeviceCommandId_t * id) {
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switch (communicationStep) {
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case CommunicationStep::SELF_TEST:
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// *id = IMTQ::SELF_TEST;
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//TODO: Implementing self test command. On-hold because of issue with humidity in clean
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// room
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communicationStep = CommunicationStep::GET_ENG_HK_DATA;
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break;
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case CommunicationStep::GET_ENG_HK_DATA:
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*id = IMTQ::GET_ENG_HK_DATA;
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communicationStep = CommunicationStep::START_MTM_MEASUREMENT;
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@ -64,6 +61,19 @@ 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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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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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 HasReturnvaluesIF::RETURN_OK;
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}
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@ -71,6 +81,19 @@ 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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commandBuffer[0] = IMTQ::CC::SELF_TEST_CMD;
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commandBuffer[1] = IMTQ::SELF_TEST_AXIS::ALL;
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rawPacket = commandBuffer;
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rawPacketLen = 2;
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return RETURN_OK;
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}
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case(IMTQ::GET_SELF_TEST_RESULT): {
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commandBuffer[0] = IMTQ::CC::GET_SELF_TEST_RESULT;
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rawPacket = commandBuffer;
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rawPacketLen = 1;
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return RETURN_OK;
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}
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case(IMTQ::START_ACTUATION_DIPOLE): {
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/* IMTQ expects low byte first */
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commandBuffer[0] = IMTQ::CC::START_ACTUATION_DIPOLE;
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@ -123,6 +146,8 @@ 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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IMTQ::SIZE_STATUS_REPLY);
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this->insertInCommandAndReplyMap(IMTQ::START_ACTUATION_DIPOLE, 1, nullptr,
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IMTQ::SIZE_STATUS_REPLY);
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this->insertInCommandAndReplyMap(IMTQ::GET_ENG_HK_DATA, 1, &engHkDataset,
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@ -188,6 +213,7 @@ 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::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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@ -204,6 +230,9 @@ ReturnValue_t IMTQHandler::interpretDeviceReply(DeviceCommandId_t id,
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case (IMTQ::GET_RAW_MTM_MEASUREMENT):
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fillRawMtmDataset(packet);
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break;
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case (IMTQ::GET_SELF_TEST_RESULT):
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handleSelfTestReply(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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@ -218,7 +247,7 @@ 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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return 1000;
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}
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ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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@ -249,6 +278,119 @@ 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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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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localDataPoolMap.emplace(IMTQ::POS_X_RAW_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_X_RAW_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_X_CAL_MAG_X, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_X_CAL_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_X_CAL_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_X_COIL_X_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_X_COIL_Y_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_X_COIL_Z_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_X_COIL_X_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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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::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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localDataPoolMap.emplace(IMTQ::NEG_X_RAW_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_X_CAL_MAG_X, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_X_CAL_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_X_CAL_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_X_COIL_X_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_X_COIL_Y_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_X_COIL_Z_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_X_COIL_X_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_X_COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_X_COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Y_ERR, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Y_RAW_MAG_X, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Y_RAW_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Y_RAW_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Y_CAL_MAG_X, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Y_CAL_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Y_CAL_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Y_COIL_X_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Y_COIL_Y_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Y_COIL_Z_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Y_COIL_X_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Y_COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Y_COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Y_ERR, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Y_RAW_MAG_X, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Y_RAW_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Y_RAW_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Y_CAL_MAG_X, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Y_CAL_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Y_CAL_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Y_COIL_X_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Y_COIL_Y_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Y_COIL_Z_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Y_COIL_X_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Y_COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Y_COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Z_ERR, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Z_RAW_MAG_X, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Z_RAW_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Z_RAW_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Z_CAL_MAG_X, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Z_CAL_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Z_CAL_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Z_COIL_X_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Z_COIL_Y_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Z_COIL_Z_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Z_COIL_X_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Z_COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::POS_Z_COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Z_ERR, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Z_RAW_MAG_X, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Z_RAW_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Z_RAW_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Z_CAL_MAG_X, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Z_CAL_MAG_Y, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Z_CAL_MAG_Z, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_X_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_Y_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_Z_CURRENT, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_X_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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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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@ -284,6 +426,7 @@ ReturnValue_t IMTQHandler::parseStatusByte(const uint8_t* packet) {
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}
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void IMTQHandler::fillEngHkDataset(const uint8_t* packet) {
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PoolReadGuard rg(&engHkDataset);
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uint8_t offset = 2;
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engHkDataset.digitalVoltageMv = *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 2;
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@ -307,7 +450,7 @@ void IMTQHandler::fillEngHkDataset(const uint8_t* packet) {
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offset += 2;
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engHkDataset.mcuTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
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#if OBSW_VERBOSE_LEVEL >= 1 && IMQT_DEBUG == 1
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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.digitalCurrentmA << " mA" << std::endl;
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@ -368,6 +511,7 @@ void IMTQHandler::handleGetCommandedDipoleReply(const uint8_t* packet) {
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}
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void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
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PoolReadGuard rg(&calMtmMeasurementSet);
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int8_t offset = 2;
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calMtmMeasurementSet.mtmXnT = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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@ -380,7 +524,7 @@ void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
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offset += 4;
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calMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24)
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| (*(packet + offset + 2) << 16) | (*(packet + offset + 1) << 8) | (*(packet + offset));
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#if OBSW_VERBOSE_LEVEL >= 1 && IMQT_DEBUG == 1
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#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1
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sif::info << "IMTQ calibrated MTM measurement X: " << calMtmMeasurementSet.mtmXnT << " nT"
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<< std::endl;
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sif::info << "IMTQ calibrated MTM measurement Y: " << calMtmMeasurementSet.mtmYnT << " nT"
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@ -393,6 +537,7 @@ void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
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}
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||||
|
||||
void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) {
|
||||
PoolReadGuard rg(&rawMtmMeasurementSet);
|
||||
int8_t offset = 2;
|
||||
rawMtmMeasurementSet.mtmXnT = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
|
||||
| *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5;
|
||||
@ -405,7 +550,7 @@ void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) {
|
||||
offset += 4;
|
||||
rawMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24)
|
||||
| (*(packet + offset + 2) << 16) | (*(packet + offset + 1) << 8) | (*(packet + offset));
|
||||
#if OBSW_VERBOSE_LEVEL >= 1 && IMQT_DEBUG == 1
|
||||
#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1
|
||||
sif::info << "IMTQ raw MTM measurement X: " << rawMtmMeasurementSet.mtmXnT << " nT"
|
||||
<< std::endl;
|
||||
sif::info << "IMTQ raw MTM measurement Y: " << rawMtmMeasurementSet.mtmYnT << " nT"
|
||||
@ -416,3 +561,587 @@ void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) {
|
||||
<< (unsigned int) rawMtmMeasurementSet.coilActuationStatus.value << std::endl;
|
||||
#endif
|
||||
}
|
||||
|
||||
void IMTQHandler::handleSelfTestReply(const uint8_t* packet) {
|
||||
PoolReadGuard rg(&selfTestDataset);
|
||||
|
||||
/** Init measurements */
|
||||
int8_t offset = 2;
|
||||
checkErrorByte(*(packet + offset), *(packet + offset + 1));
|
||||
selfTestDataset.initErr = *(packet + offset);
|
||||
offset += 2; // STEP byte will not be stored
|
||||
selfTestDataset.initRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
|
||||
| *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 4;
|
||||
selfTestDataset.initRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
|
||||
| *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 4;
|
||||
selfTestDataset.initRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
|
||||
| *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 4;
|
||||
selfTestDataset.initCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
|
||||
| *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 4;
|
||||
selfTestDataset.initCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
|
||||
| *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 4;
|
||||
selfTestDataset.initCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
|
||||
| *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 4;
|
||||
selfTestDataset.initCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.initCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.initCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.initCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.initCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.initCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 4;
|
||||
|
||||
/** +X measurements */
|
||||
checkErrorByte(*(packet + offset), *(packet + offset + 1));
|
||||
selfTestDataset.posXErr = *(packet + offset);
|
||||
offset += 2; // STEP byte will not be stored
|
||||
selfTestDataset.posXRawMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
|
||||
| *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 4;
|
||||
selfTestDataset.posXRawMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
|
||||
| *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 4;
|
||||
selfTestDataset.posXRawMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
|
||||
| *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 4;
|
||||
selfTestDataset.posXCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
|
||||
| *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 4;
|
||||
selfTestDataset.posXCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
|
||||
| *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 4;
|
||||
selfTestDataset.posXCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
|
||||
| *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 4;
|
||||
selfTestDataset.posXCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.posXCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.posXCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.posXCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.posXCoilYTemperature = *(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);
|
||||
offset += 4;
|
||||
|
||||
/** FINA measurements */
|
||||
selfTestDataset.finaErr = *(packet + offset);
|
||||
offset += 2; // STEP byte will not be stored
|
||||
selfTestDataset.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
|
||||
| *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 4;
|
||||
selfTestDataset.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
|
||||
| *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 4;
|
||||
selfTestDataset.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
|
||||
| *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 4;
|
||||
selfTestDataset.finaCoilXCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.finaCoilYCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.finaCoilZCurrent = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.finaCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.finaCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
||||
offset += 2;
|
||||
selfTestDataset.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
|
||||
<< " 7.5 * 10^-9 T" << std::endl;
|
||||
sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << selfTestDataset.initRawMagY
|
||||
<< " 7.5 * 10^-9 T" << std::endl;
|
||||
sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << selfTestDataset.initRawMagZ
|
||||
<< " 7.5 * 10^-9 T" << std::endl;
|
||||
sif::info << "IMTQ self test (INIT) calibrated magnetic field X: " << selfTestDataset.initCalMagX
|
||||
<< " 10^-9 T" << std::endl;
|
||||
sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: " << selfTestDataset.initCalMagY
|
||||
<< " 10^-9 T" << std::endl;
|
||||
sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: " << selfTestDataset.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 temperature: "
|
||||
<< selfTestDataset.initCoilXTemperature << " °C" << std::endl;
|
||||
sif::info << "IMTQ self test (INIT) coil Y temperature: "
|
||||
<< selfTestDataset.initCoilYTemperature << " °C" << std::endl;
|
||||
sif::info << "IMTQ self test (INIT) coil Z temperature: "
|
||||
<< selfTestDataset.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
|
||||
<< " 7.5 * 10^-9 T" << std::endl;
|
||||
sif::info << "IMTQ self test (+X) raw magnetic field Y: " << selfTestDataset.posXRawMagY
|
||||
<< " 7.5 * 10^-9 T" << std::endl;
|
||||
sif::info << "IMTQ self test (+X) raw magnetic field Z: " << selfTestDataset.posXRawMagZ
|
||||
<< " 7.5 * 10^-9 T" << std::endl;
|
||||
sif::info << "IMTQ self test (+X) calibrated magnetic field X: " << selfTestDataset.posXCalMagX
|
||||
<< " 10^-9 T" << std::endl;
|
||||
sif::info << "IMTQ self test (+X) calibrated magnetic field Y: " << selfTestDataset.posXCalMagY
|
||||
<< " 10^-9 T" << std::endl;
|
||||
sif::info << "IMTQ self test (+X) calibrated magnetic field Z: " << selfTestDataset.posXCalMagZ
|
||||
<< " 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 temperature: "
|
||||
<< selfTestDataset.posXCoilXTemperature << " °C" << std::endl;
|
||||
sif::info << "IMTQ self test (+X) coil Y temperature: "
|
||||
<< selfTestDataset.posXCoilYTemperature << " °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;
|
||||
|
||||
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
|
||||
<< " 7.5 * 10^-9 T" << std::endl;
|
||||
sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << selfTestDataset.finaRawMagY
|
||||
<< " 7.5 * 10^-9 T" << std::endl;
|
||||
sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << selfTestDataset.finaRawMagZ
|
||||
<< " 7.5 * 10^-9 T" << std::endl;
|
||||
sif::info << "IMTQ self test (FINA) calibrated magnetic field X: " << selfTestDataset.finaCalMagX
|
||||
<< " 10^-9 T" << std::endl;
|
||||
sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: " << selfTestDataset.finaCalMagY
|
||||
<< " 10^-9 T" << std::endl;
|
||||
sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: " << selfTestDataset.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 temperature: "
|
||||
<< selfTestDataset.finaCoilXTemperature << " °C" << std::endl;
|
||||
sif::info << "IMTQ self test (FINA) coil Y temperature: "
|
||||
<< selfTestDataset.finaCoilYTemperature << " °C" << std::endl;
|
||||
sif::info << "IMTQ self test (FINA) coil Z temperature: "
|
||||
<< selfTestDataset.finaCoilZTemperature << " °C" << std::endl;
|
||||
#endif
|
||||
}
|
||||
|
||||
void IMTQHandler::checkErrorByte(const uint8_t errorByte, const uint8_t step) {
|
||||
std::string stepString("");
|
||||
if (step < 8) {
|
||||
stepString = makeStepString(step);
|
||||
}
|
||||
else {
|
||||
/** This should normally never happen */
|
||||
sif::debug << "IMTQHandler::checkErrorByte: Invalid step" << std::endl;
|
||||
return;
|
||||
}
|
||||
|
||||
if (errorByte & IMTQ::I2C_FAILURE_MASK) {
|
||||
triggerEvent(SELF_TEST_I2C_FAILURE, step);
|
||||
sif::error << "IMTQHandler::checkErrorByte: Self test I2C failure for step " << stepString
|
||||
<< std::endl;
|
||||
}
|
||||
if (errorByte & IMTQ::SPI_FAILURE_MASK) {
|
||||
triggerEvent(SELF_TEST_SPI_FAILURE, step);
|
||||
sif::error << "IMTQHandler::checkErrorByte: Self test SPI failure for step " << stepString
|
||||
<< std::endl;
|
||||
}
|
||||
if (errorByte & IMTQ::ADC_FAILURE_MASK) {
|
||||
triggerEvent(SELF_TEST_ADC_FAILURE, step);
|
||||
sif::error << "IMTQHandler::checkErrorByte: Self test ADC failure for step " << stepString
|
||||
<< std::endl;
|
||||
}
|
||||
if (errorByte & IMTQ::PWM_FAILURE_MASK) {
|
||||
triggerEvent(SELF_TEST_PWM_FAILURE, step);
|
||||
sif::error << "IMTQHandler::checkErrorByte: Self test PWM failure for step " << stepString
|
||||
<< std::endl;
|
||||
}
|
||||
if (errorByte & IMTQ::TC_FAILURE_MASK) {
|
||||
triggerEvent(SELF_TEST_TC_FAILURE, step);
|
||||
sif::error << "IMTQHandler::checkErrorByte: Self test TC failure (system failure) for step "
|
||||
<< stepString << std::endl;
|
||||
}
|
||||
if (errorByte & IMTQ::MTM_RANGE_FAILURE_MASK) {
|
||||
triggerEvent(SELF_TEST_TC_FAILURE, step);
|
||||
sif::error << "IMTQHandler::checkErrorByte: Self test MTM range failure for step "
|
||||
<< stepString << std::endl;
|
||||
}
|
||||
if (errorByte & IMTQ::COIL_CURRENT_FAILURE_MASK) {
|
||||
triggerEvent(SELF_TEST_COIL_CURRENT_FAILURE, step);
|
||||
sif::error << "IMTQHandler::checkErrorByte: Self test coil current outside of expected "
|
||||
"range for step " << stepString << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
std::string IMTQHandler::makeStepString(const uint8_t step) {
|
||||
std::string stepString("");
|
||||
switch (step) {
|
||||
case IMTQ::SELF_TEST_STEPS::INIT:
|
||||
stepString = std::string("INIT");
|
||||
break;
|
||||
case IMTQ::SELF_TEST_STEPS::X_POSITIVE:
|
||||
stepString = std::string("+X");
|
||||
break;
|
||||
case IMTQ::SELF_TEST_STEPS::X_NEGATIVE:
|
||||
stepString = std::string("-X");
|
||||
break;
|
||||
case IMTQ::SELF_TEST_STEPS::Y_POSITIVE:
|
||||
stepString = std::string("+Y");
|
||||
break;
|
||||
case IMTQ::SELF_TEST_STEPS::Y_NEGATIVE:
|
||||
stepString = std::string("-Y");
|
||||
break;
|
||||
case IMTQ::SELF_TEST_STEPS::Z_POSITIVE:
|
||||
stepString = std::string("+Z");
|
||||
break;
|
||||
case IMTQ::SELF_TEST_STEPS::Z_NEGATIVE:
|
||||
stepString = std::string("-Z");
|
||||
break;
|
||||
case IMTQ::SELF_TEST_STEPS::FINA:
|
||||
stepString = std::string("FINA");
|
||||
break;
|
||||
default:
|
||||
sif::error << "IMTQHandler::checkErrorByte: Received packet with invalid step information"
|
||||
<< std::endl;
|
||||
break;
|
||||
}
|
||||
return stepString;
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user