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added self test, untested

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This commit is contained in:
Jakob Meier
2021-06-04 16:45:54 +02:00
parent 7dfaedd1d5
commit d7024e1ee7
5 changed files with 1188 additions and 77 deletions
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453
mission/devices/devicedefinitions/IMTQHandlerDefinitions.h
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@ -13,7 +13,8 @@ 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 = 0x7;
static const DeviceCommandId_t SELF_TEST_CMD = 0x7;
static const DeviceCommandId_t GET_SELF_TEST_RESULT = 0x8;
static const uint8_t GET_TEMP_REPLY_SIZE = 2;
static const uint8_t CFGR_CMD_SIZE = 3;
@ -21,6 +22,7 @@ namespace IMTQ {
static const uint32_t ENG_HK_DATA_SET_ID = GET_ENG_HK_DATA;
static const uint32_t CAL_MTM_SET = GET_CAL_MTM_MEASUREMENT;
static const uint32_t SELF_TEST_DATA_SET = GET_SELF_TEST_RESULT;
static const uint8_t SIZE_ENG_HK_COMMAND = 1;
static const uint8_t SIZE_STATUS_REPLY = 2;
@ -35,6 +37,16 @@ namespace IMTQ {
/** Define entries in IMTQ specific dataset */
static const uint8_t ENG_HK_SET_POOL_ENTRIES = 11;
static const uint8_t CAL_MTM_POOL_ENTRIES = 4;
static const uint8_t SELF_TEST_DATASET_ENTRIES = 104;
/** Error codes for interpreting the self test error byte */
static const uint8_t I2C_FAILURE_MASK = 0x1;
static const uint8_t SPI_FAILURE_MASK = 0x2; // MTM connectivity
static const uint8_t ADC_FAILURE_MASK = 0x4; // Current/Temp measurement
static const uint8_t PWM_FAILURE_MASK = 0x8; // Coil actuation
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
/**
* Command code definitions. Each command or reply of an IMTQ request will begin with one of
@ -43,13 +55,36 @@ namespace IMTQ {
namespace CC {
static const uint8_t START_MTM_MEASUREMENT = 0x4;
static const uint8_t START_ACTUATION_DIPOLE = 0x6;
static const uint8_t SELF_TEST_CMD = 0x8;
static const uint8_t SOFTWARE_RESET = 0xAA;
static const uint8_t GET_ENG_HK_DATA = 0x4A;
static const uint8_t GET_COMMANDED_DIPOLE = 0x46;
static const uint8_t GET_RAW_MTM_MEASUREMENT = 0x42;
static const uint8_t GET_CAL_MTM_MEASUREMENT = 0x43;
static const uint8_t GET_SELF_TEST_RESULT = 0x47;
};
namespace SELF_TEST_AXIS {
static const uint8_t ALL = 0x0;
static const uint8_t X_POSITIVE = 0x1;
static const uint8_t X_NEGATIVE = 0x2;
static const uint8_t Y_POSITIVE = 0x3;
static const uint8_t Y_NEGATIVE = 0x4;
static const uint8_t Z_POSITIVE = 0x5;
static const uint8_t Z_NEGATIVE = 0x6;
}
namespace SELF_TEST_STEPS {
static const uint8_t INIT = 0x0;
static const uint8_t X_POSITIVE = 0x1;
static const uint8_t X_NEGATIVE = 0x2;
static const uint8_t Y_POSITIVE = 0x3;
static const uint8_t Y_NEGATIVE = 0x4;
static const uint8_t Z_POSITIVE = 0x5;
static const uint8_t Z_NEGATIVE = 0x6;
static const uint8_t FINA = 0x7;
}
enum IMTQPoolIds: lp_id_t {
DIGITAL_VOLTAGE_MV,
ANALOG_VOLTAGE_MV,
@ -69,98 +104,394 @@ namespace IMTQ {
MTM_RAW_X,
MTM_RAW_Y,
MTM_RAW_Z,
ACTUATION_RAW_STATUS
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,
POS_X_ERR,
POS_X_RAW_MAG_X,
POS_X_RAW_MAG_Y,
POS_X_RAW_MAG_Z,
POS_X_CAL_MAG_X,
POS_X_CAL_MAG_Y,
POS_X_CAL_MAG_Z,
POS_X_COIL_X_CURRENT,
POS_X_COIL_Y_CURRENT,
POS_X_COIL_Z_CURRENT,
POS_X_COIL_X_TEMPERATURE,
POS_X_COIL_Y_TEMPERATURE,
POS_X_COIL_Z_TEMPERATURE,
NEG_X_ERR,
NEG_X_RAW_MAG_X,
NEG_X_RAW_MAG_Y,
NEG_X_RAW_MAG_Z,
NEG_X_CAL_MAG_X,
NEG_X_CAL_MAG_Y,
NEG_X_CAL_MAG_Z,
NEG_X_COIL_X_CURRENT,
NEG_X_COIL_Y_CURRENT,
NEG_X_COIL_Z_CURRENT,
NEG_X_COIL_X_TEMPERATURE,
NEG_X_COIL_Y_TEMPERATURE,
NEG_X_COIL_Z_TEMPERATURE,
POS_Y_ERR,
POS_Y_RAW_MAG_X,
POS_Y_RAW_MAG_Y,
POS_Y_RAW_MAG_Z,
POS_Y_CAL_MAG_X,
POS_Y_CAL_MAG_Y,
POS_Y_CAL_MAG_Z,
POS_Y_COIL_X_CURRENT,
POS_Y_COIL_Y_CURRENT,
POS_Y_COIL_Z_CURRENT,
POS_Y_COIL_X_TEMPERATURE,
POS_Y_COIL_Y_TEMPERATURE,
POS_Y_COIL_Z_TEMPERATURE,
NEG_Y_ERR,
NEG_Y_RAW_MAG_X,
NEG_Y_RAW_MAG_Y,
NEG_Y_RAW_MAG_Z,
NEG_Y_CAL_MAG_X,
NEG_Y_CAL_MAG_Y,
NEG_Y_CAL_MAG_Z,
NEG_Y_COIL_X_CURRENT,
NEG_Y_COIL_Y_CURRENT,
NEG_Y_COIL_Z_CURRENT,
NEG_Y_COIL_X_TEMPERATURE,
NEG_Y_COIL_Y_TEMPERATURE,
NEG_Y_COIL_Z_TEMPERATURE,
POS_Z_ERR,
POS_Z_RAW_MAG_X,
POS_Z_RAW_MAG_Y,
POS_Z_RAW_MAG_Z,
POS_Z_CAL_MAG_X,
POS_Z_CAL_MAG_Y,
POS_Z_CAL_MAG_Z,
POS_Z_COIL_X_CURRENT,
POS_Z_COIL_Y_CURRENT,
POS_Z_COIL_Z_CURRENT,
POS_Z_COIL_X_TEMPERATURE,
POS_Z_COIL_Y_TEMPERATURE,
POS_Z_COIL_Z_TEMPERATURE,
NEG_Z_ERR,
NEG_Z_RAW_MAG_X,
NEG_Z_RAW_MAG_Y,
NEG_Z_RAW_MAG_Z,
NEG_Z_CAL_MAG_X,
NEG_Z_CAL_MAG_Y,
NEG_Z_CAL_MAG_Z,
NEG_Z_COIL_X_CURRENT,
NEG_Z_COIL_Y_CURRENT,
NEG_Z_COIL_Z_CURRENT,
NEG_Z_COIL_X_TEMPERATURE,
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,
};
class EngHkDataset:
public StaticLocalDataSet<ENG_HK_SET_POOL_ENTRIES> {
class EngHkDataset: public StaticLocalDataSet<ENG_HK_SET_POOL_ENTRIES> {
public:
EngHkDataset(HasLocalDataPoolIF* owner):
StaticLocalDataSet(owner, ENG_HK_DATA_SET_ID) {
}
EngHkDataset(HasLocalDataPoolIF* owner) :
StaticLocalDataSet(owner, ENG_HK_DATA_SET_ID) {
}
EngHkDataset(object_id_t objectId):
StaticLocalDataSet(sid_t(objectId, ENG_HK_DATA_SET_ID)) {
}
EngHkDataset(object_id_t objectId) :
StaticLocalDataSet(sid_t(objectId, ENG_HK_DATA_SET_ID)) {
}
lp_var_t<uint16_t> digitalVoltageMv = lp_var_t<uint16_t>(sid.objectId,
DIGITAL_VOLTAGE_MV, this);
lp_var_t<uint16_t> analogVoltageMv = lp_var_t<uint16_t>(sid.objectId,
ANALOG_VOLTAGE_MV, this);
lp_var_t<float> digitalCurrentmA = lp_var_t<float>(sid.objectId,
DIGITAL_CURRENT, this);
lp_var_t<float> analogCurrentmA = lp_var_t<float>(sid.objectId,
ANALOG_CURRENT, this);
lp_var_t<float> coilXCurrentmA = lp_var_t<float>(sid.objectId,
COIL_X_CURRENT, this);
lp_var_t<float> coilYCurrentmA = lp_var_t<float>(sid.objectId,
COIL_Y_CURRENT, this);
lp_var_t<float> coilZCurrentmA = lp_var_t<float>(sid.objectId,
COIL_Z_CURRENT, this);
/** All temperatures in [<5B>C] */
lp_var_t<uint16_t> coilXTemperature = lp_var_t<uint16_t>(sid.objectId,
COIL_X_TEMPERATURE, this);
lp_var_t<uint16_t> coilYTemperature = lp_var_t<uint16_t>(sid.objectId,
COIL_Y_TEMPERATURE, this);
lp_var_t<uint16_t> coilZTemperature = lp_var_t<uint16_t>(sid.objectId,
COIL_Z_TEMPERATURE, this);
lp_var_t<uint16_t> mcuTemperature = lp_var_t<uint16_t>(sid.objectId,
MCU_TEMPERATURE, this);
lp_var_t<uint16_t> digitalVoltageMv = lp_var_t<uint16_t>(sid.objectId, DIGITAL_VOLTAGE_MV,
this);
lp_var_t<uint16_t> analogVoltageMv = lp_var_t<uint16_t>(sid.objectId, ANALOG_VOLTAGE_MV, this);
lp_var_t<float> digitalCurrentmA = lp_var_t<float>(sid.objectId, DIGITAL_CURRENT, this);
lp_var_t<float> analogCurrentmA = lp_var_t<float>(sid.objectId, ANALOG_CURRENT, this);
lp_var_t<float> coilXCurrentmA = lp_var_t<float>(sid.objectId, COIL_X_CURRENT, this);
lp_var_t<float> coilYCurrentmA = lp_var_t<float>(sid.objectId, COIL_Y_CURRENT, this);
lp_var_t<float> coilZCurrentmA = lp_var_t<float>(sid.objectId, COIL_Z_CURRENT, this);
/** All temperatures in [<5B>C] */
lp_var_t<uint16_t> coilXTemperature = lp_var_t<uint16_t>(sid.objectId, COIL_X_TEMPERATURE,
this);
lp_var_t<uint16_t> coilYTemperature = lp_var_t<uint16_t>(sid.objectId, COIL_Y_TEMPERATURE,
this);
lp_var_t<uint16_t> coilZTemperature = lp_var_t<uint16_t>(sid.objectId, COIL_Z_TEMPERATURE,
this);
lp_var_t<uint16_t> mcuTemperature = lp_var_t<uint16_t>(sid.objectId, MCU_TEMPERATURE, this);
};
/**
* @brief This dataset holds the raw MTM measurements.
*/
class CalibratedMtmMeasurementSet:
public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
class CalibratedMtmMeasurementSet: public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
public:
CalibratedMtmMeasurementSet(HasLocalDataPoolIF* owner):
StaticLocalDataSet(owner, CAL_MTM_SET) {
CalibratedMtmMeasurementSet(HasLocalDataPoolIF* owner) :
StaticLocalDataSet(owner, CAL_MTM_SET) {
}
CalibratedMtmMeasurementSet(object_id_t objectId):
StaticLocalDataSet(sid_t(objectId, CAL_MTM_SET)) {
CalibratedMtmMeasurementSet(object_id_t objectId) :
StaticLocalDataSet(sid_t(objectId, CAL_MTM_SET)) {
}
/** The unit of all measurements is nT */
lp_var_t<int32_t> mtmXnT = lp_var_t<int32_t>(sid.objectId,
MTM_CAL_X, this);
lp_var_t<int32_t> mtmYnT = lp_var_t<int32_t>(sid.objectId,
MTM_CAL_Y, this);
lp_var_t<int32_t> mtmZnT = lp_var_t<int32_t>(sid.objectId,
MTM_CAL_Z, this);
lp_var_t<int32_t> mtmXnT = lp_var_t<int32_t>(sid.objectId, MTM_CAL_X, this);
lp_var_t<int32_t> mtmYnT = lp_var_t<int32_t>(sid.objectId, MTM_CAL_Y, this);
lp_var_t<int32_t> mtmZnT = lp_var_t<int32_t>(sid.objectId, MTM_CAL_Z, this);
/** 1 if coils were actuating during measurement otherwise 0 */
lp_var_t<uint8_t> coilActuationStatus = lp_var_t<uint8_t>(sid.objectId,
ACTUATION_CAL_STATUS, this);
lp_var_t<uint8_t> coilActuationStatus = lp_var_t<uint8_t>(sid.objectId, ACTUATION_CAL_STATUS,
this);
};
/**
* @brief This dataset holds the last calibrated MTM measurement.
*/
class RawMtmMeasurementSet:
public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
class RawMtmMeasurementSet: public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
public:
RawMtmMeasurementSet(HasLocalDataPoolIF* owner):
StaticLocalDataSet(owner, CAL_MTM_SET) {
RawMtmMeasurementSet(HasLocalDataPoolIF* owner) :
StaticLocalDataSet(owner, CAL_MTM_SET) {
}
RawMtmMeasurementSet(object_id_t objectId):
StaticLocalDataSet(sid_t(objectId, CAL_MTM_SET)) {
RawMtmMeasurementSet(object_id_t objectId) :
StaticLocalDataSet(sid_t(objectId, CAL_MTM_SET)) {
}
/** The unit of all measurements is nT */
lp_var_t<float> mtmXnT = lp_var_t<float>(sid.objectId,
MTM_RAW_X, this);
lp_var_t<float> mtmYnT = lp_var_t<float>(sid.objectId,
MTM_RAW_Y, this);
lp_var_t<float> mtmZnT = lp_var_t<float>(sid.objectId,
MTM_RAW_Z, this);
lp_var_t<float> mtmXnT = lp_var_t<float>(sid.objectId, MTM_RAW_X, this);
lp_var_t<float> mtmYnT = lp_var_t<float>(sid.objectId, MTM_RAW_Y, this);
lp_var_t<float> mtmZnT = lp_var_t<float>(sid.objectId, MTM_RAW_Z, this);
/** 1 if coils were actuating during measurement otherwise 0 */
lp_var_t<uint8_t> coilActuationStatus = lp_var_t<uint8_t>(sid.objectId,
ACTUATION_RAW_STATUS, this);
lp_var_t<uint8_t> coilActuationStatus = lp_var_t<uint8_t>(sid.objectId, ACTUATION_RAW_STATUS,
this);
};
/**
* @brief This dataset can be used to store the self test results.
*
* @details Units of measurements:
* Currents: [10^-4 A]
* Raw MTM data: [7.5 * 10^-9 T]
* Calibrated MTM data: [10^-9 T]
* Temperature: [<5B>C]
* 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)
*/
class SelfTestDataset: public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
public:
SelfTestDataset(HasLocalDataPoolIF* owner) :
StaticLocalDataSet(owner, SELF_TEST_DATA_SET) {
}
SelfTestDataset(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,
this);
lp_var_t<uint16_t> initCoilYCurrent = lp_var_t<uint16_t>(sid.objectId, INIT_COIL_Y_CURRENT,
this);
lp_var_t<uint16_t> initCoilZCurrent = lp_var_t<uint16_t>(sid.objectId, INIT_COIL_Z_CURRENT,
this);
lp_var_t<uint16_t> initCoilXTemperature = lp_var_t<uint16_t>(sid.objectId,
INIT_COIL_X_TEMPERATURE, this);
lp_var_t<uint16_t> initCoilYTemperature = lp_var_t<uint16_t>(sid.objectId,
INIT_COIL_Y_TEMPERATURE, this);
lp_var_t<uint16_t> initCoilZTemperature = lp_var_t<uint16_t>(sid.objectId,
INIT_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,
this);
lp_var_t<uint16_t> posXCoilYCurrent = 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,
this);
lp_var_t<uint16_t> posXCoilXTemperature = 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,
POS_X_COIL_Y_TEMPERATURE, this);
lp_var_t<uint16_t> posXCoilZTemperature = 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,
this);
lp_var_t<uint16_t> finaCoilYCurrent = lp_var_t<uint16_t>(sid.objectId, FINA_COIL_Y_CURRENT,
this);
lp_var_t<uint16_t> finaCoilZCurrent = lp_var_t<uint16_t>(sid.objectId, FINA_COIL_Z_CURRENT,
this);
lp_var_t<uint16_t> finaCoilXTemperature = lp_var_t<uint16_t>(sid.objectId,
FINA_COIL_X_TEMPERATURE, this);
lp_var_t<uint16_t> finaCoilYTemperature = lp_var_t<uint16_t>(sid.objectId,
FINA_COIL_Y_TEMPERATURE, this);
lp_var_t<uint16_t> finaCoilZTemperature = lp_var_t<uint16_t>(sid.objectId,
FINA_COIL_Z_TEMPERATURE, this);
};
/**