eive/eive-obsw
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save before using prepareDataLessCmd

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This commit is contained in:
Jakob Meier 2021-06-30 08:21:14 +02:00
parent f583fc1d99
commit e89719e398
4 changed files with 138 additions and 12 deletions
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56
mission/devices/RwHandler.cpp
View File

@ -7,7 +7,7 @@
RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie, RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
LinuxLibgpioIF* gpioComIF, gpioId_t enableGpio) : LinuxLibgpioIF* gpioComIF, gpioId_t enableGpio) :
DeviceHandlerBase(objectId, comIF, comCookie), gpioComIF(gpioComIF), enableGpio(enableGpio), DeviceHandlerBase(objectId, comIF, comCookie), gpioComIF(gpioComIF), enableGpio(enableGpio),
temperatureSet(this), statusSet(this), lastResetStatusSet(this) { temperatureSet(this), statusSet(this), lastResetStatusSet(this), tmDataset(this) {
if (comCookie == NULL) { if (comCookie == NULL) {
sif::error << "RwHandler: Invalid com cookie" << std::endl; sif::error << "RwHandler: Invalid com cookie" << std::endl;
} }
@ -113,6 +113,10 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
prepareGetTemperatureCmd(); prepareGetTemperatureCmd();
return RETURN_OK; return RETURN_OK;
} }
case (RwDefinitions::GET_TM): {
prepareGetTelemetryCmd();
return RETURN_OK;
}
default: default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
} }
@ -246,6 +250,29 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP
localDataPoolMap.emplace(RwDefinitions::LAST_RESET_STATUS, new PoolEntry<uint8_t>( { 0 })); localDataPoolMap.emplace(RwDefinitions::LAST_RESET_STATUS, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>( { 0 })); localDataPoolMap.emplace(RwDefinitions::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::TM_MCU_TEMPERATURE, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::TM_RW_STATE, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::TM_CLC_MODE, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::TM_RW_CURR_SPEED, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::TM_RW_REF_SPEED, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::EXECUTED_REPLIES, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::COMMAND_REPLIES, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::UART_BYTES_READ, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::UART_PARITY_ERRORS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::UART_NOISE_ERRORS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::UART_FRAME_ERRORS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_READ, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>( { 0 }));
return RETURN_OK; return RETURN_OK;
} }
@ -312,15 +339,6 @@ void RwHandler::prepareInitRwCommand() {
rawPacketLen = 3; rawPacketLen = 3;
} }
void RwHandler::prepareGetTemperatureCmd() {
commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::GET_TEMPERATURE);
uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
commandBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
commandBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
rawPacket = commandBuffer;
rawPacketLen = 3;
}
void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDataLen) { void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDataLen) {
commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::SET_SPEED); commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::SET_SPEED);
@ -340,6 +358,24 @@ void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDa
rawPacketLen = 9; rawPacketLen = 9;
} }
void RwHandler::prepareGetTemperatureCmd() {
commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::GET_TEMPERATURE);
uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
commandBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
commandBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
rawPacket = commandBuffer;
rawPacketLen = 3;
}
void RwHandler::prepareGetTelemetryCmd() {
commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::GET_TM);
uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
commandBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
commandBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
rawPacket = commandBuffer;
rawPacketLen = 3;
}
void RwHandler::handleResetStatusReply(const uint8_t* packet) { void RwHandler::handleResetStatusReply(const uint8_t* packet) {
PoolReadGuard rg(&lastResetStatusSet); PoolReadGuard rg(&lastResetStatusSet);
uint8_t offset = 2; uint8_t offset = 2;

1
mission/devices/RwHandler.h
View File

@ -88,6 +88,7 @@ private:
RwDefinitions::TemperatureSet temperatureSet; RwDefinitions::TemperatureSet temperatureSet;
RwDefinitions::StatusSet statusSet; RwDefinitions::StatusSet statusSet;
RwDefinitions::LastResetSatus lastResetStatusSet; RwDefinitions::LastResetSatus lastResetStatusSet;
RwDefinitions::TmDataset tmDataset;
uint8_t commandBuffer[RwDefinitions::MAX_CMD_SIZE]; uint8_t commandBuffer[RwDefinitions::MAX_CMD_SIZE];

91
mission/devices/devicedefinitions/RwDefinitions.h
View File

@ -17,7 +17,30 @@ enum PoolIds: lp_id_t {
STATE, STATE,
CLC_MODE, CLC_MODE,
LAST_RESET_STATUS, LAST_RESET_STATUS,
CURRRENT_RESET_STATUS CURRRENT_RESET_STATUS,
TM_LAST_RESET_STATUS,
TM_MCU_TEMPERATURE,
TM_RW_STATE,
TM_CLC_MODE,
TM_RW_CURR_SPEED,
TM_RW_REF_SPEED,
INVALID_CRC_PACKETS,
INVALID_LEN_PACKETS,
INVALID_CMD_PACKETS,
EXECUTED_REPLIES,
COMMAND_REPLIES,
UART_BYTES_WRITTEN,
UART_BYTES_READ,
UART_PARITY_ERRORS,
UART_NOISE_ERRORS,
UART_FRAME_ERRORS,
UART_REG_OVERRUN_ERRORS,
UART_TOTAL_ERRORS,
TOTAL_ERRORS,
SPI_BYTES_WRITTEN,
SPI_BYTES_READ,
SPI_REG_OVERRUN_ERRORS,
SPI_TOTAL_ERRORS
}; };
enum States: uint8_t { enum States: uint8_t {
@ -46,10 +69,12 @@ static const DeviceCommandId_t GET_RW_STATUS = 4;
static const DeviceCommandId_t INIT_RW_CONTROLLER = 5; static const DeviceCommandId_t INIT_RW_CONTROLLER = 5;
static const DeviceCommandId_t SET_SPEED = 6; static const DeviceCommandId_t SET_SPEED = 6;
static const DeviceCommandId_t GET_TEMPERATURE = 8; static const DeviceCommandId_t GET_TEMPERATURE = 8;
static const DeviceCommandId_t GET_TM = 9;
static const uint32_t TEMPERATURE_SET_ID = GET_TEMPERATURE; static const uint32_t TEMPERATURE_SET_ID = GET_TEMPERATURE;
static const uint32_t STATUS_SET_ID = GET_RW_STATUS; static const uint32_t STATUS_SET_ID = GET_RW_STATUS;
static const uint32_t LAST_RESET_ID = GET_LAST_RESET_STATUS; static const uint32_t LAST_RESET_ID = GET_LAST_RESET_STATUS;
static const uint32_t TM_SET_ID = GET_TM;
static const size_t SIZE_GET_RESET_STATUS = 5; static const size_t SIZE_GET_RESET_STATUS = 5;
static const size_t SIZE_CLEAR_RESET_STATUS = 4; static const size_t SIZE_CLEAR_RESET_STATUS = 4;
@ -67,6 +92,7 @@ static const size_t MAX_REPLY_SIZE = SIZE_GET_TELEMETRY_REPLY;
static const uint8_t LAST_RESET_ENTRIES = 2; static const uint8_t LAST_RESET_ENTRIES = 2;
static const uint8_t TEMPERATURE_SET_ENTRIES = 1; static const uint8_t TEMPERATURE_SET_ENTRIES = 1;
static const uint8_t STATUS_SET_ENTRIES = 4; static const uint8_t STATUS_SET_ENTRIES = 4;
static const uint8_t TM_SET_ENTRIES = 22;
/** /**
* @brief This dataset can be used to store the temperature of a reaction wheel. * @brief This dataset can be used to store the temperature of a reaction wheel.
@ -133,6 +159,69 @@ public:
PoolIds::CURRRENT_RESET_STATUS, this); PoolIds::CURRRENT_RESET_STATUS, this);
}; };
/**
* @brief This dataset stores telemetry data as specified in the datasheet of the nano avionics
* reaction wheels. https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/
* EIVE_IRS/Arbeitsdaten/08_Used%20Components/Nanoavionics_Reactionwheels&fileid=181622
*/
class TmDataset:
public StaticLocalDataSet<TM_SET_ENTRIES> {
public:
TmDataset(HasLocalDataPoolIF* owner):
StaticLocalDataSet(owner, TM_SET_ID) {
}
TmDataset(object_id_t objectId):
StaticLocalDataSet(sid_t(objectId, TM_SET_ID)) {
}
lp_var_t<uint8_t> lastResetStatus = lp_var_t<uint8_t>(sid.objectId,
PoolIds::TM_LAST_RESET_STATUS, this);
lp_var_t<uint32_t> mcuTemperature = lp_var_t<uint32_t>(sid.objectId,
PoolIds::TM_MCU_TEMPERATURE, this);
lp_var_t<uint8_t> rwState = lp_var_t<uint8_t>(sid.objectId,
PoolIds::TM_RW_STATE, this);
lp_var_t<uint8_t> rwClcMode = lp_var_t<uint8_t>(sid.objectId,
PoolIds::TM_CLC_MODE, this);
lp_var_t<int32_t> rwCurrSpeed = lp_var_t<int32_t>(sid.objectId,
PoolIds::TM_RW_CURR_SPEED, this);
lp_var_t<int32_t> rwRefSpeed = lp_var_t<int32_t>(sid.objectId,
PoolIds::TM_RW_REF_SPEED, this);
lp_var_t<uint32_t> numOfInvalidCrcPackets = lp_var_t<uint32_t>(sid.objectId,
PoolIds::INVALID_CRC_PACKETS, this);
lp_var_t<uint32_t> numOfInvalidLenPackets = lp_var_t<uint32_t>(sid.objectId,
PoolIds::INVALID_LEN_PACKETS, this);
lp_var_t<uint32_t> numOfInvalidCmdPackets = lp_var_t<uint32_t>(sid.objectId,
PoolIds::INVALID_CMD_PACKETS, this);
lp_var_t<uint32_t> numOfCmdExecutedReplies = lp_var_t<uint32_t>(sid.objectId,
PoolIds::EXECUTED_REPLIES, this);
lp_var_t<uint32_t> numOfCmdeplies = lp_var_t<uint32_t>(sid.objectId,
PoolIds::COMMAND_REPLIES, this);
lp_var_t<uint32_t> uartNumOfBytesWritten = lp_var_t<uint32_t>(sid.objectId,
PoolIds::UART_BYTES_WRITTEN, this);
lp_var_t<uint32_t> uartNumOfBytesRead = lp_var_t<uint32_t>(sid.objectId,
PoolIds::UART_BYTES_READ, this);
lp_var_t<uint32_t> uartNumOfParityErrors = lp_var_t<uint32_t>(sid.objectId,
PoolIds::UART_PARITY_ERRORS, this);
lp_var_t<uint32_t> uartNumOfNoiseErrors = lp_var_t<uint32_t>(sid.objectId,
PoolIds::UART_NOISE_ERRORS, this);
lp_var_t<uint32_t> uartNumOfFrameErrors = lp_var_t<uint32_t>(sid.objectId,
PoolIds::UART_FRAME_ERRORS, this);
lp_var_t<uint32_t> uartNumOfRegisterOverrunErrors = lp_var_t<uint32_t>(sid.objectId,
PoolIds::UART_REG_OVERRUN_ERRORS, this);
lp_var_t<uint32_t> uartTotalNumOfErrors = lp_var_t<uint32_t>(sid.objectId,
PoolIds::UART_TOTAL_ERRORS, this);
lp_var_t<uint32_t> spiNumOfBytesWritten = lp_var_t<uint32_t>(sid.objectId,
PoolIds::SPI_BYTES_WRITTEN, this);
lp_var_t<uint32_t> spiNumOfBytesRead = lp_var_t<uint32_t>(sid.objectId,
PoolIds::SPI_BYTES_READ, this);
lp_var_t<uint32_t> spiNumOfRegisterOverrunErrors = lp_var_t<uint32_t>(sid.objectId,
PoolIds::SPI_REG_OVERRUN_ERRORS, this);
lp_var_t<uint32_t> spiTotalNumOfErrors = lp_var_t<uint32_t>(sid.objectId,
PoolIds::SPI_TOTAL_ERRORS, this);
};
} }
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_ */ #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_ */

2
tmtc

@ -1 +1 @@
Subproject commit 09cab1941fad0bbe8fa54234f7513c61e22038ca Subproject commit 78b68307825754b468404ee4ff006ee87e0bdd5f