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meier/startracker #118

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muellerr merged 43 commits from meier/startracker into develop 2021-12-22 15:22:58 +01:00
Conversation 1 Commits 43 Files Changed 49 +507 -534
42 changed files with 507 additions and 534 deletions
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90
mission/devices/StarTrackerHandler.cpp
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@@ -25,7 +25,8 @@ StarTrackerHandler::~StarTrackerHandler() {
void StarTrackerHandler::doStartUp() {
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
// setMode(MODE_NORMAL);
setMode(_MODE_TO_ON);
#else
setMode(_MODE_TO_ON);
#endif
@@ -60,6 +61,10 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
preparePingRequest();
return RETURN_OK;
}
case (StarTracker::REBOOT): {
prepareRebootCommand();
return RETURN_OK;
}
case (StarTracker::REQ_TEMPERATURE): {
prepareTemperatureRequest();
return RETURN_OK;
@@ -75,6 +80,7 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
* is specified */
this->insertInCommandAndReplyMap(StarTracker::PING_REQUEST, 1, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandMap(StarTracker::REBOOT);
this->insertInCommandAndReplyMap(StarTracker::REQ_TEMPERATURE, 1, &temperatureSet,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
}
@@ -136,9 +142,11 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t *start, size_t rema
ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
ReturnValue_t result = RETURN_OK;
switch (id) {
case (StarTracker::PING_REQUEST): {
handlePingReply();
result = handlePingReply();
break;
}
case (StarTracker::REQ_TEMPERATURE): {
@@ -146,12 +154,13 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, con
break;
}
default: {
sif::debug << "StarTrackerHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
sif::debug << "StarTrackerHandler::interpretDeviceReply: Unknown device reply id:" << id
<< std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
return RETURN_OK;
return result;
}
void StarTrackerHandler::setNormalDatapoolEntriesInvalid() {
@@ -165,7 +174,6 @@ uint32_t StarTrackerHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo
ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(StarTracker::STATUS, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::TICKS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::TIME, new PoolEntry<uint64_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::MCU_TEMPERATURE, new PoolEntry<float>( { 0 }));
@@ -196,6 +204,16 @@ void StarTrackerHandler::preparePingRequest() {
rawPacketLen = encLength;
}
void StarTrackerHandler::prepareRebootCommand() {
uint32_t length = 0;
struct RebootActionRequest rebootReq;
arc_pack_reboot_action_req(&rebootReq, commandBuffer, &length);
uint32_t encLength = 0;
arc_transport_encode_body(commandBuffer, length, encBuffer, &encLength);
rawPacket = encBuffer;
rawPacketLen = encLength;
}
void StarTrackerHandler::prepareTemperatureRequest() {
uint32_t length = 0;
arc_tm_pack_temperature_req(commandBuffer, &length);
@@ -205,49 +223,59 @@ void StarTrackerHandler::prepareTemperatureRequest() {
rawPacketLen = encLength;
}
void StarTrackerHandler::handlePingReply() {
ReturnValue_t StarTrackerHandler::handlePingReply() {
ReturnValue_t result = RETURN_OK;
uint32_t pingId = 0;
size_t size = 0;
const uint8_t* buffer = decodedFrame;
SerializeAdapter::deSerialize(&pingId, &buffer, &size, SerializeIF::Endianness::BIG);
uint8_t status = *(decodedFrame + 2);
const uint8_t* buffer = decodedFrame + 3;
size_t size = sizeof(pingId);
SerializeAdapter::deSerialize(&pingId, &buffer, &size, SerializeIF::Endianness::LITTLE);
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
sif::info << "Ping status "<< static_cast<unsigned int>(*(decodedFrame + 2)) << std::endl;
sif::info << "Ping id "<< pingId << std::endl;
sif::info << "Ping status: "<< static_cast<unsigned int>(status) << std::endl;
sif::info << "Ping id: 0x"<< std::hex << pingId << std::endl;
#endif /* OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 */
if (status != StarTracker::STATUS_OK || pingId != PING_ID) {
result = PING_FAILED;
}
return result;
}
void StarTrackerHandler::handleTemperatureTm() {
ReturnValue_t StarTrackerHandler::handleTemperatureTm() {
ReturnValue_t result = RETURN_OK;
PoolReadGuard rg(&temperatureSet);
uint32_t offset = 1;
temperatureSet.status = *(decodedFrame + offset);
uint32_t offset = 2;
uint8_t status = *(decodedFrame + offset);
offset += 1;
if(temperatureSet.status.value != 0) {
if(status != StarTracker::STATUS_OK) {
sif::warning << "StarTrackerHandler::handleTemperatureTm: Reply error: "
<< static_cast<unsigned int>(temperatureSet.status.value) << std::endl;
triggerEvent(TM_REPLY_ERROR, temperatureSet.status.value);
<< static_cast<unsigned int>(status) << std::endl;
result = TEMPERATURE_REQUEST_FAILED;
return result;
}
temperatureSet.ticks = *(decodedFrame + offset) << 24
| *(decodedFrame + offset + 1) << 16 | *(decodedFrame + offset + 2) << 8
| *(decodedFrame + offset + 3);
offset += 4;
temperatureSet.time = static_cast<uint64_t>(*(decodedFrame + offset)) << 56
| static_cast<uint64_t>(*(decodedFrame + offset + 1)) << 48
| static_cast<uint64_t>(*(decodedFrame + offset + 2)) << 40
| static_cast<uint64_t>(*(decodedFrame + offset + 3)) << 32
| *(decodedFrame + offset + 4) << 24 | *(decodedFrame + offset + 5) << 16
| *(decodedFrame + offset + 6) << 8 | *(decodedFrame + offset + 7);
offset += 8;
const uint8_t* buffer = decodedFrame + offset;
size_t size = sizeof(temperatureSet.ticks);
SerializeAdapter::deSerialize(&temperatureSet.ticks, &buffer, &size, SerializeIF::Endianness::LITTLE);
offset += size;
buffer = decodedFrame + offset;
size = sizeof(temperatureSet.time);
SerializeAdapter::deSerialize(&temperatureSet.time, &buffer, &size, SerializeIF::Endianness::LITTLE);
offset += size;
temperatureSet.mcuTemperature = *(decodedFrame + offset) << 24
| *(decodedFrame + offset + 1) << 16 | *(decodedFrame + offset + 2) << 8
| *(decodedFrame + offset + 3);
offset += 4;
temperatureSet.cmosTemperature = *(decodedFrame + offset) << 24
offset += sizeof(temperatureSet.mcuTemperature);
temperatureSet.mcuTemperature = *(decodedFrame + offset) << 24
| *(decodedFrame + offset + 1) << 16 | *(decodedFrame + offset + 2) << 8
| *(decodedFrame + offset + 3);
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
sif::info << "StarTrackerHandler::handleTemperatureTm: Ticks: "
<< temperatureSet.ticks << std::endl;
sif::info << "StarTrackerHandler::handleTemperatureTm: Time: "
<< temperatureSet.time << std::endl;
sif::info << "StarTrackerHandler::handleTemperatureTm: MCU Temperature: "
<< temperatureSet.mcuTemperature << " °C" << std::endl;
sif::info << "StarTrackerHandler::handleTemperatureTm: CMOS Temperature: "
<< temperatureSet.mcuTemperature << " °C" << std::endl;
#endif
return result;
}

18
mission/devices/StarTrackerHandler.h
View File

@@ -12,7 +12,6 @@
* @details Datasheet: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
* Arbeitsdaten/08_Used%20Components/ArcSec_KULeuven_Startracker/
* Sagitta%201.0%20Datapack&fileid=659181
*
* @author J. Meier
*/
class StarTrackerHandler: public DeviceHandlerBase {
@@ -64,9 +63,10 @@ private:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HANDLER;
//! [EXPORT] : [COMMENT] Result code of tm reply indicates an error
static const ReturnValue_t TM_REPLY_ERROR = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Status in tm reply not ok
static const ReturnValue_t TEMPERATURE_REQUEST_FAILED = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Ping command failed
static const ReturnValue_t PING_FAILED = MAKE_RETURN_CODE(0xA1);
// Ping request will reply ping with this ID (data field)
static const uint32_t PING_ID = 0x55;
@@ -97,16 +97,22 @@ private:
* @brief Fills command buffer with data to ping the star tracker
*/
void preparePingRequest();
/**
* @brief Fills command buffer with data to reboot star tracker.
*/
void prepareRebootCommand();
/**
* @brief Fills command buffer with data to request temperature from star tracker
*/
void prepareTemperatureRequest();
void handlePingReply();
ReturnValue_t handlePingReply();
/**
* @brief This function handles the telemetry reply of a temperature request.
*/
void handleTemperatureTm();
ReturnValue_t handleTemperatureTm();
};
#endif /* MISSION_DEVICES_STARTRACKERHANDLER_H_ */

7
mission/devices/devicedefinitions/StarTrackerDefinitions.h
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@@ -11,8 +11,9 @@ namespace StarTracker {
/** This is the address of the star tracker */
static const uint8_t ADDRESS = 33;
static const uint8_t STATUS_OK = 0;
enum PoolIds: lp_id_t {
STATUS,
TICKS,
TIME,
MCU_TEMPERATURE,
@@ -22,6 +23,7 @@ enum PoolIds: lp_id_t {
static const DeviceCommandId_t PING_REQUEST = 0;
static const DeviceCommandId_t REBOOT = 7;
static const DeviceCommandId_t REQ_TEMPERATURE = 25;
static const uint32_t TEMPERATURE_SET_ID = REQ_TEMPERATURE;
@@ -46,8 +48,7 @@ public:
StaticLocalDataSet(sid_t(objectId, TEMPERATURE_SET_ID)) {
}
lp_var_t<uint8_t> status = lp_var_t<uint8_t>(sid.objectId,
PoolIds::STATUS, this);
// Ticks is time reference generated by interanl counter of the star tracker
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId,
PoolIds::TICKS, this);
/** Unix time in microseconds */