eive/eive-obsw
eive/eive-obsw
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v1.9.0 #175

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muellerr merged 623 commits from develop into main 2022-03-08 10:32:41 +01:00
Conversation 0 Commits 623 Files Changed 417 +482 -46
5 changed files with 482 additions and 46 deletions
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2
bsp_q7s/devices/startracker/ArcsecDatalinkLayer.h
View File

@ -51,7 +51,7 @@ public:
uint8_t getReplyFrameType();
/**
* @brief Returns pointer to reply packet.
* @brief Returns pointer to reply packet (first entry normally action ID, telemetry ID etc.)
*/
const uint8_t* getReply();

354
bsp_q7s/devices/startracker/StarTrackerDefinitions.h
View File

@ -81,7 +81,85 @@ enum PoolIds: lp_id_t {
LISA_NR_CLOSE,
TRUST_WORTHY,
STABLE_COUNT,
SOLUTION_STRATEGY
SOLUTION_STRATEGY,
TICKS_HISTOGRAM_SET,
TIME_HISTOGRAM_SET,
HISTOGRAM_BINA0,
HISTOGRAM_BINA1,
HISTOGRAM_BINA2,
HISTOGRAM_BINA3,
HISTOGRAM_BINA4,
HISTOGRAM_BINA5,
HISTOGRAM_BINA6,
HISTOGRAM_BINA7,
HISTOGRAM_BINA8,
HISTOGRAM_BINB0,
HISTOGRAM_BINB1,
HISTOGRAM_BINB2,
HISTOGRAM_BINB3,
HISTOGRAM_BINB4,
HISTOGRAM_BINB5,
HISTOGRAM_BINB6,
HISTOGRAM_BINB7,
HISTOGRAM_BINB8,
HISTOGRAM_BINC0,
HISTOGRAM_BINC1,
HISTOGRAM_BINC2,
HISTOGRAM_BINC3,
HISTOGRAM_BINC4,
HISTOGRAM_BINC5,
HISTOGRAM_BINC6,
HISTOGRAM_BINC7,
HISTOGRAM_BINC8,
HISTOGRAM_BIND0,
HISTOGRAM_BIND1,
HISTOGRAM_BIND2,
HISTOGRAM_BIND3,
HISTOGRAM_BIND4,
HISTOGRAM_BIND5,
HISTOGRAM_BIND6,
HISTOGRAM_BIND7,
HISTOGRAM_BIND8,
TICKS_CONTRAST_SET,
TIME_CONTRAST_SET,
CONTRAST_BINA0,
CONTRAST_BINA1,
CONTRAST_BINA2,
CONTRAST_BINA3,
CONTRAST_BINA4,
CONTRAST_BINA5,
CONTRAST_BINA6,
CONTRAST_BINA7,
CONTRAST_BINA8,
CONTRAST_BINB0,
CONTRAST_BINB1,
CONTRAST_BINB2,
CONTRAST_BINB3,
CONTRAST_BINB4,
CONTRAST_BINB5,
CONTRAST_BINB6,
CONTRAST_BINB7,
CONTRAST_BINB8,
CONTRAST_BINC0,
CONTRAST_BINC1,
CONTRAST_BINC2,
CONTRAST_BINC3,
CONTRAST_BINC4,
CONTRAST_BINC5,
CONTRAST_BINC6,
CONTRAST_BINC7,
CONTRAST_BINC8,
CONTRAST_BIND0,
CONTRAST_BIND1,
CONTRAST_BIND2,
CONTRAST_BIND3,
CONTRAST_BIND4,
CONTRAST_BIND5,
CONTRAST_BIND6,
CONTRAST_BIND7,
CONTRAST_BIND8
};
static const DeviceCommandId_t PING_REQUEST = 0;
@ -102,6 +180,8 @@ static const DeviceCommandId_t UPLOAD_CENTROID = 17;
static const DeviceCommandId_t SUBSCRIBE_TO_TM = 18;
static const DeviceCommandId_t REQ_SOLUTION = 24;
static const DeviceCommandId_t REQ_TEMPERATURE = 25;
static const DeviceCommandId_t REQ_HISTOGRAM = 28;
static const DeviceCommandId_t REQ_CONTRAST = 29;
static const DeviceCommandId_t LIMITS = 40;
static const DeviceCommandId_t MOUNTING = 41;
static const DeviceCommandId_t CAMERA = 42;
@ -129,6 +209,8 @@ static const uint32_t POWER_SET_ID = REQ_POWER;
static const uint32_t TEMPERATURE_SET_ID = REQ_TEMPERATURE;
static const uint32_t TIME_SET_ID = REQ_TIME;
static const uint32_t SOLUTION_SET_ID = REQ_SOLUTION;
static const uint32_t HISTOGRAM_SET_ID = REQ_HISTOGRAM;
static const uint32_t CONTRAST_SET_ID = REQ_CONTRAST;
/** Max size of unencoded frame */
static const size_t MAX_FRAME_SIZE = 1200;
@ -139,6 +221,8 @@ static const uint8_t INTERFACE_SET_ENTRIES = 4;
static const uint8_t POWER_SET_ENTRIES = 18;
static const uint8_t TIME_SET_ENTRIES = 4;
static const uint8_t SOLUTION_SET_ENTRIES = 23;
static const uint8_t HISTOGRAM_SET_ENTRIES = 38;
static const uint8_t CONTRAST_SET_ENTRIES = 38;
// Action, parameter and telemetry IDs
namespace ID {
@ -162,6 +246,8 @@ namespace ID {
static const uint8_t SUBSCRIBE = 18;
static const uint8_t SOLUTION = 24;
static const uint8_t TEMPERATURE = 25;
static const uint8_t HISTOGRAM = 28;
static const uint8_t CONTRAST = 29;
static const uint8_t TIME = 1;
static const uint8_t WRITE = 2;
static const uint8_t READ = 3;
@ -455,60 +541,44 @@ public:
PoolIds::TIME_SOLUTION_SET, this);
// Calibrated quaternion (takes into account the mounting quaternion), typically same as
// track q values
lp_var_t<float> caliQw = lp_var_t<float>(sid.objectId,
PoolIds::CALI_QW, this);
lp_var_t<float> caliQx = lp_var_t<float>(sid.objectId,
PoolIds::CALI_QX, this);
lp_var_t<float> caliQy = lp_var_t<float>(sid.objectId,
PoolIds::CALI_QY, this);
lp_var_t<float> caliQz = lp_var_t<float>(sid.objectId,
PoolIds::CALI_QZ, this);
lp_var_t<float> caliQw = lp_var_t<float>(sid.objectId, PoolIds::CALI_QW, this);
lp_var_t<float> caliQx = lp_var_t<float>(sid.objectId, PoolIds::CALI_QX, this);
lp_var_t<float> caliQy = lp_var_t<float>(sid.objectId, PoolIds::CALI_QY, this);
lp_var_t<float> caliQz = lp_var_t<float>(sid.objectId, PoolIds::CALI_QZ, this);
// The lower this value the more confidence that the star tracker solution is correct
lp_var_t<float> trackConfidence = lp_var_t<float>(sid.objectId,
PoolIds::TRACK_CONFIDENCE, this);
lp_var_t<float> trackConfidence = lp_var_t<float>(sid.objectId, PoolIds::TRACK_CONFIDENCE,
this);
// Estimated attitude of spacecraft
lp_var_t<float> trackQw = lp_var_t<float>(sid.objectId,
PoolIds::TRACK_QW, this);
lp_var_t<float> trackQx = lp_var_t<float>(sid.objectId,
PoolIds::TRACK_QX, this);
lp_var_t<float> trackQy = lp_var_t<float>(sid.objectId,
PoolIds::TRACK_QY, this);
lp_var_t<float> trackQz = lp_var_t<float>(sid.objectId,
PoolIds::TRACK_QZ, this);
lp_var_t<float> trackQw = lp_var_t<float>(sid.objectId, PoolIds::TRACK_QW, this);
lp_var_t<float> trackQx = lp_var_t<float>(sid.objectId, PoolIds::TRACK_QX, this);
lp_var_t<float> trackQy = lp_var_t<float>(sid.objectId, PoolIds::TRACK_QY, this);
lp_var_t<float> trackQz = lp_var_t<float>(sid.objectId, PoolIds::TRACK_QZ, this);
// Number of stars removed from tracking solution
lp_var_t<uint8_t> trackRemoved = lp_var_t<uint8_t>(sid.objectId,
PoolIds::TRACK_REMOVED, this);
lp_var_t<uint8_t> trackRemoved = lp_var_t<uint8_t>(sid.objectId, PoolIds::TRACK_REMOVED, this);
// Number of stars for which a valid centroid was found
lp_var_t<uint8_t> starsCentroided = lp_var_t<uint8_t>(sid.objectId,
PoolIds::STARS_CENTROIDED, this);
lp_var_t<uint8_t> starsCentroided = lp_var_t<uint8_t>(sid.objectId, PoolIds::STARS_CENTROIDED,
this);
// Number of stars that matched to a database star
lp_var_t<uint8_t> starsMatchedDatabase = lp_var_t<uint8_t>(sid.objectId,
PoolIds::STARS_MATCHED_DATABASE, this);
// Result of LISA (lost in space algorithm), searches for stars without prior knowledge of
// attitude
lp_var_t<float> lisaQw = lp_var_t<float>(sid.objectId,
PoolIds::LISA_QW, this);
lp_var_t<float> lisaQx = lp_var_t<float>(sid.objectId,
PoolIds::LISA_QX, this);
lp_var_t<float> lisaQy = lp_var_t<float>(sid.objectId,
PoolIds::LISA_QY, this);
lp_var_t<float> lisaQz = lp_var_t<float>(sid.objectId,
PoolIds::LISA_QZ, this);
lp_var_t<float> lisaQw = lp_var_t<float>(sid.objectId, PoolIds::LISA_QW, this);
lp_var_t<float> lisaQx = lp_var_t<float>(sid.objectId, PoolIds::LISA_QX, this);
lp_var_t<float> lisaQy = lp_var_t<float>(sid.objectId, PoolIds::LISA_QY, this);
lp_var_t<float> lisaQz = lp_var_t<float>(sid.objectId, PoolIds::LISA_QZ, this);
// Percentage of close stars in LISA solution
lp_var_t<float> lisaPercentageClose = lp_var_t<float>(sid.objectId,
PoolIds::LISA_PERC_CLOSE, this);
lp_var_t<float> lisaPercentageClose = lp_var_t<float>(sid.objectId, PoolIds::LISA_PERC_CLOSE,
this);
// Number of close stars in LISA solution
lp_var_t<uint8_t> lisaNrClose = lp_var_t<uint8_t>(sid.objectId,
PoolIds::LISA_NR_CLOSE, this);
lp_var_t<uint8_t> lisaNrClose = lp_var_t<uint8_t>(sid.objectId, PoolIds::LISA_NR_CLOSE, this);
// Gives a combined overview of the validation parameters (1 for valid solution, otherwise 0)
lp_var_t<uint8_t> isTrustWorthy = lp_var_t<uint8_t>(sid.objectId,
PoolIds::TRUST_WORTHY, this);
lp_var_t<uint8_t> isTrustWorthy = lp_var_t<uint8_t>(sid.objectId, PoolIds::TRUST_WORTHY, this);
// Number of times the validation criteria was met
lp_var_t<uint32_t> stableCount = lp_var_t<uint32_t>(sid.objectId,
PoolIds::STABLE_COUNT, this);
lp_var_t<uint32_t> stableCount = lp_var_t<uint32_t>(sid.objectId, PoolIds::STABLE_COUNT, this);
// Shows the autonomous mode used to obtain the star tracker attitude
lp_var_t<uint8_t> solutionStrategy = lp_var_t<uint8_t>(sid.objectId,
PoolIds::SOLUTION_STRATEGY, this);
lp_var_t<uint8_t> solutionStrategy = lp_var_t<uint8_t>(sid.objectId, PoolIds::SOLUTION_STRATEGY,
this);
void printSet() {
PoolReadGuard rg(this);
@ -561,6 +631,208 @@ public:
}
};
/**
* @brief Dataset to store the histogram
*/
class HistogramSet:
public StaticLocalDataSet<HISTOGRAM_SET_ENTRIES> {
public:
// Size of dataset
static const size_t SIZE = 154;
HistogramSet(HasLocalDataPoolIF* owner):
StaticLocalDataSet(owner, HISTOGRAM_SET_ID) {
}
HistogramSet(object_id_t objectId):
StaticLocalDataSet(sid_t(objectId, HISTOGRAM_SET_ID)) {
}
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_HISTOGRAM_SET, this);
lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_HISTOGRAM_SET, this);
lp_var_t<uint32_t> binA0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA0, this);
lp_var_t<uint32_t> binA1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA1, this);
lp_var_t<uint32_t> binA2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA2, this);
lp_var_t<uint32_t> binA3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA3, this);
lp_var_t<uint32_t> binA4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA4, this);
lp_var_t<uint32_t> binA5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA5, this);
lp_var_t<uint32_t> binA6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA6, this);
lp_var_t<uint32_t> binA7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA7, this);
lp_var_t<uint32_t> binA8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA8, this);
lp_var_t<uint32_t> binb0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB0, this);
lp_var_t<uint32_t> binB1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB1, this);
lp_var_t<uint32_t> binB2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB2, this);
lp_var_t<uint32_t> binB3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB3, this);
lp_var_t<uint32_t> binB4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB4, this);
lp_var_t<uint32_t> binB5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB5, this);
lp_var_t<uint32_t> binB6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB6, this);
lp_var_t<uint32_t> binB7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB7, this);
lp_var_t<uint32_t> binB8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB8, this);
lp_var_t<uint32_t> binC0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC0, this);
lp_var_t<uint32_t> binC1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC1, this);
lp_var_t<uint32_t> binC2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC2, this);
lp_var_t<uint32_t> binC3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC3, this);
lp_var_t<uint32_t> binC4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC4, this);
lp_var_t<uint32_t> binC5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC5, this);
lp_var_t<uint32_t> binC6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC6, this);
lp_var_t<uint32_t> binC7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC7, this);
lp_var_t<uint32_t> binC8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC8, this);
lp_var_t<uint32_t> binD0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND0, this);
lp_var_t<uint32_t> binD1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND1, this);
lp_var_t<uint32_t> binD2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND2, this);
lp_var_t<uint32_t> binD3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND3, this);
lp_var_t<uint32_t> binD4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND4, this);
lp_var_t<uint32_t> binD5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND5, this);
lp_var_t<uint32_t> binD6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND6, this);
lp_var_t<uint32_t> binD7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND7, this);
lp_var_t<uint32_t> binD8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND8, this);
void printSet() {
PoolReadGuard rg(this);
sif::info << "HistogramSet::printSet: Ticks: " << this->ticks << std::endl;
sif::info << "HistogramSet::printSet: Time (time stamp): " << this->time << " us"
<< std::endl;
sif::info << "HistogramSet::printSet: BinA0: " << this->binA0 << std::endl;
sif::info << "HistogramSet::printSet: BinA1: " << this->binA1 << std::endl;
sif::info << "HistogramSet::printSet: BinA2: " << this->binA2 << std::endl;
sif::info << "HistogramSet::printSet: BinA3: " << this->binA3 << std::endl;
sif::info << "HistogramSet::printSet: BinA4: " << this->binA4 << std::endl;
sif::info << "HistogramSet::printSet: BinA5: " << this->binA5 << std::endl;
sif::info << "HistogramSet::printSet: BinA6: " << this->binA6 << std::endl;
sif::info << "HistogramSet::printSet: BinA7: " << this->binA7 << std::endl;
sif::info << "HistogramSet::printSet: BinA8: " << this->binA8 << std::endl;
sif::info << "HistogramSet::printSet: BinB0: " << this->binA0 << std::endl;
sif::info << "HistogramSet::printSet: BinB1: " << this->binB1 << std::endl;
sif::info << "HistogramSet::printSet: BinB2: " << this->binB2 << std::endl;
sif::info << "HistogramSet::printSet: BinB3: " << this->binB3 << std::endl;
sif::info << "HistogramSet::printSet: BinB4: " << this->binB4 << std::endl;
sif::info << "HistogramSet::printSet: BinB5: " << this->binB5 << std::endl;
sif::info << "HistogramSet::printSet: BinB6: " << this->binB6 << std::endl;
sif::info << "HistogramSet::printSet: BinB7: " << this->binB7 << std::endl;
sif::info << "HistogramSet::printSet: BinB8: " << this->binB8 << std::endl;
sif::info << "HistogramSet::printSet: BinC0: " << this->binC0 << std::endl;
sif::info << "HistogramSet::printSet: BinC1: " << this->binC1 << std::endl;
sif::info << "HistogramSet::printSet: BinC2: " << this->binC2 << std::endl;
sif::info << "HistogramSet::printSet: BinC3: " << this->binC3 << std::endl;
sif::info << "HistogramSet::printSet: BinC4: " << this->binC4 << std::endl;
sif::info << "HistogramSet::printSet: BinC5: " << this->binC5 << std::endl;
sif::info << "HistogramSet::printSet: BinC6: " << this->binC6 << std::endl;
sif::info << "HistogramSet::printSet: BinC7: " << this->binC7 << std::endl;
sif::info << "HistogramSet::printSet: BinC8: " << this->binC8 << std::endl;
sif::info << "HistogramSet::printSet: BinD0: " << this->binD0 << std::endl;
sif::info << "HistogramSet::printSet: BinD1: " << this->binD1 << std::endl;
sif::info << "HistogramSet::printSet: BinD2: " << this->binD2 << std::endl;
sif::info << "HistogramSet::printSet: BinD3: " << this->binD3 << std::endl;
sif::info << "HistogramSet::printSet: BinD4: " << this->binD4 << std::endl;
sif::info << "HistogramSet::printSet: BinD5: " << this->binD5 << std::endl;
sif::info << "HistogramSet::printSet: BinD6: " << this->binD6 << std::endl;
sif::info << "HistogramSet::printSet: BinD7: " << this->binD7 << std::endl;
sif::info << "HistogramSet::printSet: BinD8: " << this->binD8 << std::endl;
}
};
/**
* @brief Dataset to store the contrast telemetry data
*/
class ContrastSet:
public StaticLocalDataSet<CONTRAST_SET_ENTRIES> {
public:
// Size of dataset
static const size_t SIZE = 154;
ContrastSet(HasLocalDataPoolIF* owner):
StaticLocalDataSet(owner, CONTRAST_SET_ID) {
}
ContrastSet(object_id_t objectId):
StaticLocalDataSet(sid_t(objectId, CONTRAST_SET_ID)) {
}
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_CONTRAST_SET, this);
lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_CONTRAST_SET, this);
lp_var_t<uint32_t> binA0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA0, this);
lp_var_t<uint32_t> binA1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA1, this);
lp_var_t<uint32_t> binA2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA2, this);
lp_var_t<uint32_t> binA3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA3, this);
lp_var_t<uint32_t> binA4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA4, this);
lp_var_t<uint32_t> binA5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA5, this);
lp_var_t<uint32_t> binA6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA6, this);
lp_var_t<uint32_t> binA7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA7, this);
lp_var_t<uint32_t> binA8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA8, this);
lp_var_t<uint32_t> binb0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB0, this);
lp_var_t<uint32_t> binB1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB1, this);
lp_var_t<uint32_t> binB2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB2, this);
lp_var_t<uint32_t> binB3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB3, this);
lp_var_t<uint32_t> binB4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB4, this);
lp_var_t<uint32_t> binB5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB5, this);
lp_var_t<uint32_t> binB6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB6, this);
lp_var_t<uint32_t> binB7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB7, this);
lp_var_t<uint32_t> binB8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB8, this);
lp_var_t<uint32_t> binC0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC0, this);
lp_var_t<uint32_t> binC1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC1, this);
lp_var_t<uint32_t> binC2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC2, this);
lp_var_t<uint32_t> binC3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC3, this);
lp_var_t<uint32_t> binC4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC4, this);
lp_var_t<uint32_t> binC5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC5, this);
lp_var_t<uint32_t> binC6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC6, this);
lp_var_t<uint32_t> binC7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC7, this);
lp_var_t<uint32_t> binC8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC8, this);
lp_var_t<uint32_t> binD0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND0, this);
lp_var_t<uint32_t> binD1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND1, this);
lp_var_t<uint32_t> binD2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND2, this);
lp_var_t<uint32_t> binD3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND3, this);
lp_var_t<uint32_t> binD4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND4, this);
lp_var_t<uint32_t> binD5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND5, this);
lp_var_t<uint32_t> binD6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND6, this);
lp_var_t<uint32_t> binD7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND7, this);
lp_var_t<uint32_t> binD8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND8, this);
void printSet() {
PoolReadGuard rg(this);
sif::info << "ContrastSet::printSet: Ticks: " << this->ticks << std::endl;
sif::info << "ContrastSet::printSet: Time (time stamp): " << this->time << " us"
<< std::endl;
sif::info << "ContrastSet::printSet: BinA0: " << this->binA0 << std::endl;
sif::info << "ContrastSet::printSet: BinA1: " << this->binA1 << std::endl;
sif::info << "ContrastSet::printSet: BinA2: " << this->binA2 << std::endl;
sif::info << "ContrastSet::printSet: BinA3: " << this->binA3 << std::endl;
sif::info << "ContrastSet::printSet: BinA4: " << this->binA4 << std::endl;
sif::info << "ContrastSet::printSet: BinA5: " << this->binA5 << std::endl;
sif::info << "ContrastSet::printSet: BinA6: " << this->binA6 << std::endl;
sif::info << "ContrastSet::printSet: BinA7: " << this->binA7 << std::endl;
sif::info << "ContrastSet::printSet: BinA8: " << this->binA8 << std::endl;
sif::info << "ContrastSet::printSet: BinB0: " << this->binA0 << std::endl;
sif::info << "ContrastSet::printSet: BinB1: " << this->binB1 << std::endl;
sif::info << "ContrastSet::printSet: BinB2: " << this->binB2 << std::endl;
sif::info << "ContrastSet::printSet: BinB3: " << this->binB3 << std::endl;
sif::info << "ContrastSet::printSet: BinB4: " << this->binB4 << std::endl;
sif::info << "ContrastSet::printSet: BinB5: " << this->binB5 << std::endl;
sif::info << "ContrastSet::printSet: BinB6: " << this->binB6 << std::endl;
sif::info << "ContrastSet::printSet: BinB7: " << this->binB7 << std::endl;
sif::info << "ContrastSet::printSet: BinB8: " << this->binB8 << std::endl;
sif::info << "ContrastSet::printSet: BinC0: " << this->binC0 << std::endl;
sif::info << "ContrastSet::printSet: BinC1: " << this->binC1 << std::endl;
sif::info << "ContrastSet::printSet: BinC2: " << this->binC2 << std::endl;
sif::info << "ContrastSet::printSet: BinC3: " << this->binC3 << std::endl;
sif::info << "ContrastSet::printSet: BinC4: " << this->binC4 << std::endl;
sif::info << "ContrastSet::printSet: BinC5: " << this->binC5 << std::endl;
sif::info << "ContrastSet::printSet: BinC6: " << this->binC6 << std::endl;
sif::info << "ContrastSet::printSet: BinC7: " << this->binC7 << std::endl;
sif::info << "ContrastSet::printSet: BinC8: " << this->binC8 << std::endl;
sif::info << "ContrastSet::printSet: BinD0: " << this->binD0 << std::endl;
sif::info << "ContrastSet::printSet: BinD1: " << this->binD1 << std::endl;
sif::info << "ContrastSet::printSet: BinD2: " << this->binD2 << std::endl;
sif::info << "ContrastSet::printSet: BinD3: " << this->binD3 << std::endl;
sif::info << "ContrastSet::printSet: BinD4: " << this->binD4 << std::endl;
sif::info << "ContrastSet::printSet: BinD5: " << this->binD5 << std::endl;
sif::info << "ContrastSet::printSet: BinD6: " << this->binD6 << std::endl;
sif::info << "ContrastSet::printSet: BinD7: " << this->binD7 << std::endl;
sif::info << "ContrastSet::printSet: BinD8: " << this->binD8 << std::endl;
}
};
}
#endif /* MISSION_STARTRACKER_DEFINITIONS_H_ */

147
bsp_q7s/devices/startracker/StarTrackerHandler.cpp
View File

@ -16,8 +16,8 @@ extern "C" {
StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
CookieIF * comCookie, StrImageLoader* strImageLoader) :
DeviceHandlerBase(objectId, comIF, comCookie), temperatureSet(this), versionSet(this), powerSet(
this), interfaceSet(this), timeSet(this), solutionSet(this), strImageLoader(
strImageLoader) {
this), interfaceSet(this), timeSet(this), solutionSet(this), histogramSet(this),
contrastSet(this), strImageLoader(strImageLoader) {
if (comCookie == nullptr) {
sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl;
}
@ -310,6 +310,14 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
prepareTemperatureRequest();
return RETURN_OK;
}
case (StarTracker::REQ_HISTOGRAM): {
prepareHistogramRequest();
return RETURN_OK;
}
case (StarTracker::REQ_CONTRAST): {
prepareContrastRequest();
return RETURN_OK;
}
case (StarTracker::RESET_ERROR): {
prepareErrorResetRequest();
return RETURN_OK;
@ -394,6 +402,10 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_TEMPERATURE, 3, &temperatureSet,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_HISTOGRAM, 3, &histogramSet,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_CONTRAST, 3, &contrastSet,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::LIMITS, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::MOUNTING, 3, nullptr,
@ -525,6 +537,14 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, con
handleTemperatureTm();
break;
}
case (StarTracker::REQ_HISTOGRAM): {
handleHistogramTm();
break;
}
case (StarTracker::REQ_CONTRAST): {
handleContrastTm();
break;
}
case (StarTracker::LIMITS):
case (StarTracker::MOUNTING):
case (StarTracker::CAMERA):
@ -554,7 +574,7 @@ void StarTrackerHandler::setNormalDatapoolEntriesInvalid() {
}
uint32_t StarTrackerHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
return 5000;
return 20000;
}
ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -632,6 +652,45 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
localDataPoolMap.emplace(StarTracker::STABLE_COUNT, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::SOLUTION_STRATEGY, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::TICKS_HISTOGRAM_SET, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::TIME_HISTOGRAM_SET, new PoolEntry<uint64_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA0, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA1, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA2, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA3, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA4, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA5, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA6, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA7, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA8, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB0, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB1, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB2, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB3, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB4, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB5, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB6, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB7, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB8, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC0, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC1, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC2, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC3, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC4, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC5, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC6, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC7, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC8, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND0, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND1, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND2, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND3, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND4, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND5, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND6, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND7, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND8, new PoolEntry<uint32_t>( { 0 }));
return RETURN_OK;
}
@ -764,6 +823,14 @@ ReturnValue_t StarTrackerHandler::scanForTmReply(DeviceCommandId_t *foundId) {
*foundId = StarTracker::REQ_TEMPERATURE;
break;
}
case (StarTracker::ID::HISTOGRAM): {
*foundId = StarTracker::REQ_HISTOGRAM;
break;
}
case (StarTracker::ID::CONTRAST): {
*foundId = StarTracker::REQ_CONTRAST;
break;
}
case (StarTracker::ID::TIME): {
*foundId = StarTracker::REQ_TIME;
break;
@ -909,6 +976,22 @@ void StarTrackerHandler::prepareTemperatureRequest() {
rawPacketLen = dataLinkLayer.getEncodedLength();
}
void StarTrackerHandler::prepareHistogramRequest() {
uint32_t length = 0;
arc_tm_pack_histogram_req(commandBuffer, &length);
dataLinkLayer.encodeFrame(commandBuffer, length);
rawPacket = dataLinkLayer.getEncodedFrame();
rawPacketLen = dataLinkLayer.getEncodedLength();
}
void StarTrackerHandler::prepareContrastRequest() {
uint32_t length = 0;
arc_tm_pack_contrast_req(commandBuffer, &length);
dataLinkLayer.encodeFrame(commandBuffer, length);
rawPacket = dataLinkLayer.getEncodedFrame();
rawPacketLen = dataLinkLayer.getEncodedLength();
}
void StarTrackerHandler::prepareErrorResetRequest() {
uint32_t length = 0;
struct ResetErrorSignalActionRequest req;
@ -1319,6 +1402,64 @@ ReturnValue_t StarTrackerHandler::handleTemperatureTm() {
return result;
}
ReturnValue_t StarTrackerHandler::handleHistogramTm() {
ReturnValue_t result = RETURN_OK;
uint8_t status = 0;
uint32_t ticks = 0;
uint64_t time = 0;
getTmHeaderData(&status, &ticks, &time);
if(status != StarTracker::STATUS_OK) {
sif::warning << "StarTrackerHandler::handleHistogramTm: Reply error: "
<< static_cast<unsigned int>(status) << std::endl;
result = HISTOGRAM_REQ_FAILED;
return result;
}
result = histogramSet.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
if (result != RETURN_OK) {
return result;
}
const uint8_t* reply = dataLinkLayer.getReply() + TM_DATA_FIELD_OFFSET;
size_t size = StarTracker::HistogramSet::SIZE;
result = histogramSet.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StarTrackerHandler::handleHistogramTm: Deserialization failed"
<< std::endl;
}
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
histogramSet.printSet();
#endif
return result;
}
ReturnValue_t StarTrackerHandler::handleContrastTm() {
ReturnValue_t result = RETURN_OK;
uint8_t status = 0;
uint32_t ticks = 0;
uint64_t time = 0;
getTmHeaderData(&status, &ticks, &time);
if(status != StarTracker::STATUS_OK) {
sif::warning << "StarTrackerHandler::handleContrastTm: Reply error: "
<< static_cast<unsigned int>(status) << std::endl;
result = CONTRAST_REQ_FAILED;
return result;
}
result = contrastSet.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
if (result != RETURN_OK) {
return result;
}
const uint8_t* reply = dataLinkLayer.getReply() + TM_DATA_FIELD_OFFSET;
size_t size = StarTracker::ContrastSet::SIZE;
result = contrastSet.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StarTrackerHandler::handleContrastTm: Deserialization failed"
<< std::endl;
}
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
contrastSet.printSet();
#endif
return result;
}
void StarTrackerHandler::getTmHeaderData(uint8_t* status, uint32_t* ticks, uint64_t* time) {
const uint8_t* reply = dataLinkLayer.getReply();
*status = *(reply + STATUS_OFFSET);

23
bsp_q7s/devices/startracker/StarTrackerHandler.h
View File

@ -111,6 +111,10 @@ private:
static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xAC);
//! [EXPORT] : [COMMENT] Received version reply with invalid program ID
static const ReturnValue_t INVALID_PROGRAM = MAKE_RETURN_CODE(0xAD);
//! [EXPORT] : [COMMENT] Status field of histogram reply signals error
static const ReturnValue_t HISTOGRAM_REQ_FAILED = MAKE_RETURN_CODE(0xAE);
//! [EXPORT] : [COMMENT] Status field of contrast reply signals error
static const ReturnValue_t CONTRAST_REQ_FAILED = MAKE_RETURN_CODE(0xAE);
static const size_t MAX_PATH_SIZE = 50;
static const size_t MAX_FILE_NAME = 30;
@ -143,6 +147,8 @@ private:
StarTracker::InterfaceSet interfaceSet;
StarTracker::TimeSet timeSet;
StarTracker::SolutionSet solutionSet;
StarTracker::HistogramSet histogramSet;
StarTracker::ContrastSet contrastSet;
// Pointer to object responsible for uploading and downloading images to/from the star tracker
StrImageLoader* strImageLoader = nullptr;
@ -268,6 +274,13 @@ private:
*/
void prepareTemperatureRequest();
/**
* @brief Fills command buffer with data to request histogram
*/
void prepareHistogramRequest();
void prepareContrastRequest();
/**
* @brief Fills command buffer with command to reset the error signal of the star tracker
*/
@ -313,6 +326,16 @@ private:
*/
ReturnValue_t handleTemperatureTm();
/**
* @brief Checks histogram reply and deserializes data into histogram dataset
*/
ReturnValue_t handleHistogramTm();
/**
* @brief Checks contrast reply and deserializes data into contrast dataset
*/
ReturnValue_t handleContrastTm();
/**
* @brief This function handles the telemetry reply of a version request.
*/

2
fsfw

@ -1 +1 @@
Subproject commit ceb87b5abb2992a18266328e0ea34d9af15db7af
Subproject commit 9a858eb54c5603ccd3cbd2423cdaf87b20f0c0c4