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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 +235 -11
4 changed files with 235 additions and 11 deletions
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145
bsp_q7s/devices/startracker/StarTrackerDefinitions.h
View File

@ -211,7 +211,33 @@ enum PoolIds: lp_id_t {
CAM_REG3,
CAM_VAL3,
CAM_REG4,
CAM_VAL4
CAM_VAL4,
LIMITS_ACTION,
LIMITS_FPGA18CURRENT,
LIMITS_FPGA25CURRENT,
LIMITS_FPGA10CURRENT,
LIMITS_MCUCURRENT,
LIMITS_CMOS21CURRENT,
LIMITS_CMOSPIXCURRENT,
LIMITS_CMOS33CURRENT,
LIMITS_CMOSVRESCURRENT,
LIMITS_CMOSTEMPERATURE,
LIMITS_MCUTEMPERATURE,
BLOB_MODE,
BLOB_MIN_VALUE,
BLOB_MIN_DISTANCE,
BLOB_NEIGHBOUR_DISTANCE,
BLOB_NEIGHBOUR_BRIGHTPIXELS,
BLOB_MIN_TOTAL_VALUE,
BLOB_MAX_TOTAL_VALUE,
BLOB_MIN_BRIGHT_NEIGHBOURS,
BLOB_MAX_BRIGHT_NEIGHBOURS,
BLOB_MAX_PIXELSTOCONSIDER,
BLOB_SIGNAL_THRESHOLD,
BLOB_DARK_THRESHOLD,
BLOB_ENABLE_HISTOGRAM,
BLOB_ENABLE_CONTRAST,
BLOB_BIN_MODE
};
static const DeviceCommandId_t PING_REQUEST = 0;
@ -260,7 +286,9 @@ static const DeviceCommandId_t DOWNLOAD_FPGA_IMAGE = 63;
static const DeviceCommandId_t CHANGE_FPGA_DOWNLOAD_FILE = 64;
static const DeviceCommandId_t UPLOAD_FPGA_IMAGE = 65;
static const DeviceCommandId_t FPGA_ACTION = 66;
static const DeviceCommandId_t REQ_CAMERA_PARAMS = 67;
static const DeviceCommandId_t REQ_CAMERA = 67;
static const DeviceCommandId_t REQ_LIMITS = 68;
static const DeviceCommandId_t REQ_BLOB_PARAMS = 69;
static const DeviceCommandId_t NONE = 0xFFFFFFFF;
static const uint32_t VERSION_SET_ID = REQ_VERSION;
@ -276,7 +304,9 @@ static const uint32_t DOWNLOADCENTROID_SET_ID = DOWNLOAD_CENTROID;
static const uint32_t DOWNLOAD_MATCHED_STAR_SET_ID = DOWNLOAD_MATCHED_STAR;
static const uint32_t DOWNLOAD_DBIMAGE_SET_ID = DOWNLOAD_DBIMAGE;
static const uint32_t DOWNLOAD_BLOBPIXEL_SET_ID = DOWNLOAD_BLOBPIXEL;
static const uint32_t CAMERA_SET_ID = REQ_CAMERA_PARAMS;
static const uint32_t CAMERA_SET_ID = REQ_CAMERA;
static const uint32_t LIMITS_SET_ID = REQ_LIMITS;
static const uint32_t BLOB_SET_ID = REQ_BLOB_PARAMS;
/** Max size of unencoded frame */
static const size_t MAX_FRAME_SIZE = 1200;
@ -295,6 +325,8 @@ static const uint8_t DOWNLOAD_MATCHED_STAR_SET_ENTRIES = 14;
static const uint8_t DOWNLOAD_DBIMAGE_SET_ENTRIES = 6;
static const uint8_t DOWNLOAD_BLOBPIXEL_SET_ENTRIES = 7;
static const uint8_t CAMERA_SET_ENTRIES = 15;
static const uint8_t LIMITS_SET_ENTRIES = 11;
static const uint8_t BLOB_SET_ENTRIES = 15;
// Action, parameter and telemetry IDs
namespace ID {
@ -1289,5 +1321,112 @@ public:
<< static_cast<unsigned int>(this->val4.value) << std::endl;
}
};
/**
* @brief Will store the requested limits
*/
class LimitsSet: public StaticLocalDataSet<LIMITS_SET_ENTRIES> {
public:
// Size of dataset
static const size_t SIZE = 41;
LimitsSet(HasLocalDataPoolIF* owner) :
StaticLocalDataSet(owner, LIMITS_SET_ID) {
}
LimitsSet(object_id_t objectId) :
StaticLocalDataSet(sid_t(objectId, LIMITS_SET_ID)) {
}
lp_var_t<uint8_t> action = lp_var_t<uint8_t>(sid.objectId, PoolIds::LIMITS_ACTION, this);
lp_var_t<float> fpga18current = lp_var_t<float>(sid.objectId, PoolIds::LIMITS_FPGA18CURRENT, this);
lp_var_t<float> fpga25current = lp_var_t<float>(sid.objectId, PoolIds::LIMITS_FPGA25CURRENT, this);
lp_var_t<float> fpga10current = lp_var_t<float>(sid.objectId, PoolIds::LIMITS_FPGA10CURRENT, this);
lp_var_t<float> mcuCurrent = lp_var_t<float>(sid.objectId, PoolIds::LIMITS_MCUCURRENT, this);
lp_var_t<float> cmos21current = lp_var_t<float>(sid.objectId, PoolIds::LIMITS_CMOS21CURRENT, this);
lp_var_t<float> cmosPixCurrent = lp_var_t<float>(sid.objectId, PoolIds::LIMITS_CMOSPIXCURRENT, this);
lp_var_t<float> cmos33current = lp_var_t<float>(sid.objectId, PoolIds::LIMITS_CMOS33CURRENT, this);
lp_var_t<float> cmosVresCurrent = lp_var_t<float>(sid.objectId, PoolIds::LIMITS_CMOSVRESCURRENT, this);
lp_var_t<float> cmosTemperature = lp_var_t<float>(sid.objectId, PoolIds::LIMITS_CMOSTEMPERATURE, this);
void printSet() {
PoolReadGuard rg(this);
sif::info << "CameraSet::printSet: action: " << static_cast<unsigned int>(this->action.value)
<< std::endl;
sif::info << "CameraSet::printSet: FPGA18Current: " << this->fpga18current << std::endl;
sif::info << "CameraSet::printSet: FPGA25Current: " << this->fpga25current << std::endl;
sif::info << "CameraSet::printSet: FPGA10Current: " << this->fpga10current << std::endl;
sif::info << "CameraSet::printSet: MCUCurrent: " << this->mcuCurrent << std::endl;
sif::info << "CameraSet::printSet: CMOS21Current: " << this->cmos21current << std::endl;
sif::info << "CameraSet::printSet: CMOSPixCurrent: " << this->cmosPixCurrent << std::endl;
sif::info << "CameraSet::printSet: CMOS33Current: " << this->cmos33current << std::endl;
sif::info << "CameraSet::printSet: CMOSVResCurrent: " << this->cmosVresCurrent << std::endl;
sif::info << "CameraSet::printSet: CMOSTemperature: " << this->cmosTemperature << std::endl;
}
};
/**
* @brief Will store the request of the blob parameters.
*/
class BlobSet: public StaticLocalDataSet<BLOB_SET_ENTRIES> {
public:
// Size of dataset
static const size_t SIZE = 22;
BlobSet(HasLocalDataPoolIF* owner) :
StaticLocalDataSet(owner, BLOB_SET_ID) {
}
BlobSet(object_id_t objectId) :
StaticLocalDataSet(sid_t(objectId, BLOB_SET_ID)) {
}
lp_var_t<uint8_t> mode = lp_var_t<uint8_t>(sid.objectId, PoolIds::BLOB_MODE, this);
lp_var_t<uint8_t> minValue = lp_var_t<uint8_t>(sid.objectId, PoolIds::BLOB_MIN_VALUE, this);
lp_var_t<uint8_t> minDistance = lp_var_t<uint8_t>(sid.objectId, PoolIds::BLOB_MIN_DISTANCE, this);
lp_var_t<uint8_t> neighbourDistance = lp_var_t<uint8_t>(sid.objectId, PoolIds::BLOB_NEIGHBOUR_DISTANCE, this);
lp_var_t<uint8_t> neighbourBrightPixels = lp_var_t<uint8_t>(sid.objectId, PoolIds::BLOB_NEIGHBOUR_BRIGHTPIXELS, this);
lp_var_t<uint16_t> minTotalValue = lp_var_t<uint16_t>(sid.objectId, PoolIds::BLOB_MIN_TOTAL_VALUE, this);
lp_var_t<uint16_t> maxTotalValue = lp_var_t<uint16_t>(sid.objectId, PoolIds::BLOB_MAX_TOTAL_VALUE, this);
lp_var_t<uint16_t> minBrightNeighbours = lp_var_t<uint16_t>(sid.objectId, PoolIds::BLOB_MIN_BRIGHT_NEIGHBOURS, this);
lp_var_t<uint16_t> maxBrightNeighbours = lp_var_t<uint16_t>(sid.objectId, PoolIds::BLOB_MAX_BRIGHT_NEIGHBOURS, this);
lp_var_t<uint32_t> maxPixelsToConsider = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOB_MAX_PIXELSTOCONSIDER, this);
lp_var_t<uint8_t> signalThreshold = lp_var_t<uint8_t>(sid.objectId, PoolIds::BLOB_SIGNAL_THRESHOLD, this);
lp_var_t<uint8_t> darkThreshold = lp_var_t<uint8_t>(sid.objectId, PoolIds::BLOB_DARK_THRESHOLD, this);
lp_var_t<uint8_t> enableContrast = lp_var_t<uint8_t>(sid.objectId, PoolIds::BLOB_ENABLE_CONTRAST, this);
lp_var_t<uint8_t> enableBinMode = lp_var_t<uint8_t>(sid.objectId, PoolIds::BLOB_BIN_MODE, this);
void printSet() {
PoolReadGuard rg(this);
sif::info << "BlobSet::printSet: mode: " << static_cast<unsigned int>(this->mode.value)
<< std::endl;
sif::info << "BlobSet::printSet: minValue: "
<< static_cast<unsigned int>(this->minValue.value) << std::endl;
sif::info << "BlobSet::printSet: minDistance: "
<< static_cast<unsigned int>(this->minDistance.value) << std::endl;
sif::info << "BlobSet::printSet: neighboutDistance: "
<< static_cast<unsigned int>(this->neighbourDistance.value) << std::endl;
sif::info << "BlobSet::printSet: neighboutBrightPixels: "
<< static_cast<unsigned int>(this->neighbourBrightPixels.value) << std::endl;
sif::info << "BlobSet::printSet: minTotalValue: " << this->minTotalValue << std::endl;
sif::info << "BlobSet::printSet: maxTotalValue: " << this->maxTotalValue << std::endl;
sif::info << "BlobSet::printSet: minBrightNeighbours: " << this->minBrightNeighbours
<< std::endl;
sif::info << "BlobSet::printSet: maxBrightNeighbours: " << this->maxBrightNeighbours
<< std::endl;
sif::info << "BlobSet::printSet: maxPixelsToConsider: " << this->maxPixelsToConsider
<< std::endl;
sif::info << "BlobSet::printSet: signalThreshold: "
<< static_cast<unsigned int>(this->signalThreshold.value) << std::endl;
sif::info << "BlobSet::printSet: darkThreshold: "
<< static_cast<unsigned int>(this->darkThreshold.value) << std::endl;
sif::info << "BlobSet::printSet: enableContrast: "
<< static_cast<unsigned int>(this->enableContrast.value) << std::endl;
sif::info << "BlobSet::printSet: enableBinMode: "
<< static_cast<unsigned int>(this->enableBinMode.value) << std::endl;
}
};
}
#endif /* MISSION_STARTRACKER_DEFINITIONS_H_ */

87
bsp_q7s/devices/startracker/StarTrackerHandler.cpp
View File

@ -18,8 +18,8 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
CookieIF * comCookie, StrHelper* strHelper) :
DeviceHandlerBase(objectId, comIF, comCookie), temperatureSet(this), versionSet(this), powerSet(
this), interfaceSet(this), timeSet(this), solutionSet(this), histogramSet(this), contrastSet(
this), checksumSet(this), downloadCentroidSet(this), downloadMatchedStar(this),
downloadDbImage(this), downloadBlobPixel(this), cameraSet(this), strHelper(
this), checksumSet(this), downloadCentroidSet(this), downloadMatchedStar(this), downloadDbImage(
this), downloadBlobPixel(this), cameraSet(this), limitsSet(this), blobSet(this), strHelper(
strHelper) {
if (comCookie == nullptr) {
sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl;
@ -496,10 +496,18 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
result = prepareFpgaActionCommand(commandData, commandDataLen);
return result;
}
case (StarTracker::REQ_CAMERA_PARAMS): {
case (StarTracker::REQ_CAMERA): {
result = prepareRequestCameraParams();
return result;
}
case (StarTracker::REQ_LIMITS): {
result = prepareRequestLimitsParams();
return result;
}
case (StarTracker::REQ_BLOB_PARAMS): {
result = prepareRequestBlobParams();
return result;
}
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
@ -578,7 +586,11 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::FPGA_ACTION, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_CAMERA_PARAMS, 3, nullptr,
this->insertInCommandAndReplyMap(StarTracker::REQ_CAMERA, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_LIMITS, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_BLOB_PARAMS, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
}
@ -738,10 +750,18 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, con
result = handleSetParamReply();
break;
}
case (StarTracker::REQ_CAMERA_PARAMS): {
case (StarTracker::REQ_CAMERA): {
handleParamRequest(cameraSet, StarTracker::CameraSet::SIZE);
break;
}
case (StarTracker::REQ_LIMITS): {
handleParamRequest(limitsSet, StarTracker::LimitsSet::SIZE);
break;
}
case (StarTracker::REQ_BLOB_PARAMS): {
handleParamRequest(blobSet, StarTracker::BlobSet::SIZE);
break;
}
default: {
sif::debug << "StarTrackerHandler::interpretDeviceReply: Unknown device reply id:" << id
<< std::endl;
@ -966,6 +986,34 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
localDataPoolMap.emplace(StarTracker::CAM_VAL3, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CAM_REG4, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CAM_VAL4, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::LIMITS_ACTION, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::LIMITS_FPGA18CURRENT, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::LIMITS_FPGA25CURRENT, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::LIMITS_FPGA10CURRENT, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::LIMITS_MCUCURRENT, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::LIMITS_CMOS21CURRENT, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::LIMITS_CMOSPIXCURRENT, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::LIMITS_CMOS33CURRENT, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::LIMITS_CMOSVRESCURRENT, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::LIMITS_CMOSTEMPERATURE, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOB_MODE, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOB_MIN_VALUE, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOB_MIN_DISTANCE, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOB_NEIGHBOUR_DISTANCE, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOB_NEIGHBOUR_BRIGHTPIXELS, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOB_NEIGHBOUR_BRIGHTPIXELS, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOB_MIN_TOTAL_VALUE, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOB_MAX_TOTAL_VALUE, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOB_MIN_BRIGHT_NEIGHBOURS, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOB_MAX_BRIGHT_NEIGHBOURS, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOB_MAX_PIXELSTOCONSIDER, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOB_SIGNAL_THRESHOLD, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOB_DARK_THRESHOLD, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOB_ENABLE_HISTOGRAM, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOB_ENABLE_CONTRAST, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOB_BIN_MODE, new PoolEntry<uint8_t>( { 0 }));
return RETURN_OK;
}
@ -1127,7 +1175,15 @@ ReturnValue_t StarTrackerHandler::scanForGetParameterReply(DeviceCommandId_t *fo
const uint8_t* reply = dataLinkLayer.getReply();
switch (*reply) {
case (StarTracker::ID::CAMERA): {
*foundId = StarTracker::REQ_CAMERA_PARAMS;
*foundId = StarTracker::REQ_CAMERA;
break;
}
case (StarTracker::ID::LIMITS): {
*foundId = StarTracker::REQ_LIMITS;
break;
}
case (StarTracker::ID::BLOB): {
*foundId = StarTracker::REQ_BLOB_PARAMS;
break;
}
default: {
@ -1749,7 +1805,6 @@ ReturnValue_t StarTrackerHandler::prepareFpgaActionCommand(const uint8_t* comman
}
ReturnValue_t StarTrackerHandler::prepareRequestCameraParams() {
struct Camera req;
uint32_t length = 0;
arc_pack_camera_parameter_req(commandBuffer, &length);
dataLinkLayer.encodeFrame(commandBuffer, length);
@ -1758,6 +1813,24 @@ ReturnValue_t StarTrackerHandler::prepareRequestCameraParams() {
return RETURN_OK;
}
ReturnValue_t StarTrackerHandler::prepareRequestLimitsParams() {
uint32_t length = 0;
arc_pack_limits_parameter_req(commandBuffer, &length);
dataLinkLayer.encodeFrame(commandBuffer, length);
rawPacket = dataLinkLayer.getEncodedFrame();
rawPacketLen = dataLinkLayer.getEncodedLength();
return RETURN_OK;
}
ReturnValue_t StarTrackerHandler::prepareRequestBlobParams() {
uint32_t length = 0;
arc_pack_blob_parameter_req(commandBuffer, &length);
dataLinkLayer.encodeFrame(commandBuffer, length);
rawPacket = dataLinkLayer.getEncodedFrame();
rawPacketLen = dataLinkLayer.getEncodedLength();
return RETURN_OK;
}
ReturnValue_t StarTrackerHandler::handleSetParamReply() {
const uint8_t* reply = dataLinkLayer.getReply();
uint8_t status = *(reply + STATUS_OFFSET);

12
bsp_q7s/devices/startracker/StarTrackerHandler.h
View File

@ -262,6 +262,8 @@ private:
StarTracker::DownloadDBImage downloadDbImage;
StarTracker::DownloadBlobPixel downloadBlobPixel;
StarTracker::CameraSet cameraSet;
StarTracker::LimitsSet limitsSet;
StarTracker::BlobSet blobSet;
// Pointer to object responsible for uploading and downloading images to/from the star tracker
StrHelper* strHelper = nullptr;
@ -500,6 +502,16 @@ private:
*/
ReturnValue_t prepareRequestCameraParams();
/**
* @brief Will fill the command buffer with the command to request the set limits.
*/
ReturnValue_t prepareRequestLimitsParams();
/**
* @brief Will fill the command buffer with the command to request the set blob parameters.
*/
ReturnValue_t prepareRequestBlobParams();
/**
* @brief Handles action replies with datasets.
*/

2
tmtc

@ -1 +1 @@
Subproject commit 6270d90f98b4ec694b6d543ce9a9ddd49ba743f9
Subproject commit 672f2339d7504c83d953cc4eecca6057ff920909