#ifndef MISSION_DEVICES_IMTQHANDLER_H_ #define MISSION_DEVICES_IMTQHANDLER_H_ #include #include #include #include "events/subsystemIdRanges.h" #include "returnvalues/classIds.h" /** * @brief This is the device handler for the ISIS Magnetorquer iMTQ. * * @author J. Meier */ class ImtqHandler : public DeviceHandlerBase { public: enum NormalPollingMode { UNCALIBRATED = 0, CALIBRATED = 1, BOTH = 2 }; ImtqHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, power::Switch_t pwrSwitcher); virtual ~ImtqHandler(); void setPollingMode(NormalPollingMode pollMode); /** * @brief Sets mode to MODE_NORMAL. Can be used for debugging. */ void setToGoToNormal(bool enable); void setDebugMode(bool enable); protected: void doStartUp() override; void doShutDown() override; ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override; ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override; void fillCommandAndReplyMap() override; ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData, size_t commandDataLen) override; ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId, size_t* foundLen) override; ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override; void setNormalDatapoolEntriesInvalid() override; virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override; uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override; ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, LocalDataPoolManager& poolManager) override; ReturnValue_t getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) override; private: static const uint8_t INTERFACE_ID = CLASS_ID::IMTQ_HANDLER; static const ReturnValue_t INVALID_COMMAND_CODE = MAKE_RETURN_CODE(0xA0); static const ReturnValue_t PARAMETER_MISSING = MAKE_RETURN_CODE(0xA1); static const ReturnValue_t PARAMETER_INVALID = MAKE_RETURN_CODE(0xA2); static const ReturnValue_t CC_UNAVAILABLE = MAKE_RETURN_CODE(0xA3); static const ReturnValue_t INTERNAL_PROCESSING_ERROR = MAKE_RETURN_CODE(0xA4); static const ReturnValue_t REJECTED_WITHOUT_REASON = MAKE_RETURN_CODE(0xA5); static const ReturnValue_t CMD_ERR_UNKNOWN = MAKE_RETURN_CODE(0xA6); //! [EXPORT] : [COMMENT] The status reply to a self test command was received but no self test //! command has been sent. This should normally never happen. static const ReturnValue_t UNEXPECTED_SELF_TEST_REPLY = MAKE_RETURN_CODE(0xA7); static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::IMTQ_HANDLER; //! [EXPORT] : [COMMENT] Get self test result returns I2C failure //! P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> //! -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA static const Event SELF_TEST_I2C_FAILURE = MAKE_EVENT(1, severity::LOW); //! [EXPORT] : [COMMENT] Get self test result returns SPI failure. This concerns the MTM //! connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 //! -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA static const Event SELF_TEST_SPI_FAILURE = MAKE_EVENT(2, severity::LOW); //! [EXPORT] : [COMMENT] Get self test result returns failure in measurement of current and //! temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 //! -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA static const Event SELF_TEST_ADC_FAILURE = MAKE_EVENT(3, severity::LOW); //! [EXPORT] : [COMMENT] Get self test result returns PWM failure which concerns the coil //! actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> //! +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA static const Event SELF_TEST_PWM_FAILURE = MAKE_EVENT(4, severity::LOW); //! [EXPORT] : [COMMENT] Get self test result returns TC failure (system failure) //! P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> //! -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA static const Event SELF_TEST_TC_FAILURE = MAKE_EVENT(5, severity::LOW); //! [EXPORT] : [COMMENT] Get self test result returns failure that MTM values were outside of the //! expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, //! 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA static const Event SELF_TEST_MTM_RANGE_FAILURE = MAKE_EVENT(6, severity::LOW); //! [EXPORT] : [COMMENT] Get self test result returns failure indicating that the coil current was //! outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 //! -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA static const Event SELF_TEST_COIL_CURRENT_FAILURE = MAKE_EVENT(7, severity::LOW); //! [EXPORT] : [COMMENT] Received invalid error byte. This indicates an error of the communication //! link between IMTQ and OBC. static const Event INVALID_ERROR_BYTE = MAKE_EVENT(8, severity::LOW); IMTQ::EngHkDataset engHkDataset; IMTQ::CalibratedMtmMeasurementSet calMtmMeasurementSet; IMTQ::RawMtmMeasurementSet rawMtmMeasurementSet; IMTQ::DipoleActuationSet dipoleSet; IMTQ::PosXSelfTestSet posXselfTestDataset; IMTQ::NegXSelfTestSet negXselfTestDataset; IMTQ::PosYSelfTestSet posYselfTestDataset; IMTQ::NegYSelfTestSet negYselfTestDataset; IMTQ::PosZSelfTestSet posZselfTestDataset; IMTQ::NegZSelfTestSet negZselfTestDataset; NormalPollingMode pollingMode = NormalPollingMode::UNCALIBRATED; PoolEntry mgmCalEntry = PoolEntry(3); PoolEntry dipoleXEntry = PoolEntry(0, false); PoolEntry dipoleYEntry = PoolEntry(0, false); PoolEntry dipoleZEntry = PoolEntry(0, false); PoolEntry torqueDurationEntry = PoolEntry(0, false); // Hardcoded to default integration time of 10 ms. // SHOULDDO: Support for other integration times Countdown integrationTimeCd = Countdown(10); power::Switch_t switcher = power::NO_SWITCH; uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE]; bool goToNormalMode = false; bool debugMode = false; enum class CommunicationStep { GET_ENG_HK_DATA, START_MTM_MEASUREMENT, GET_CAL_MTM_MEASUREMENT, GET_RAW_MTM_MEASUREMENT, DIPOLE_ACTUATION }; CommunicationStep communicationStep = CommunicationStep::GET_ENG_HK_DATA; enum class StartupStep { NONE, COMMAND_SELF_TEST, GET_SELF_TEST_RESULT }; StartupStep startupStep = StartupStep::COMMAND_SELF_TEST; bool selfTestPerformed = false; /** * @brief In case of a status reply to a single axis self test command, this function * searches for the actual pending command. */ ReturnValue_t getSelfTestCommandId(DeviceCommandId_t* id); /** * @brief Each reply contains a status byte giving information about a request. This function * parses this byte and returns the associated failure message. * * @param packet Pointer to the received message containing the status byte. * * @return The return code derived from the received status byte. */ ReturnValue_t parseStatusByte(const uint8_t* packet); /** * @brief This function fills the engineering housekeeping dataset with the received data. * @param packet Pointer to the received data. * */ void fillEngHkDataset(const uint8_t* packet); /** * @brief This function sends a command reply to the requesting queue. * * @param data Pointer to the data to send. * @param dataSize Size of the data to send. * @param relplyId Reply id which will be inserted at the beginning of the action message. */ void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId); /** * @brief This function handles the reply containing the commanded dipole. * * @param packet Pointer to the reply data. */ void handleGetCommandedDipoleReply(const uint8_t* packet); /** * @brief This function parses the reply containing the calibrated MTM measurement and writes * the values to the appropriate dataset. * @param packet Pointer to the reply data. */ void fillCalibratedMtmDataset(const uint8_t* packet); /** * @brief This function copies the raw MTM measurements to the MTM raw dataset. * @param packet Pointer to the reply data requested with the GET_RAW_MTM_MEASUREMENTS * command. */ void fillRawMtmDataset(const uint8_t* packet); /** * @brief This function handles all self test results. This comprises parsing the error byte * and step byte and calling the function to fill the respective dataset. */ void handleSelfTestReply(const uint8_t* packet); /** * @brief The following functions fill the respective dataset of the single axis self tests. * @param packet Pointer to the reply data holding the self test result. */ void handlePositiveXSelfTestReply(const uint8_t* packet); void handleNegativeXSelfTestReply(const uint8_t* packet); void handlePositiveYSelfTestReply(const uint8_t* packet); void handleNegativeYSelfTestReply(const uint8_t* packet); void handlePositiveZSelfTestReply(const uint8_t* packet); void handleNegativeZSelfTestReply(const uint8_t* packet); ReturnValue_t buildDipoleActuationCommand(); /** * @brief This function checks the error byte of a self test measurement. * * @param errorByte The received error byte to check * @param step The step of the error byte. */ void checkErrorByte(const uint8_t errorByte, const uint8_t step); std::string makeStepString(const uint8_t step); }; #endif /* MISSION_DEVICES_IMTQHANDLER_H_ */