210 lines
9.3 KiB
C++
210 lines
9.3 KiB
C++
#ifndef MISSION_DEVICES_IMTQHANDLER_H_
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#define MISSION_DEVICES_IMTQHANDLER_H_
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include <mission/acs/imtqHelpers.h>
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#include <string.h>
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#include "events/subsystemIdRanges.h"
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#include "returnvalues/classIds.h"
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/**
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* @brief This is the device handler for the ISIS Magnetorquer iMTQ.
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*
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* @author J. Meier
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*/
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class ImtqHandler : public DeviceHandlerBase {
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public:
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enum NormalPollingMode { UNCALIBRATED = 0, CALIBRATED = 1, BOTH = 2 };
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ImtqHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
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power::Switch_t pwrSwitcher, bool enableHkSets);
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virtual ~ImtqHandler();
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void setPollingMode(NormalPollingMode pollMode);
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/**
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* @brief Sets mode to MODE_NORMAL. Can be used for debugging.
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*/
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void setToGoToNormal(bool enable);
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void setDebugMode(bool enable);
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protected:
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ReturnValue_t performOperation(uint8_t opCode);
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void doStartUp() override;
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void doShutDown() override;
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ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
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ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
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void fillCommandAndReplyMap() override;
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ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
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size_t commandDataLen) override;
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ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
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size_t* foundLen) override;
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ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
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virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
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uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) override;
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ReturnValue_t getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) override;
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private:
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::IMTQ_HANDLER;
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//! [EXPORT] : [COMMENT] Get self test result returns I2C failure
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//! P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 ->
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//! -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA
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static const Event SELF_TEST_I2C_FAILURE = MAKE_EVENT(1, severity::LOW);
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//! [EXPORT] : [COMMENT] Get self test result returns SPI failure. This concerns the MTM
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//! connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3
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//! -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA
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static const Event SELF_TEST_SPI_FAILURE = MAKE_EVENT(2, severity::LOW);
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//! [EXPORT] : [COMMENT] Get self test result returns failure in measurement of current and
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//! temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3
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//! -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA
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static const Event SELF_TEST_ADC_FAILURE = MAKE_EVENT(3, severity::LOW);
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//! [EXPORT] : [COMMENT] Get self test result returns PWM failure which concerns the coil
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//! actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 ->
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//! +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA
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static const Event SELF_TEST_PWM_FAILURE = MAKE_EVENT(4, severity::LOW);
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//! [EXPORT] : [COMMENT] Get self test result returns TC failure (system failure)
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//! P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 ->
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//! -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA
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static const Event SELF_TEST_TC_FAILURE = MAKE_EVENT(5, severity::LOW);
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//! [EXPORT] : [COMMENT] Get self test result returns failure that MTM values were outside of the
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//! expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X,
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//! 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA
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static const Event SELF_TEST_MTM_RANGE_FAILURE = MAKE_EVENT(6, severity::LOW);
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//! [EXPORT] : [COMMENT] Get self test result returns failure indicating that the coil current was
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//! outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1
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//! -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA
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static const Event SELF_TEST_COIL_CURRENT_FAILURE = MAKE_EVENT(7, severity::LOW);
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//! [EXPORT] : [COMMENT] Received invalid error byte. This indicates an error of the communication
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//! link between IMTQ and OBC.
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static const Event INVALID_ERROR_BYTE = MAKE_EVENT(8, severity::LOW);
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enum class InternalState { NONE, STARTUP, SHUTDOWN } internalState = InternalState::NONE;
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bool commandExecuted = false;
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bool enableHkSets = false;
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imtq::Request request{};
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imtq::StatusDataset statusSet;
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imtq::DipoleActuationSet dipoleSet;
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imtq::RawMtmMeasurementNoTorque rawMtmNoTorque;
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imtq::HkDatasetNoTorque hkDatasetNoTorque;
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imtq::RawMtmMeasurementWithTorque rawMtmWithTorque;
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imtq::HkDatasetWithTorque hkDatasetWithTorque;
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imtq::CalibratedMtmMeasurementSet calMtmMeasurementSet;
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imtq::PosXSelfTestSet posXselfTestDataset;
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imtq::NegXSelfTestSet negXselfTestDataset;
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imtq::PosYSelfTestSet posYselfTestDataset;
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imtq::NegYSelfTestSet negYselfTestDataset;
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imtq::PosZSelfTestSet posZselfTestDataset;
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imtq::NegZSelfTestSet negZselfTestDataset;
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bool manualTorqueCmdActive = false;
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bool ignoreActForRestOfComSteps = false;
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Countdown manuallyCommandedTorqueDuration = Countdown();
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NormalPollingMode pollingMode = NormalPollingMode::UNCALIBRATED;
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PoolEntry<uint8_t> statusMode = PoolEntry<uint8_t>({0});
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PoolEntry<uint8_t> statusError = PoolEntry<uint8_t>({0});
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PoolEntry<uint8_t> statusConfig = PoolEntry<uint8_t>({0});
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PoolEntry<uint32_t> statusUptime = PoolEntry<uint32_t>({0});
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PoolEntry<int32_t> mgmCalEntry = PoolEntry<int32_t>(3);
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PoolEntry<int16_t> dipolesPoolEntry = PoolEntry<int16_t>({0, 0, 0}, false);
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PoolEntry<uint16_t> torqueDurationEntry = PoolEntry<uint16_t>({0}, false);
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PoolEntry<float> coilCurrentsMilliampsNoTorque = PoolEntry<float>(3);
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PoolEntry<float> coilCurrentsMilliampsWithTorque = PoolEntry<float>(3);
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PoolEntry<int16_t> coilTempsNoTorque = PoolEntry<int16_t>(3);
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PoolEntry<int16_t> coilTempsWithTorque = PoolEntry<int16_t>(3);
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PoolEntry<float> mtmRawNoTorque = PoolEntry<float>(3);
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PoolEntry<uint8_t> actStatusNoTorque = PoolEntry<uint8_t>(1);
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PoolEntry<float> mtmRawWithTorque = PoolEntry<float>(3);
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PoolEntry<uint8_t> actStatusWithTorque = PoolEntry<uint8_t>(1);
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power::Switch_t switcher = power::NO_SWITCH;
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DeviceCommandId_t expectedReply = DeviceHandlerIF::NO_COMMAND_ID;
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bool goToNormalMode = false;
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bool debugMode = false;
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bool specialRequestActive = false;
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bool firstReplyCycle = true;
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imtq::RequestType requestStep = imtq::RequestType::MEASURE_NO_ACTUATION;
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/**
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* @brief In case of a status reply to a single axis self test command, this function
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* searches for the actual pending command.
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*/
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ReturnValue_t getSelfTestCommandId(DeviceCommandId_t* id);
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/**
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* @brief Each reply contains a status byte giving information about a request. This function
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* parses this byte and returns the associated failure message.
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*
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* @param packet Pointer to the received message containing the status byte.
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*
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* @return The return code derived from the received status byte.
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*/
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ReturnValue_t parseStatusByte(imtq::CC::CC command, const uint8_t* packet);
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/**
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* @brief This function fills the engineering housekeeping dataset with the received data.
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* @param packet Pointer to the received data.
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*
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*/
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void fillEngHkDataset(imtq::HkDataset& hkDataset, const uint8_t* packet);
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void fillSystemStateIntoDataset(const uint8_t* packet);
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/**
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* @brief This function parses the reply containing the calibrated MTM measurement and writes
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* the values to the appropriate dataset.
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* @param packet Pointer to the reply data.
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*/
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void fillCalibratedMtmDataset(const uint8_t* packet);
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/**
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* @brief This function copies the raw MTM measurements to the MTM raw dataset.
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* @param packet Pointer to the reply data requested with the GET_RAW_MTM_MEASUREMENTS
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* command.
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*/
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void fillRawMtmDataset(imtq::RawMtmMeasurementSet& set, const uint8_t* packet);
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/**
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* @brief This function handles all self test results. This comprises parsing the error byte
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* and step byte and calling the function to fill the respective dataset.
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*/
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void handleSelfTestReply(const uint8_t* packet);
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/**
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* @brief The following functions fill the respective dataset of the single axis self tests.
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* @param packet Pointer to the reply data holding the self test result.
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*/
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void handlePositiveXSelfTestReply(const uint8_t* packet);
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void handleNegativeXSelfTestReply(const uint8_t* packet);
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void handlePositiveYSelfTestReply(const uint8_t* packet);
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void handleNegativeYSelfTestReply(const uint8_t* packet);
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void handlePositiveZSelfTestReply(const uint8_t* packet);
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void handleNegativeZSelfTestReply(const uint8_t* packet);
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// ReturnValue_t buildDipoleActuationCommand();
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/**
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* @brief This function checks the error byte of a self test measurement.
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*
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* @param errorByte The received error byte to check
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* @param step The step of the error byte.
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*/
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void checkErrorByte(const uint8_t errorByte, const uint8_t step);
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std::string makeStepString(const uint8_t step);
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};
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#endif /* MISSION_DEVICES_IMTQHANDLER_H_ */
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