210 lines
7.1 KiB
C++
210 lines
7.1 KiB
C++
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_
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#define MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_
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namespace IMTQ {
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static const DeviceCommandId_t NONE = 0x0;
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static const DeviceCommandId_t GET_ENG_HK_DATA = 0x1;
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static const DeviceCommandId_t START_ACTUATION_DIPOLE = 0x2;
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static const DeviceCommandId_t GET_COMMANDED_DIPOLE = 0x3;
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/** Generates new measurement of the magnetic field */
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static const DeviceCommandId_t START_MTM_MEASUREMENT = 0x4;
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/** Requests the calibrated magnetometer measurement */
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static const DeviceCommandId_t GET_CAL_MTM_MEASUREMENT = 0x5;
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/** Requests the raw values measured by the built-in MTM XEN1210 */
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static const DeviceCommandId_t GET_RAW_MTM_MEASUREMENT = 0x6;
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static const DeviceCommandId_t SELF_TEST = 0x7;
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static const uint8_t GET_TEMP_REPLY_SIZE = 2;
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static const uint8_t CFGR_CMD_SIZE = 3;
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static const uint8_t POINTER_REG_SIZE = 1;
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static const uint32_t ENG_HK_DATA_SET_ID = GET_ENG_HK_DATA;
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static const uint32_t CAL_MTM_SET = GET_CAL_MTM_MEASUREMENT;
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static const uint8_t SIZE_ENG_HK_COMMAND = 1;
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static const uint8_t SIZE_STATUS_REPLY = 2;
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static const uint8_t SIZE_ENG_HK_DATA_REPLY = 24;
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static const uint8_t SIZE_GET_COMMANDED_DIPOLE_REPLY = 8;
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static const uint8_t SIZE_GET_CAL_MTM_MEASUREMENT = 15;
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static const uint8_t SIZE_GET_RAW_MTM_MEASUREMENT = 15;
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static const uint8_t MAX_REPLY_SIZE = SIZE_ENG_HK_DATA_REPLY;
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static const uint8_t MAX_COMMAND_SIZE = 9;
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/** Define entries in IMTQ specific dataset */
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static const uint8_t ENG_HK_SET_POOL_ENTRIES = 11;
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static const uint8_t CAL_MTM_POOL_ENTRIES = 4;
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/**
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* Command code definitions. Each command or reply of an IMTQ request will begin with one of
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* the following command codes.
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*/
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namespace CC {
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static const uint8_t START_MTM_MEASUREMENT = 0x4;
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static const uint8_t START_ACTUATION_DIPOLE = 0x6;
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static const uint8_t SOFTWARE_RESET = 0xAA;
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static const uint8_t GET_ENG_HK_DATA = 0x4A;
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static const uint8_t GET_COMMANDED_DIPOLE = 0x46;
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static const uint8_t GET_RAW_MTM_MEASUREMENT = 0x42;
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static const uint8_t GET_CAL_MTM_MEASUREMENT = 0x43;
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};
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enum IMTQPoolIds: lp_id_t {
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DIGITAL_VOLTAGE_MV,
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ANALOG_VOLTAGE_MV,
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DIGITAL_CURRENT,
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ANALOG_CURRENT,
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COIL_X_CURRENT,
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COIL_Y_CURRENT,
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COIL_Z_CURRENT,
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COIL_X_TEMPERATURE,
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COIL_Y_TEMPERATURE,
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COIL_Z_TEMPERATURE,
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MCU_TEMPERATURE,
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MTM_CAL_X,
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MTM_CAL_Y,
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MTM_CAL_Z,
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ACTUATION_CAL_STATUS,
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MTM_RAW_X,
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MTM_RAW_Y,
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MTM_RAW_Z,
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ACTUATION_RAW_STATUS
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};
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class EngHkDataset:
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public StaticLocalDataSet<ENG_HK_SET_POOL_ENTRIES> {
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public:
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EngHkDataset(HasLocalDataPoolIF* owner):
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StaticLocalDataSet(owner, ENG_HK_DATA_SET_ID) {
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}
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EngHkDataset(object_id_t objectId):
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StaticLocalDataSet(sid_t(objectId, ENG_HK_DATA_SET_ID)) {
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}
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lp_var_t<uint16_t> digitalVoltageMv = lp_var_t<uint16_t>(sid.objectId,
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DIGITAL_VOLTAGE_MV, this);
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lp_var_t<uint16_t> analogVoltageMv = lp_var_t<uint16_t>(sid.objectId,
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ANALOG_VOLTAGE_MV, this);
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lp_var_t<float> digitalCurrentmA = lp_var_t<float>(sid.objectId,
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DIGITAL_CURRENT, this);
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lp_var_t<float> analogCurrentmA = lp_var_t<float>(sid.objectId,
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ANALOG_CURRENT, this);
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lp_var_t<float> coilXCurrentmA = lp_var_t<float>(sid.objectId,
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COIL_X_CURRENT, this);
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lp_var_t<float> coilYCurrentmA = lp_var_t<float>(sid.objectId,
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COIL_Y_CURRENT, this);
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lp_var_t<float> coilZCurrentmA = lp_var_t<float>(sid.objectId,
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COIL_Z_CURRENT, this);
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/** All temperatures in [<5B>C] */
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lp_var_t<uint16_t> coilXTemperature = lp_var_t<uint16_t>(sid.objectId,
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COIL_X_TEMPERATURE, this);
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lp_var_t<uint16_t> coilYTemperature = lp_var_t<uint16_t>(sid.objectId,
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COIL_Y_TEMPERATURE, this);
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lp_var_t<uint16_t> coilZTemperature = lp_var_t<uint16_t>(sid.objectId,
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COIL_Z_TEMPERATURE, this);
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lp_var_t<uint16_t> mcuTemperature = lp_var_t<uint16_t>(sid.objectId,
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MCU_TEMPERATURE, this);
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};
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/**
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* @brief This dataset holds the raw MTM measurements.
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*/
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class CalibratedMtmMeasurementSet:
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public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
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public:
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CalibratedMtmMeasurementSet(HasLocalDataPoolIF* owner):
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StaticLocalDataSet(owner, CAL_MTM_SET) {
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}
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CalibratedMtmMeasurementSet(object_id_t objectId):
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StaticLocalDataSet(sid_t(objectId, CAL_MTM_SET)) {
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}
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/** The unit of all measurements is nT */
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lp_var_t<int32_t> mtmXnT = lp_var_t<int32_t>(sid.objectId,
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MTM_CAL_X, this);
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lp_var_t<int32_t> mtmYnT = lp_var_t<int32_t>(sid.objectId,
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MTM_CAL_Y, this);
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lp_var_t<int32_t> mtmZnT = lp_var_t<int32_t>(sid.objectId,
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MTM_CAL_Z, this);
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/** 1 if coils were actuating during measurement otherwise 0 */
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lp_var_t<uint8_t> coilActuationStatus = lp_var_t<uint8_t>(sid.objectId,
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ACTUATION_CAL_STATUS, this);
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};
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/**
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* @brief This dataset holds the last calibrated MTM measurement.
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*/
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class RawMtmMeasurementSet:
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public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
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public:
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RawMtmMeasurementSet(HasLocalDataPoolIF* owner):
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StaticLocalDataSet(owner, CAL_MTM_SET) {
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}
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RawMtmMeasurementSet(object_id_t objectId):
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StaticLocalDataSet(sid_t(objectId, CAL_MTM_SET)) {
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}
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/** The unit of all measurements is nT */
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lp_var_t<float> mtmXnT = lp_var_t<float>(sid.objectId,
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MTM_RAW_X, this);
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lp_var_t<float> mtmYnT = lp_var_t<float>(sid.objectId,
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MTM_RAW_Y, this);
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lp_var_t<float> mtmZnT = lp_var_t<float>(sid.objectId,
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MTM_RAW_Z, this);
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/** 1 if coils were actuating during measurement otherwise 0 */
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lp_var_t<uint8_t> coilActuationStatus = lp_var_t<uint8_t>(sid.objectId,
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ACTUATION_RAW_STATUS, this);
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};
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/**
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* @brief This class can be used to ease the generation of an action message commanding the
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* IMTQHandler to configure the magnettorquer with the desired dipoles.
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*
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* @details Deserialize the packet, write the deserialized data to the ipc store and store the
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* the ipc store address in the action message.
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*/
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class CommandDipolePacket : public SerialLinkedListAdapter<SerializeIF> {
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public:
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CommandDipolePacket() {
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setLinks();
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}
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private:
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/**
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* @brief Constructor
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*
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* @param xDipole The dipole of the x coil in 10 ^ -4 * Am^2
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* @param yDipole The dipole of the y coil in 10 ^ -4 * Am^2
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* @param zDipole The dipole of the z coil in 10 ^ -4 * Am^2
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* @param duration The duration in milliseconds the dipole will be generated by the coils.
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* When set to 0, the dipole will be generated until a new dipole actuation
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* command is sent.
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*/
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CommandDipolePacket(uint16_t xDipole, uint16_t yDipole, uint16_t zDipole, uint16_t duration) :
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xDipole(xDipole), yDipole(yDipole), zDipole(zDipole), duration(duration) {
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}
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void setLinks() {
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setStart(&xDipole);
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xDipole.setNext(&yDipole);
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yDipole.setNext(&zDipole);
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zDipole.setNext(&duration);
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}
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SerializeElement<uint16_t> xDipole;
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SerializeElement<uint16_t> yDipole;
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SerializeElement<uint16_t> zDipole;
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SerializeElement<uint16_t> duration;
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};
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}
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#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_ */
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