2342 lines
122 KiB
C++
2342 lines
122 KiB
C++
#include <bits/stdint-intn.h>
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#include <commonConfig.h>
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#include <fsfw/datapool/PoolEntry.h>
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#include <fsfw/datapool/PoolReadGuard.h>
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#include <fsfw/datapoollocal/LocalDataPoolManager.h>
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#include <fsfw/datapoollocal/LocalPoolVariable.h>
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#include <fsfw/datapoollocal/ProvidesDataPoolSubscriptionIF.h>
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#include <fsfw/datapoollocal/localPoolDefinitions.h>
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#include <fsfw/devicehandlers/DeviceHandlerIF.h>
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#include <fsfw/ipc/MutexFactory.h>
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#include <fsfw/ipc/MutexGuard.h>
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#include <fsfw/ipc/messageQueueDefinitions.h>
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#include <fsfw/modes/ModeMessage.h>
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#include <fsfw/objectmanager/SystemObjectIF.h>
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#include <fsfw/power/definitions.h>
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#include <fsfw/returnvalues/returnvalue.h>
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#include <fsfw/serialize/SerializeAdapter.h>
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#include <fsfw/serialize/SerializeIF.h>
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#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
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#include <fsfw/tasks/TaskFactory.h>
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#include <fsfw/timemanager/Countdown.h>
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#include <fsfw/timemanager/clockDefinitions.h>
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#include <mission/devices/ImtqHandler.h>
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#include <cmath>
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#include <fsfw/datapoollocal/LocalPoolVariable.tpp>
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#include "mission/config/torquer.h"
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static constexpr bool ACTUATION_WIRETAPPING = false;
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ImtqHandler::ImtqHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
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power::Switch_t pwrSwitcher)
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: DeviceHandlerBase(objectId, comIF, comCookie),
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engHkDataset(this),
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calMtmMeasurementSet(this),
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rawMtmMeasurementSet(this),
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dipoleSet(*this),
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posXselfTestDataset(this),
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negXselfTestDataset(this),
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posYselfTestDataset(this),
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negYselfTestDataset(this),
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posZselfTestDataset(this),
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negZselfTestDataset(this),
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switcher(pwrSwitcher) {
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if (comCookie == nullptr) {
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sif::error << "IMTQHandler: Invalid com cookie" << std::endl;
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}
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}
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ImtqHandler::~ImtqHandler() = default;
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void ImtqHandler::doStartUp() {
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if (goToNormalMode) {
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setMode(MODE_NORMAL);
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} else {
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setMode(_MODE_TO_ON);
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}
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}
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void ImtqHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
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ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
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bool buildCommand = true;
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// Depending on the normal polling mode configuration, 3-4 communication steps are recommended
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switch (communicationStep) {
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case CommunicationStep::GET_ENG_HK_DATA:
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*id = IMTQ::GET_ENG_HK_DATA;
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communicationStep = CommunicationStep::START_MTM_MEASUREMENT;
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break;
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case CommunicationStep::START_MTM_MEASUREMENT:
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*id = IMTQ::START_MTM_MEASUREMENT;
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if (pollingMode == NormalPollingMode::BOTH or
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pollingMode == NormalPollingMode::UNCALIBRATED) {
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communicationStep = CommunicationStep::GET_RAW_MTM_MEASUREMENT;
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} else {
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communicationStep = CommunicationStep::GET_CAL_MTM_MEASUREMENT;
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}
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break;
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case CommunicationStep::GET_RAW_MTM_MEASUREMENT:
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if (integrationTimeCd.getRemainingMillis() > 0) {
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TaskFactory::delayTask(integrationTimeCd.getRemainingMillis());
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}
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*id = IMTQ::GET_RAW_MTM_MEASUREMENT;
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if (pollingMode == NormalPollingMode::BOTH) {
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communicationStep = CommunicationStep::GET_CAL_MTM_MEASUREMENT;
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} else {
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communicationStep = CommunicationStep::DIPOLE_ACTUATION;
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}
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break;
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case CommunicationStep::GET_CAL_MTM_MEASUREMENT:
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if (integrationTimeCd.getRemainingMillis() > 0) {
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TaskFactory::delayTask(integrationTimeCd.getRemainingMillis());
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}
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*id = IMTQ::GET_CAL_MTM_MEASUREMENT;
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communicationStep = CommunicationStep::DIPOLE_ACTUATION;
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break;
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case CommunicationStep::DIPOLE_ACTUATION: {
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// If the dipole is not commanded but set by the ACS control algorithm,
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// the dipoles will be set by the ACS controller directly using the dipole local pool set.
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// This set has a flag to determine whether the ACS controller actually set any new input.
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MutexGuard mg(torquer::lazyLock());
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if (torquer::NEW_ACTUATION_FLAG) {
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*id = IMTQ::START_ACTUATION_DIPOLE;
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torquer::NEW_ACTUATION_FLAG = false;
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} else {
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buildCommand = false;
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}
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communicationStep = CommunicationStep::GET_ENG_HK_DATA;
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break;
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}
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default:
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sif::debug << "IMTQHandler::buildNormalDeviceCommand: Invalid communication step"
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<< std::endl;
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break;
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}
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if (buildCommand) {
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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return NOTHING_TO_SEND;
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}
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ReturnValue_t ImtqHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
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return NOTHING_TO_SEND;
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}
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ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t* commandData,
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size_t commandDataLen) {
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switch (deviceCommand) {
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case (IMTQ::POS_X_SELF_TEST): {
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commandBuffer[0] = IMTQ::CC::SELF_TEST_CMD;
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commandBuffer[1] = IMTQ::SELF_TEST_AXIS::X_POSITIVE;
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rawPacket = commandBuffer;
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rawPacketLen = 2;
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return returnvalue::OK;
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}
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case (IMTQ::NEG_X_SELF_TEST): {
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commandBuffer[0] = IMTQ::CC::SELF_TEST_CMD;
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commandBuffer[1] = IMTQ::SELF_TEST_AXIS::X_NEGATIVE;
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rawPacket = commandBuffer;
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rawPacketLen = 2;
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return returnvalue::OK;
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}
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case (IMTQ::POS_Y_SELF_TEST): {
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commandBuffer[0] = IMTQ::CC::SELF_TEST_CMD;
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commandBuffer[1] = IMTQ::SELF_TEST_AXIS::Y_POSITIVE;
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rawPacket = commandBuffer;
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rawPacketLen = 2;
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return returnvalue::OK;
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}
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case (IMTQ::NEG_Y_SELF_TEST): {
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commandBuffer[0] = IMTQ::CC::SELF_TEST_CMD;
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commandBuffer[1] = IMTQ::SELF_TEST_AXIS::Y_NEGATIVE;
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rawPacket = commandBuffer;
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rawPacketLen = 2;
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return returnvalue::OK;
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}
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case (IMTQ::POS_Z_SELF_TEST): {
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commandBuffer[0] = IMTQ::CC::SELF_TEST_CMD;
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commandBuffer[1] = IMTQ::SELF_TEST_AXIS::Z_POSITIVE;
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rawPacket = commandBuffer;
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rawPacketLen = 2;
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return returnvalue::OK;
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}
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case (IMTQ::NEG_Z_SELF_TEST): {
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commandBuffer[0] = IMTQ::CC::SELF_TEST_CMD;
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commandBuffer[1] = IMTQ::SELF_TEST_AXIS::Z_NEGATIVE;
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rawPacket = commandBuffer;
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rawPacketLen = 2;
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return returnvalue::OK;
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}
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case (IMTQ::GET_SELF_TEST_RESULT): {
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commandBuffer[0] = IMTQ::CC::GET_SELF_TEST_RESULT;
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rawPacket = commandBuffer;
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rawPacketLen = 1;
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return returnvalue::OK;
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}
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case (IMTQ::START_ACTUATION_DIPOLE): {
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/* IMTQ expects low byte first */
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commandBuffer[0] = IMTQ::CC::START_ACTUATION_DIPOLE;
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if (commandData != nullptr && commandDataLen < 8) {
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return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
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}
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ReturnValue_t result;
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// Commands override anything which was set in the software
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if (commandData != nullptr) {
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dipoleSet.setValidityBufferGeneration(false);
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result =
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dipoleSet.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::NETWORK);
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dipoleSet.setValidityBufferGeneration(true);
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if (result != returnvalue::OK) {
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return result;
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}
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} else {
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// Read set dipole values from local pool
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PoolReadGuard pg(&dipoleSet);
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}
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if (ACTUATION_WIRETAPPING) {
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sif::debug << "Actuating IMTQ with parameters x = " << dipoleSet.xDipole.value
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<< ", y = " << dipoleSet.yDipole.value << ", z = " << dipoleSet.zDipole.value
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<< ", duration = " << dipoleSet.currentTorqueDurationMs.value << std::endl;
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}
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result = buildDipoleActuationCommand();
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if (result != returnvalue::OK) {
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return result;
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}
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MutexGuard mg(torquer::lazyLock());
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torquer::TORQUEING = true;
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torquer::TORQUE_COUNTDOWN.setTimeout(dipoleSet.currentTorqueDurationMs.value);
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return result;
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}
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case (IMTQ::GET_ENG_HK_DATA): {
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commandBuffer[0] = IMTQ::CC::GET_ENG_HK_DATA;
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rawPacket = commandBuffer;
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rawPacketLen = 1;
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return returnvalue::OK;
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}
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case (IMTQ::GET_COMMANDED_DIPOLE): {
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commandBuffer[0] = IMTQ::CC::GET_COMMANDED_DIPOLE;
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rawPacket = commandBuffer;
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rawPacketLen = 1;
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return returnvalue::OK;
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}
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case (IMTQ::START_MTM_MEASUREMENT): {
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commandBuffer[0] = IMTQ::CC::START_MTM_MEASUREMENT;
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integrationTimeCd.resetTimer();
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rawPacket = commandBuffer;
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rawPacketLen = 1;
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return returnvalue::OK;
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}
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case (IMTQ::GET_CAL_MTM_MEASUREMENT): {
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commandBuffer[0] = IMTQ::CC::GET_CAL_MTM_MEASUREMENT;
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rawPacket = commandBuffer;
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rawPacketLen = 1;
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return returnvalue::OK;
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}
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case (IMTQ::GET_RAW_MTM_MEASUREMENT): {
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commandBuffer[0] = IMTQ::CC::GET_RAW_MTM_MEASUREMENT;
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rawPacket = commandBuffer;
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rawPacketLen = 1;
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return returnvalue::OK;
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}
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default:
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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return returnvalue::FAILED;
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}
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ReturnValue_t ImtqHandler::buildDipoleActuationCommand() {
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commandBuffer[0] = IMTQ::CC::START_ACTUATION_DIPOLE;
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uint8_t* serPtr = commandBuffer + 1;
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size_t serSize = 1;
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dipoleSet.setValidityBufferGeneration(false);
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ReturnValue_t result = dipoleSet.serialize(&serPtr, &serSize, sizeof(commandBuffer),
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SerializeIF::Endianness::LITTLE);
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dipoleSet.setValidityBufferGeneration(true);
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if (result != returnvalue::OK) {
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return result;
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}
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rawPacket = commandBuffer;
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rawPacketLen = 9;
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return result;
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}
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void ImtqHandler::fillCommandAndReplyMap() {
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insertInCommandAndReplyMap(IMTQ::POS_X_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
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insertInCommandAndReplyMap(IMTQ::NEG_X_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
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insertInCommandAndReplyMap(IMTQ::POS_Y_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
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insertInCommandAndReplyMap(IMTQ::NEG_Y_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
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insertInCommandAndReplyMap(IMTQ::POS_Z_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
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insertInCommandAndReplyMap(IMTQ::NEG_Z_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
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insertInCommandAndReplyMap(IMTQ::GET_SELF_TEST_RESULT, 1, nullptr, IMTQ::SIZE_SELF_TEST_RESULTS);
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insertInCommandAndReplyMap(IMTQ::START_ACTUATION_DIPOLE, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
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insertInCommandAndReplyMap(IMTQ::GET_ENG_HK_DATA, 1, &engHkDataset, IMTQ::SIZE_ENG_HK_DATA_REPLY);
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insertInCommandAndReplyMap(IMTQ::GET_COMMANDED_DIPOLE, 1, nullptr,
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IMTQ::SIZE_GET_COMMANDED_DIPOLE_REPLY);
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insertInCommandAndReplyMap(IMTQ::START_MTM_MEASUREMENT, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
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insertInCommandAndReplyMap(IMTQ::GET_CAL_MTM_MEASUREMENT, 1, &calMtmMeasurementSet,
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IMTQ::SIZE_GET_CAL_MTM_MEASUREMENT);
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insertInCommandAndReplyMap(IMTQ::GET_RAW_MTM_MEASUREMENT, 1, &rawMtmMeasurementSet,
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IMTQ::SIZE_GET_RAW_MTM_MEASUREMENT);
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}
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ReturnValue_t ImtqHandler::scanForReply(const uint8_t* start, size_t remainingSize,
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DeviceCommandId_t* foundId, size_t* foundLen) {
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ReturnValue_t result = returnvalue::OK;
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switch (*start) {
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case (IMTQ::CC::START_ACTUATION_DIPOLE):
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*foundLen = IMTQ::SIZE_STATUS_REPLY;
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*foundId = IMTQ::START_ACTUATION_DIPOLE;
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break;
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case (IMTQ::CC::START_MTM_MEASUREMENT):
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*foundLen = IMTQ::SIZE_STATUS_REPLY;
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*foundId = IMTQ::START_MTM_MEASUREMENT;
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break;
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case (IMTQ::CC::GET_ENG_HK_DATA):
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*foundLen = IMTQ::SIZE_ENG_HK_DATA_REPLY;
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*foundId = IMTQ::GET_ENG_HK_DATA;
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break;
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case (IMTQ::CC::GET_COMMANDED_DIPOLE):
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*foundLen = IMTQ::SIZE_GET_COMMANDED_DIPOLE_REPLY;
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*foundId = IMTQ::GET_COMMANDED_DIPOLE;
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break;
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case (IMTQ::CC::GET_CAL_MTM_MEASUREMENT):
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*foundLen = IMTQ::SIZE_GET_CAL_MTM_MEASUREMENT;
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*foundId = IMTQ::GET_CAL_MTM_MEASUREMENT;
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break;
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case (IMTQ::CC::GET_RAW_MTM_MEASUREMENT):
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*foundLen = IMTQ::SIZE_GET_RAW_MTM_MEASUREMENT;
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*foundId = IMTQ::GET_RAW_MTM_MEASUREMENT;
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break;
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case (IMTQ::CC::SELF_TEST_CMD):
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*foundLen = IMTQ::SIZE_STATUS_REPLY;
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result = getSelfTestCommandId(foundId);
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break;
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case (IMTQ::CC::GET_SELF_TEST_RESULT):
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*foundLen = IMTQ::SIZE_SELF_TEST_RESULTS;
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*foundId = IMTQ::GET_SELF_TEST_RESULT;
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break;
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case (IMTQ::CC::PAST_AVAILABLE_RESPONSE_BYTES): {
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sif::warning << "IMTQHandler::scanForReply: Read 0xFF command byte, reading past available "
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"bytes. Keep 1 ms delay between I2C send and read"
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<< std::endl;
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result = IGNORE_REPLY_DATA;
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break;
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}
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default:
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sif::debug << "IMTQHandler::scanForReply: Reply with length " << remainingSize
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<< "contains invalid command code " << static_cast<int>(*start) << std::endl;
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result = IGNORE_REPLY_DATA;
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break;
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}
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return result;
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}
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ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
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ReturnValue_t result = returnvalue::OK;
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result = parseStatusByte(packet);
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if (result != returnvalue::OK) {
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return result;
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}
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switch (id) {
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case (IMTQ::POS_X_SELF_TEST):
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case (IMTQ::NEG_X_SELF_TEST):
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case (IMTQ::POS_Y_SELF_TEST):
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case (IMTQ::NEG_Y_SELF_TEST):
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case (IMTQ::POS_Z_SELF_TEST):
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case (IMTQ::NEG_Z_SELF_TEST):
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case (IMTQ::START_ACTUATION_DIPOLE):
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case (IMTQ::START_MTM_MEASUREMENT):
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/* Replies only the status byte which is already handled with parseStatusByte */
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break;
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case (IMTQ::GET_ENG_HK_DATA):
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fillEngHkDataset(packet);
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break;
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case (IMTQ::GET_COMMANDED_DIPOLE):
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handleGetCommandedDipoleReply(packet);
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break;
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case (IMTQ::GET_CAL_MTM_MEASUREMENT):
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fillCalibratedMtmDataset(packet);
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break;
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case (IMTQ::GET_RAW_MTM_MEASUREMENT):
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fillRawMtmDataset(packet);
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break;
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case (IMTQ::GET_SELF_TEST_RESULT):
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handleSelfTestReply(packet);
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break;
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default: {
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sif::debug << "IMTQHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
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return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
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}
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}
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return returnvalue::OK;
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}
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void ImtqHandler::setNormalDatapoolEntriesInvalid() {}
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LocalPoolDataSetBase* ImtqHandler::getDataSetHandle(sid_t sid) {
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if (sid == engHkDataset.getSid()) {
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return &engHkDataset;
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} else if (sid == calMtmMeasurementSet.getSid()) {
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return &calMtmMeasurementSet;
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} else if (sid == rawMtmMeasurementSet.getSid()) {
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return &rawMtmMeasurementSet;
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} else if (sid == posXselfTestDataset.getSid()) {
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return &posXselfTestDataset;
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} else if (sid == negXselfTestDataset.getSid()) {
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return &negXselfTestDataset;
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} else if (sid == posYselfTestDataset.getSid()) {
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return &posYselfTestDataset;
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} else if (sid == negYselfTestDataset.getSid()) {
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return &negYselfTestDataset;
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} else if (sid == posZselfTestDataset.getSid()) {
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return &posZselfTestDataset;
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} else if (sid == negZselfTestDataset.getSid()) {
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return &negZselfTestDataset;
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} else {
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sif::error << "IMTQHandler::getDataSetHandle: Invalid sid" << std::endl;
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return nullptr;
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}
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}
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uint32_t ImtqHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; }
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ReturnValue_t ImtqHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) {
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/** Entries of engineering housekeeping dataset */
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localDataPoolMap.emplace(IMTQ::DIGITAL_VOLTAGE_MV, new PoolEntry<uint16_t>({0}));
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localDataPoolMap.emplace(IMTQ::ANALOG_VOLTAGE_MV, new PoolEntry<uint16_t>({0}));
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localDataPoolMap.emplace(IMTQ::DIGITAL_CURRENT, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(IMTQ::ANALOG_CURRENT, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(IMTQ::COIL_X_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::COIL_Y_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::COIL_Z_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::COIL_X_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::COIL_Y_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::MCU_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
|
|
localDataPoolMap.emplace(IMTQ::DIPOLES_X, &dipoleXEntry);
|
|
localDataPoolMap.emplace(IMTQ::DIPOLES_Y, &dipoleYEntry);
|
|
localDataPoolMap.emplace(IMTQ::DIPOLES_Z, &dipoleZEntry);
|
|
localDataPoolMap.emplace(IMTQ::CURRENT_TORQUE_DURATION, &torqueDurationEntry);
|
|
|
|
/** Entries of calibrated MTM measurement dataset */
|
|
localDataPoolMap.emplace(IMTQ::MGM_CAL_NT, &mgmCalEntry);
|
|
localDataPoolMap.emplace(IMTQ::ACTUATION_CAL_STATUS, new PoolEntry<uint8_t>({0}));
|
|
|
|
/** Entries of raw MTM measurement dataset */
|
|
localDataPoolMap.emplace(IMTQ::MTM_RAW, new PoolEntry<float>(3));
|
|
localDataPoolMap.emplace(IMTQ::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>({0}));
|
|
|
|
/** INIT measurements for positive X axis test */
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_X_ERR, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_X_RAW_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_X_RAW_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_X_RAW_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_X_CAL_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_X_CAL_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_X_CAL_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_X_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Y_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Z_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_X_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Y_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_X_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
|
|
/** INIT measurements for negative X axis test */
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_X_ERR, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_X_RAW_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_X_RAW_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_X_RAW_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_X_CAL_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_X_CAL_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_X_CAL_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_X_COIL_X_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_X_COIL_Y_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_X_COIL_Z_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_X_COIL_X_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_X_COIL_Y_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_X_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
|
|
/** INIT measurements for positive Y axis test */
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Y_ERR, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Y_RAW_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Y_RAW_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Y_RAW_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Y_CAL_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Y_CAL_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Y_CAL_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Y_COIL_X_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Y_COIL_Y_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Y_COIL_Z_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Y_COIL_X_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Y_COIL_Y_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Y_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
|
|
/** INIT measurements for negative Y axis test */
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_ERR, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_RAW_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_RAW_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_RAW_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_CAL_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_CAL_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_CAL_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_COIL_X_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_COIL_Y_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_COIL_Z_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_COIL_X_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_COIL_Y_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Y_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
|
|
/** INIT measurements for positive Z axis test */
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Z_ERR, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Z_RAW_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Z_RAW_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Z_RAW_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Z_CAL_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Z_CAL_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Z_CAL_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Z_COIL_X_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Z_COIL_Y_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Z_COIL_Z_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Z_COIL_X_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Z_COIL_Y_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_POS_Z_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
|
|
/** INIT measurements for negative Z axis test */
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_ERR, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_RAW_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_RAW_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_RAW_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_CAL_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_CAL_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_CAL_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_COIL_X_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_COIL_Y_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_COIL_Z_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_COIL_X_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_COIL_Y_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::INIT_NEG_Z_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
|
|
localDataPoolMap.emplace(IMTQ::POS_X_ERR, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_X_RAW_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_X_RAW_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_X_RAW_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_X_CAL_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_X_CAL_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_X_CAL_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_X_COIL_X_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_X_COIL_Y_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_X_COIL_Z_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_X_COIL_X_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_X_COIL_Y_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_X_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
|
|
localDataPoolMap.emplace(IMTQ::NEG_X_ERR, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_X_RAW_MAG_X, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_X_RAW_MAG_Y, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_X_RAW_MAG_Z, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_X_CAL_MAG_X, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_X_CAL_MAG_Y, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_X_CAL_MAG_Z, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_X_COIL_X_CURRENT, new PoolEntry<uint16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_X_COIL_Y_CURRENT, new PoolEntry<uint16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_X_COIL_Z_CURRENT, new PoolEntry<uint16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_X_COIL_X_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_X_COIL_Y_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_X_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
|
|
localDataPoolMap.emplace(IMTQ::POS_Y_ERR, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Y_RAW_MAG_X, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Y_RAW_MAG_Y, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Y_RAW_MAG_Z, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Y_CAL_MAG_X, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Y_CAL_MAG_Y, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Y_CAL_MAG_Z, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Y_COIL_X_CURRENT, new PoolEntry<uint16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Y_COIL_Y_CURRENT, new PoolEntry<uint16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Y_COIL_Z_CURRENT, new PoolEntry<uint16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Y_COIL_X_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Y_COIL_Y_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Y_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
|
|
localDataPoolMap.emplace(IMTQ::NEG_Y_ERR, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Y_RAW_MAG_X, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Y_RAW_MAG_Y, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Y_RAW_MAG_Z, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Y_CAL_MAG_X, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Y_CAL_MAG_Y, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Y_CAL_MAG_Z, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Y_COIL_X_CURRENT, new PoolEntry<uint16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Y_COIL_Y_CURRENT, new PoolEntry<uint16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Y_COIL_Z_CURRENT, new PoolEntry<uint16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Y_COIL_X_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Y_COIL_Y_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Y_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
|
|
localDataPoolMap.emplace(IMTQ::POS_Z_ERR, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Z_RAW_MAG_X, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Z_RAW_MAG_Y, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Z_RAW_MAG_Z, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Z_CAL_MAG_X, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Z_CAL_MAG_Y, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Z_CAL_MAG_Z, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Z_COIL_X_CURRENT, new PoolEntry<uint16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Z_COIL_Y_CURRENT, new PoolEntry<uint16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Z_COIL_Z_CURRENT, new PoolEntry<uint16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Z_COIL_X_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Z_COIL_Y_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::POS_Z_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
|
|
localDataPoolMap.emplace(IMTQ::NEG_Z_ERR, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Z_RAW_MAG_X, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Z_RAW_MAG_Y, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Z_RAW_MAG_Z, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Z_CAL_MAG_X, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Z_CAL_MAG_Y, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Z_CAL_MAG_Z, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_X_CURRENT, new PoolEntry<uint16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_Y_CURRENT, new PoolEntry<uint16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_Z_CURRENT, new PoolEntry<uint16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_X_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_Y_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::NEG_Z_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
|
|
/** FINA measurements for positive X axis test */
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_X_ERR, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_X_RAW_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_X_CAL_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_X_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Y_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Z_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_X_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Y_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_X_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
|
|
/** FINA measurements for negative X axis test */
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_X_ERR, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_X_RAW_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_X_RAW_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_X_RAW_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_X_CAL_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_X_CAL_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_X_CAL_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_X_COIL_X_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_X_COIL_Y_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_X_COIL_Z_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_X_COIL_X_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_X_COIL_Y_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_X_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
|
|
/** FINA measurements for positive Y axis test */
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Y_ERR, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Y_RAW_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Y_RAW_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Y_RAW_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Y_CAL_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Y_CAL_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Y_CAL_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Y_COIL_X_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Y_COIL_Y_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Y_COIL_Z_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Y_COIL_X_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Y_COIL_Y_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Y_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
|
|
/** FINA measurements for negative Y axis test */
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_ERR, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_RAW_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_RAW_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_RAW_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_CAL_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_CAL_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_CAL_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_COIL_X_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_COIL_Y_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_COIL_Z_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_COIL_X_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_COIL_Y_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Y_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
|
|
/** FINA measurements for positive Z axis test */
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Z_ERR, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Z_RAW_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Z_RAW_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Z_RAW_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Z_CAL_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Z_CAL_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Z_CAL_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Z_COIL_X_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Z_COIL_Y_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Z_COIL_Z_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Z_COIL_X_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Z_COIL_Y_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_POS_Z_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
|
|
/** FINA measurements for negative Z axis test */
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_ERR, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_RAW_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_RAW_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_RAW_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_CAL_MAG_X, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_CAL_MAG_Y, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_CAL_MAG_Z, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_COIL_X_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_COIL_Y_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_COIL_Z_CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_COIL_X_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_COIL_Y_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
|
|
|
|
poolManager.subscribeForDiagPeriodicPacket(
|
|
subdp::DiagnosticsHkPeriodicParams(engHkDataset.getSid(), false, 10.0));
|
|
poolManager.subscribeForDiagPeriodicPacket(
|
|
subdp::DiagnosticsHkPeriodicParams(calMtmMeasurementSet.getSid(), false, 10.0));
|
|
poolManager.subscribeForDiagPeriodicPacket(
|
|
subdp::DiagnosticsHkPeriodicParams(rawMtmMeasurementSet.getSid(), false, 10.0));
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t ImtqHandler::getSelfTestCommandId(DeviceCommandId_t* id) {
|
|
DeviceCommandId_t commandId = getPendingCommand();
|
|
switch (commandId) {
|
|
case IMTQ::POS_X_SELF_TEST:
|
|
case IMTQ::NEG_X_SELF_TEST:
|
|
case IMTQ::POS_Y_SELF_TEST:
|
|
case IMTQ::NEG_Y_SELF_TEST:
|
|
case IMTQ::POS_Z_SELF_TEST:
|
|
case IMTQ::NEG_Z_SELF_TEST:
|
|
*id = commandId;
|
|
break;
|
|
default:
|
|
sif::error << "IMTQHandler::getSelfTestCommandId: Reply does not match to pending "
|
|
<< "command" << std::endl;
|
|
return UNEXPECTED_SELF_TEST_REPLY;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t ImtqHandler::parseStatusByte(const uint8_t* packet) {
|
|
uint8_t cmdErrorField = *(packet + 1) & 0xF;
|
|
switch (cmdErrorField) {
|
|
case 0:
|
|
return returnvalue::OK;
|
|
case 1:
|
|
sif::error << "IMTQHandler::parseStatusByte: Command rejected without reason" << std::endl;
|
|
return REJECTED_WITHOUT_REASON;
|
|
case 2:
|
|
sif::error << "IMTQHandler::parseStatusByte: Command has invalid command code" << std::endl;
|
|
return INVALID_COMMAND_CODE;
|
|
case 3:
|
|
sif::error << "IMTQHandler::parseStatusByte: Command has missing parameter" << std::endl;
|
|
return PARAMETER_MISSING;
|
|
case 4:
|
|
sif::error << "IMTQHandler::parseStatusByte: Command has invalid parameter" << std::endl;
|
|
return PARAMETER_INVALID;
|
|
case 5:
|
|
sif::error << "IMTQHandler::parseStatusByte: CC unavailable" << std::endl;
|
|
return CC_UNAVAILABLE;
|
|
case 7:
|
|
sif::error << "IMTQHandler::parseStatusByte: IMQT replied internal processing error"
|
|
<< std::endl;
|
|
return INTERNAL_PROCESSING_ERROR;
|
|
default:
|
|
sif::error << "IMTQHandler::parseStatusByte: CMD Error field contains unknown error code "
|
|
<< cmdErrorField << std::endl;
|
|
return CMD_ERR_UNKNOWN;
|
|
}
|
|
}
|
|
|
|
void ImtqHandler::fillEngHkDataset(const uint8_t* packet) {
|
|
PoolReadGuard rg(&engHkDataset);
|
|
uint8_t offset = 2;
|
|
engHkDataset.digitalVoltageMv = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
engHkDataset.analogVoltageMv = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
engHkDataset.digitalCurrentmA = (*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
engHkDataset.analogCurrentmA = (*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
engHkDataset.coilXCurrentmA =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
engHkDataset.coilYCurrentmA =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
engHkDataset.coilZCurrentmA =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
engHkDataset.coilXTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
|
|
offset += 2;
|
|
engHkDataset.coilYTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
|
|
offset += 2;
|
|
engHkDataset.coilZTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
|
|
offset += 2;
|
|
size_t dummy = 2;
|
|
SerializeAdapter::deSerialize(&engHkDataset.mcuTemperature.value, packet + offset, &dummy,
|
|
SerializeIF::Endianness::LITTLE);
|
|
|
|
engHkDataset.setValidity(true, true);
|
|
|
|
if (debugMode) {
|
|
#if OBSW_VERBOSE_LEVEL >= 1
|
|
sif::info << "IMTQ digital voltage: " << engHkDataset.digitalVoltageMv << " mV" << std::endl;
|
|
sif::info << "IMTQ analog voltage: " << engHkDataset.analogVoltageMv << " mV" << std::endl;
|
|
sif::info << "IMTQ digital current: " << engHkDataset.digitalCurrentmA << " mA" << std::endl;
|
|
sif::info << "IMTQ analog current: " << engHkDataset.analogCurrentmA << " mA" << std::endl;
|
|
sif::info << "IMTQ coil X current: " << engHkDataset.coilXCurrentmA << " mA" << std::endl;
|
|
sif::info << "IMTQ coil Y current: " << engHkDataset.coilYCurrentmA << " mA" << std::endl;
|
|
sif::info << "IMTQ coil Z current: " << engHkDataset.coilZCurrentmA << " mA" << std::endl;
|
|
sif::info << "IMTQ coil X temperature: " << engHkDataset.coilXTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ coil Y temperature: " << engHkDataset.coilYTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ coil Z temperature: " << engHkDataset.coilZTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ coil MCU temperature: " << engHkDataset.mcuTemperature << " °C" << std::endl;
|
|
#endif
|
|
}
|
|
}
|
|
|
|
void ImtqHandler::setToGoToNormal(bool enable) { this->goToNormalMode = enable; }
|
|
|
|
void ImtqHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {
|
|
if (wiretappingMode == RAW) {
|
|
/* Data already sent in doGetRead() */
|
|
return;
|
|
}
|
|
|
|
DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
|
|
if (iter == deviceReplyMap.end()) {
|
|
sif::debug << "IMTQHandler::handleDeviceTM: Unknown reply id" << std::endl;
|
|
return;
|
|
}
|
|
MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
|
|
|
|
if (queueId == NO_COMMANDER) {
|
|
return;
|
|
}
|
|
|
|
ReturnValue_t result = actionHelper.reportData(queueId, replyId, data, dataSize);
|
|
if (result != returnvalue::OK) {
|
|
sif::debug << "IMTQHandler::handleDeviceTM: Failed to report data" << std::endl;
|
|
return;
|
|
}
|
|
}
|
|
|
|
void ImtqHandler::handleGetCommandedDipoleReply(const uint8_t* packet) {
|
|
uint8_t tmData[6];
|
|
/* Switching endianess of received dipole values */
|
|
tmData[0] = *(packet + 3);
|
|
tmData[1] = *(packet + 2);
|
|
tmData[2] = *(packet + 5);
|
|
tmData[3] = *(packet + 4);
|
|
tmData[4] = *(packet + 7);
|
|
tmData[5] = *(packet + 6);
|
|
handleDeviceTM(tmData, sizeof(tmData), IMTQ::GET_COMMANDED_DIPOLE);
|
|
}
|
|
|
|
void ImtqHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
|
|
PoolReadGuard rg(&calMtmMeasurementSet);
|
|
calMtmMeasurementSet.setValidity(true, true);
|
|
int8_t offset = 2;
|
|
calMtmMeasurementSet.mgmXyz[0] = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
calMtmMeasurementSet.mgmXyz[1] = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
calMtmMeasurementSet.mgmXyz[2] = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
calMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24) |
|
|
(*(packet + offset + 2) << 16) |
|
|
(*(packet + offset + 1) << 8) | (*(packet + offset));
|
|
if (debugMode) {
|
|
#if OBSW_VERBOSE_LEVEL >= 1
|
|
sif::info << "IMTQ calibrated MTM measurement X: " << calMtmMeasurementSet.mgmXyz[0] << " nT"
|
|
<< std::endl;
|
|
sif::info << "IMTQ calibrated MTM measurement Y: " << calMtmMeasurementSet.mgmXyz[1] << " nT"
|
|
<< std::endl;
|
|
sif::info << "IMTQ calibrated MTM measurement Z: " << calMtmMeasurementSet.mgmXyz[2] << " nT"
|
|
<< std::endl;
|
|
sif::info << "IMTQ coil actuation status during MTM measurement: "
|
|
<< (unsigned int)calMtmMeasurementSet.coilActuationStatus.value << std::endl;
|
|
#endif
|
|
}
|
|
}
|
|
|
|
void ImtqHandler::fillRawMtmDataset(const uint8_t* packet) {
|
|
PoolReadGuard rg(&rawMtmMeasurementSet);
|
|
unsigned int offset = 2;
|
|
size_t deSerLen = 16;
|
|
const uint8_t* dataStart = packet + offset;
|
|
int32_t xRaw = 0;
|
|
int32_t yRaw = 0;
|
|
int32_t zRaw = 0;
|
|
uint32_t coilActStatus = 0;
|
|
auto res =
|
|
SerializeAdapter::deSerialize(&xRaw, &dataStart, &deSerLen, SerializeIF::Endianness::LITTLE);
|
|
if (res != returnvalue::OK) {
|
|
return;
|
|
}
|
|
res =
|
|
SerializeAdapter::deSerialize(&yRaw, &dataStart, &deSerLen, SerializeIF::Endianness::LITTLE);
|
|
if (res != returnvalue::OK) {
|
|
return;
|
|
}
|
|
res =
|
|
SerializeAdapter::deSerialize(&zRaw, &dataStart, &deSerLen, SerializeIF::Endianness::LITTLE);
|
|
if (res != returnvalue::OK) {
|
|
return;
|
|
}
|
|
res = SerializeAdapter::deSerialize(&coilActStatus, &dataStart, &deSerLen,
|
|
SerializeIF::Endianness::LITTLE);
|
|
if (res != returnvalue::OK) {
|
|
return;
|
|
}
|
|
rawMtmMeasurementSet.mtmRawNt[0] = xRaw * 7.5;
|
|
rawMtmMeasurementSet.mtmRawNt[1] = yRaw * 7.5;
|
|
rawMtmMeasurementSet.mtmRawNt[2] = zRaw * 7.5;
|
|
rawMtmMeasurementSet.coilActuationStatus = static_cast<uint8_t>(coilActStatus);
|
|
rawMtmMeasurementSet.setValidity(true, true);
|
|
if (debugMode) {
|
|
#if OBSW_VERBOSE_LEVEL >= 1
|
|
sif::info << "IMTQ raw MTM measurement X: " << rawMtmMeasurementSet.mtmRawNt[0] << " nT"
|
|
<< std::endl;
|
|
sif::info << "IMTQ raw MTM measurement Y: " << rawMtmMeasurementSet.mtmRawNt[1] << " nT"
|
|
<< std::endl;
|
|
sif::info << "IMTQ raw MTM measurement Z: " << rawMtmMeasurementSet.mtmRawNt[2] << " nT"
|
|
<< std::endl;
|
|
sif::info << "IMTQ coil actuation status during MTM measurement: "
|
|
<< (unsigned int)rawMtmMeasurementSet.coilActuationStatus.value << std::endl;
|
|
#endif
|
|
}
|
|
}
|
|
|
|
void ImtqHandler::handleSelfTestReply(const uint8_t* packet) {
|
|
uint16_t offset = 2;
|
|
checkErrorByte(*(packet + offset), *(packet + offset + 1));
|
|
|
|
switch (*(packet + IMTQ::MAIN_STEP_OFFSET)) {
|
|
case IMTQ::SELF_TEST_STEPS::X_POSITIVE: {
|
|
handlePositiveXSelfTestReply(packet);
|
|
break;
|
|
}
|
|
case IMTQ::SELF_TEST_STEPS::X_NEGATIVE: {
|
|
handleNegativeXSelfTestReply(packet);
|
|
break;
|
|
}
|
|
case IMTQ::SELF_TEST_STEPS::Y_POSITIVE: {
|
|
handlePositiveYSelfTestReply(packet);
|
|
break;
|
|
}
|
|
case IMTQ::SELF_TEST_STEPS::Y_NEGATIVE: {
|
|
handleNegativeYSelfTestReply(packet);
|
|
break;
|
|
}
|
|
case IMTQ::SELF_TEST_STEPS::Z_POSITIVE: {
|
|
handlePositiveZSelfTestReply(packet);
|
|
break;
|
|
}
|
|
case IMTQ::SELF_TEST_STEPS::Z_NEGATIVE: {
|
|
handleNegativeZSelfTestReply(packet);
|
|
break;
|
|
}
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
|
|
void ImtqHandler::handlePositiveXSelfTestReply(const uint8_t* packet) {
|
|
PoolReadGuard rg(&posXselfTestDataset);
|
|
|
|
uint16_t offset = 2;
|
|
/** Init measurements */
|
|
posXselfTestDataset.initErr = *(packet + offset);
|
|
offset += 2; // STEP byte will not be stored
|
|
posXselfTestDataset.initRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posXselfTestDataset.initRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posXselfTestDataset.initRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posXselfTestDataset.initCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posXselfTestDataset.initCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posXselfTestDataset.initCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posXselfTestDataset.initCoilXCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posXselfTestDataset.initCoilYCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posXselfTestDataset.initCoilZCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posXselfTestDataset.initCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
posXselfTestDataset.initCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
posXselfTestDataset.initCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
|
|
/** +X measurements */
|
|
checkErrorByte(*(packet + offset), *(packet + offset + 1));
|
|
posXselfTestDataset.err = *(packet + offset);
|
|
offset += 2; // STEP byte will not be stored
|
|
posXselfTestDataset.rawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posXselfTestDataset.rawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posXselfTestDataset.rawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posXselfTestDataset.calMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posXselfTestDataset.calMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posXselfTestDataset.calMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posXselfTestDataset.coilXCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posXselfTestDataset.coilYCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posXselfTestDataset.coilZCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posXselfTestDataset.coilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
posXselfTestDataset.coilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
posXselfTestDataset.coilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
|
|
/** FINA measurements */
|
|
checkErrorByte(*(packet + offset), *(packet + offset + 1));
|
|
posXselfTestDataset.finaErr = *(packet + offset);
|
|
offset += 2; // STEP byte will not be stored
|
|
posXselfTestDataset.finaRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posXselfTestDataset.finaRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posXselfTestDataset.finaRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posXselfTestDataset.finaCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posXselfTestDataset.finaCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posXselfTestDataset.finaCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posXselfTestDataset.finaCoilXCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posXselfTestDataset.finaCoilYCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posXselfTestDataset.finaCoilZCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posXselfTestDataset.finaCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
posXselfTestDataset.finaCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
posXselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
|
|
if (debugMode) {
|
|
#if OBSW_VERBOSE_LEVEL >= 1
|
|
sif::info << "IMTQ self test (INIT) err: "
|
|
<< static_cast<unsigned int>(posXselfTestDataset.initErr.value) << std::endl;
|
|
sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posXselfTestDataset.initRawMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << posXselfTestDataset.initRawMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << posXselfTestDataset.initRawMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) calibrated magnetic field X: "
|
|
<< posXselfTestDataset.initCalMagX << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: "
|
|
<< posXselfTestDataset.initCalMagY << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: "
|
|
<< posXselfTestDataset.initCalMagZ << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil X current: " << posXselfTestDataset.initCoilXCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Y current: " << posXselfTestDataset.initCoilYCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Z current: " << posXselfTestDataset.initCoilZCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil X temperature: "
|
|
<< posXselfTestDataset.initCoilXTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Y temperature: "
|
|
<< posXselfTestDataset.initCoilYTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Z temperature: "
|
|
<< posXselfTestDataset.initCoilZTemperature << " °C" << std::endl;
|
|
|
|
sif::info << "IMTQ self test (+X) err: "
|
|
<< static_cast<unsigned int>(posXselfTestDataset.err.value) << std::endl;
|
|
sif::info << "IMTQ self test (+X) raw magnetic field X: " << posXselfTestDataset.rawMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (+X) raw magnetic field Y: " << posXselfTestDataset.rawMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (+X) raw magnetic field Z: " << posXselfTestDataset.rawMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (+X) calibrated magnetic field X: " << posXselfTestDataset.calMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (+X) calibrated magnetic field Y: " << posXselfTestDataset.calMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (+X) calibrated magnetic field Z: " << posXselfTestDataset.calMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (+X) coil X current: " << posXselfTestDataset.coilXCurrent << " mA"
|
|
<< std::endl;
|
|
sif::info << "IMTQ self test (+X) coil Y current: " << posXselfTestDataset.coilYCurrent << " mA"
|
|
<< std::endl;
|
|
sif::info << "IMTQ self test (+X) coil Z current: " << posXselfTestDataset.coilZCurrent << " mA"
|
|
<< std::endl;
|
|
sif::info << "IMTQ self test (+X) coil X temperature: " << posXselfTestDataset.coilXTemperature
|
|
<< " °C" << std::endl;
|
|
sif::info << "IMTQ self test (+X) coil Y temperature: " << posXselfTestDataset.coilYTemperature
|
|
<< " °C" << std::endl;
|
|
sif::info << "IMTQ self test (+X) coil Z temperature: " << posXselfTestDataset.coilZTemperature
|
|
<< " °C" << std::endl;
|
|
|
|
sif::info << "IMTQ self test (FINA) err: "
|
|
<< static_cast<unsigned int>(posXselfTestDataset.finaErr.value) << std::endl;
|
|
sif::info << "IMTQ self test (FINA) raw magnetic field X: " << posXselfTestDataset.finaRawMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << posXselfTestDataset.finaRawMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << posXselfTestDataset.finaRawMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) calibrated magnetic field X: "
|
|
<< posXselfTestDataset.finaCalMagX << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: "
|
|
<< posXselfTestDataset.finaCalMagY << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: "
|
|
<< posXselfTestDataset.finaCalMagZ << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil X current: " << posXselfTestDataset.finaCoilXCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Y current: " << posXselfTestDataset.finaCoilYCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Z current: " << posXselfTestDataset.finaCoilZCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil X temperature: "
|
|
<< posXselfTestDataset.finaCoilXTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Y temperature: "
|
|
<< posXselfTestDataset.finaCoilYTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Z temperature: "
|
|
<< posXselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
|
|
#endif
|
|
}
|
|
}
|
|
|
|
void ImtqHandler::handleNegativeXSelfTestReply(const uint8_t* packet) {
|
|
PoolReadGuard rg(&posXselfTestDataset);
|
|
|
|
uint16_t offset = 2;
|
|
/** Init measurements */
|
|
negXselfTestDataset.initErr = *(packet + offset);
|
|
offset += 2; // STEP byte will not be stored
|
|
negXselfTestDataset.initRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negXselfTestDataset.initRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negXselfTestDataset.initRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negXselfTestDataset.initCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negXselfTestDataset.initCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negXselfTestDataset.initCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negXselfTestDataset.initCoilXCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negXselfTestDataset.initCoilYCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negXselfTestDataset.initCoilZCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negXselfTestDataset.initCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
negXselfTestDataset.initCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
negXselfTestDataset.initCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
|
|
/** +X measurements */
|
|
checkErrorByte(*(packet + offset), *(packet + offset + 1));
|
|
negXselfTestDataset.err = *(packet + offset);
|
|
offset += 2; // STEP byte will not be stored
|
|
negXselfTestDataset.rawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negXselfTestDataset.rawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negXselfTestDataset.rawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negXselfTestDataset.calMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negXselfTestDataset.calMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negXselfTestDataset.calMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negXselfTestDataset.coilXCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negXselfTestDataset.coilYCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negXselfTestDataset.coilZCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negXselfTestDataset.coilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
negXselfTestDataset.coilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
negXselfTestDataset.coilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
|
|
/** FINA measurements */
|
|
checkErrorByte(*(packet + offset), *(packet + offset + 1));
|
|
negXselfTestDataset.finaErr = *(packet + offset);
|
|
offset += 2; // STEP byte will not be stored
|
|
negXselfTestDataset.finaRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negXselfTestDataset.finaRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negXselfTestDataset.finaRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negXselfTestDataset.finaCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negXselfTestDataset.finaCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negXselfTestDataset.finaCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negXselfTestDataset.finaCoilXCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negXselfTestDataset.finaCoilYCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negXselfTestDataset.finaCoilZCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negXselfTestDataset.finaCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
negXselfTestDataset.finaCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
negXselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
|
|
if (debugMode) {
|
|
#if OBSW_VERBOSE_LEVEL >= 1
|
|
sif::info << "IMTQ self test (INIT) err: "
|
|
<< static_cast<unsigned int>(negXselfTestDataset.initErr.value) << std::endl;
|
|
sif::info << "IMTQ self test (INIT) raw magnetic field X: " << negXselfTestDataset.initRawMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << negXselfTestDataset.initRawMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << negXselfTestDataset.initRawMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) calibrated magnetic field X: "
|
|
<< negXselfTestDataset.initCalMagX << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: "
|
|
<< negXselfTestDataset.initCalMagY << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: "
|
|
<< negXselfTestDataset.initCalMagZ << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil X current: " << negXselfTestDataset.initCoilXCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Y current: " << negXselfTestDataset.initCoilYCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Z current: " << negXselfTestDataset.initCoilZCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil X temperature: "
|
|
<< negXselfTestDataset.initCoilXTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Y temperature: "
|
|
<< negXselfTestDataset.initCoilYTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Z temperature: "
|
|
<< negXselfTestDataset.initCoilZTemperature << " °C" << std::endl;
|
|
|
|
sif::info << "IMTQ self test (-X) err: "
|
|
<< static_cast<unsigned int>(negXselfTestDataset.err.value) << std::endl;
|
|
sif::info << "IMTQ self test (-X) raw magnetic field X: " << negXselfTestDataset.rawMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (-X) raw magnetic field Y: " << negXselfTestDataset.rawMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (-X) raw magnetic field Z: " << negXselfTestDataset.rawMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (-X) calibrated magnetic field X: " << negXselfTestDataset.calMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (-X) calibrated magnetic field Y: " << negXselfTestDataset.calMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (-X) calibrated magnetic field Z: " << negXselfTestDataset.calMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (-X) coil X current: " << negXselfTestDataset.coilXCurrent << " mA"
|
|
<< std::endl;
|
|
sif::info << "IMTQ self test (-X) coil Y current: " << negXselfTestDataset.coilYCurrent << " mA"
|
|
<< std::endl;
|
|
sif::info << "IMTQ self test (-X) coil Z current: " << negXselfTestDataset.coilZCurrent << " mA"
|
|
<< std::endl;
|
|
sif::info << "IMTQ self test (-X) coil X temperature: " << negXselfTestDataset.coilXTemperature
|
|
<< " °C" << std::endl;
|
|
sif::info << "IMTQ self test (-X) coil Y temperature: " << negXselfTestDataset.coilYTemperature
|
|
<< " °C" << std::endl;
|
|
sif::info << "IMTQ self test (-X) coil Z temperature: " << negXselfTestDataset.coilZTemperature
|
|
<< " °C" << std::endl;
|
|
|
|
sif::info << "IMTQ self test (FINA) err: "
|
|
<< static_cast<unsigned int>(negXselfTestDataset.finaErr.value) << std::endl;
|
|
sif::info << "IMTQ self test (FINA) raw magnetic field X: " << negXselfTestDataset.finaRawMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << negXselfTestDataset.finaRawMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << negXselfTestDataset.finaRawMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) calibrated magnetic field X: "
|
|
<< negXselfTestDataset.finaCalMagX << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: "
|
|
<< negXselfTestDataset.finaCalMagY << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: "
|
|
<< negXselfTestDataset.finaCalMagZ << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil X current: " << negXselfTestDataset.finaCoilXCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Y current: " << negXselfTestDataset.finaCoilYCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Z current: " << negXselfTestDataset.finaCoilZCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil X temperature: "
|
|
<< negXselfTestDataset.finaCoilXTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Y temperature: "
|
|
<< negXselfTestDataset.finaCoilYTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Z temperature: "
|
|
<< negXselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
|
|
#endif
|
|
}
|
|
}
|
|
|
|
void ImtqHandler::handlePositiveYSelfTestReply(const uint8_t* packet) {
|
|
PoolReadGuard rg(&posXselfTestDataset);
|
|
|
|
uint16_t offset = 2;
|
|
/** Init measurements */
|
|
posYselfTestDataset.initErr = *(packet + offset);
|
|
offset += 2; // STEP byte will not be stored
|
|
posYselfTestDataset.initRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posYselfTestDataset.initRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posYselfTestDataset.initRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posYselfTestDataset.initCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posYselfTestDataset.initCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posYselfTestDataset.initCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posYselfTestDataset.initCoilXCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posYselfTestDataset.initCoilYCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posYselfTestDataset.initCoilZCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posYselfTestDataset.initCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
posYselfTestDataset.initCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
posYselfTestDataset.initCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
|
|
/** +X measurements */
|
|
checkErrorByte(*(packet + offset), *(packet + offset + 1));
|
|
posYselfTestDataset.err = *(packet + offset);
|
|
offset += 2; // STEP byte will not be stored
|
|
posYselfTestDataset.rawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posYselfTestDataset.rawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posYselfTestDataset.rawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posYselfTestDataset.calMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posYselfTestDataset.calMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posYselfTestDataset.calMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posYselfTestDataset.coilXCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posYselfTestDataset.coilYCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posYselfTestDataset.coilZCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posYselfTestDataset.coilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
posYselfTestDataset.coilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
posYselfTestDataset.coilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
|
|
/** FINA measurements */
|
|
checkErrorByte(*(packet + offset), *(packet + offset + 1));
|
|
posYselfTestDataset.finaErr = *(packet + offset);
|
|
offset += 2; // STEP byte will not be stored
|
|
posYselfTestDataset.finaRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posYselfTestDataset.finaRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posYselfTestDataset.finaRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posYselfTestDataset.finaCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posYselfTestDataset.finaCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posYselfTestDataset.finaCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posYselfTestDataset.finaCoilXCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posYselfTestDataset.finaCoilYCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posYselfTestDataset.finaCoilZCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posYselfTestDataset.finaCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
posYselfTestDataset.finaCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
posYselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
|
|
if (debugMode) {
|
|
#if OBSW_VERBOSE_LEVEL >= 1
|
|
sif::info << "IMTQ self test (INIT) err: "
|
|
<< static_cast<unsigned int>(posYselfTestDataset.initErr.value) << std::endl;
|
|
sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posYselfTestDataset.initRawMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << posYselfTestDataset.initRawMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << posYselfTestDataset.initRawMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) calibrated magnetic field X: "
|
|
<< posYselfTestDataset.initCalMagX << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: "
|
|
<< posYselfTestDataset.initCalMagY << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: "
|
|
<< posYselfTestDataset.initCalMagZ << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil X current: " << posYselfTestDataset.initCoilXCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Y current: " << posYselfTestDataset.initCoilYCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Z current: " << posYselfTestDataset.initCoilZCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil X temperature: "
|
|
<< posYselfTestDataset.initCoilXTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Y temperature: "
|
|
<< posYselfTestDataset.initCoilYTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Z temperature: "
|
|
<< posYselfTestDataset.initCoilZTemperature << " °C" << std::endl;
|
|
|
|
sif::info << "IMTQ self test (+Y) err: "
|
|
<< static_cast<unsigned int>(posYselfTestDataset.err.value) << std::endl;
|
|
sif::info << "IMTQ self test (+Y) raw magnetic field X: " << posYselfTestDataset.rawMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (+Y) raw magnetic field Y: " << posYselfTestDataset.rawMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (+Y) raw magnetic field Z: " << posYselfTestDataset.rawMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (+Y) calibrated magnetic field X: " << posYselfTestDataset.calMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (+Y) calibrated magnetic field Y: " << posYselfTestDataset.calMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (+Y) calibrated magnetic field Z: " << posYselfTestDataset.calMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (+Y) coil X current: " << posYselfTestDataset.coilXCurrent << " mA"
|
|
<< std::endl;
|
|
sif::info << "IMTQ self test (+Y) coil Y current: " << posYselfTestDataset.coilYCurrent << " mA"
|
|
<< std::endl;
|
|
sif::info << "IMTQ self test (+Y) coil Z current: " << posYselfTestDataset.coilZCurrent << " mA"
|
|
<< std::endl;
|
|
sif::info << "IMTQ self test (+Y) coil X temperature: " << posYselfTestDataset.coilXTemperature
|
|
<< " °C" << std::endl;
|
|
sif::info << "IMTQ self test (+Y) coil Y temperature: " << posYselfTestDataset.coilYTemperature
|
|
<< " °C" << std::endl;
|
|
sif::info << "IMTQ self test (+Y) coil Z temperature: " << posYselfTestDataset.coilZTemperature
|
|
<< " °C" << std::endl;
|
|
|
|
sif::info << "IMTQ self test (FINA) err: "
|
|
<< static_cast<unsigned int>(posYselfTestDataset.finaErr.value) << std::endl;
|
|
sif::info << "IMTQ self test (FINA) raw magnetic field X: " << posYselfTestDataset.finaRawMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << posYselfTestDataset.finaRawMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << posYselfTestDataset.finaRawMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) calibrated magnetic field X: "
|
|
<< posYselfTestDataset.finaCalMagX << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: "
|
|
<< posYselfTestDataset.finaCalMagY << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: "
|
|
<< posYselfTestDataset.finaCalMagZ << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil X current: " << posYselfTestDataset.finaCoilXCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Y current: " << posYselfTestDataset.finaCoilYCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Z current: " << posYselfTestDataset.finaCoilZCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil X temperature: "
|
|
<< posYselfTestDataset.finaCoilXTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Y temperature: "
|
|
<< posYselfTestDataset.finaCoilYTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Z temperature: "
|
|
<< posYselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
|
|
#endif
|
|
}
|
|
}
|
|
|
|
void ImtqHandler::handleNegativeYSelfTestReply(const uint8_t* packet) {
|
|
PoolReadGuard rg(&posXselfTestDataset);
|
|
|
|
uint16_t offset = 2;
|
|
/** Init measurements */
|
|
posZselfTestDataset.initErr = *(packet + offset);
|
|
offset += 2; // STEP byte will not be stored
|
|
negYselfTestDataset.initRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negYselfTestDataset.initRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negYselfTestDataset.initRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negYselfTestDataset.initCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negYselfTestDataset.initCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negYselfTestDataset.initCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negYselfTestDataset.initCoilXCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negYselfTestDataset.initCoilYCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negYselfTestDataset.initCoilZCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negYselfTestDataset.initCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
negYselfTestDataset.initCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
negYselfTestDataset.initCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
|
|
/** +X measurements */
|
|
checkErrorByte(*(packet + offset), *(packet + offset + 1));
|
|
negYselfTestDataset.err = *(packet + offset);
|
|
offset += 2; // STEP byte will not be stored
|
|
negYselfTestDataset.rawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negYselfTestDataset.rawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negYselfTestDataset.rawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negYselfTestDataset.calMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negYselfTestDataset.calMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negYselfTestDataset.calMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negYselfTestDataset.coilXCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negYselfTestDataset.coilYCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negYselfTestDataset.coilZCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negYselfTestDataset.coilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
negYselfTestDataset.coilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
negYselfTestDataset.coilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
|
|
/** FINA measurements */
|
|
checkErrorByte(*(packet + offset), *(packet + offset + 1));
|
|
negYselfTestDataset.finaErr = *(packet + offset);
|
|
offset += 2; // STEP byte will not be stored
|
|
negYselfTestDataset.finaRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negYselfTestDataset.finaRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negYselfTestDataset.finaRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negYselfTestDataset.finaCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negYselfTestDataset.finaCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negYselfTestDataset.finaCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negYselfTestDataset.finaCoilXCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negYselfTestDataset.finaCoilYCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negYselfTestDataset.finaCoilZCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negYselfTestDataset.finaCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
negYselfTestDataset.finaCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
negYselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
|
|
if (debugMode) {
|
|
#if OBSW_VERBOSE_LEVEL >= 1
|
|
sif::info << "IMTQ self test (INIT) err: "
|
|
<< static_cast<unsigned int>(negYselfTestDataset.initErr.value) << std::endl;
|
|
sif::info << "IMTQ self test (INIT) raw magnetic field X: " << negYselfTestDataset.initRawMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << negYselfTestDataset.initRawMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << negYselfTestDataset.initRawMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) calibrated magnetic field X: "
|
|
<< negYselfTestDataset.initCalMagX << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: "
|
|
<< negYselfTestDataset.initCalMagY << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: "
|
|
<< negYselfTestDataset.initCalMagZ << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil X current: " << negYselfTestDataset.initCoilXCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Y current: " << negYselfTestDataset.initCoilYCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Z current: " << negYselfTestDataset.initCoilZCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil X temperature: "
|
|
<< negYselfTestDataset.initCoilXTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Y temperature: "
|
|
<< negYselfTestDataset.initCoilYTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Z temperature: "
|
|
<< negYselfTestDataset.initCoilZTemperature << " °C" << std::endl;
|
|
|
|
sif::info << "IMTQ self test (-Y) err: "
|
|
<< static_cast<unsigned int>(negYselfTestDataset.err.value) << std::endl;
|
|
sif::info << "IMTQ self test (-Y) raw magnetic field X: " << negYselfTestDataset.rawMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (-Y) raw magnetic field Y: " << negYselfTestDataset.rawMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (-Y) raw magnetic field Z: " << negYselfTestDataset.rawMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (-Y) calibrated magnetic field X: " << negYselfTestDataset.calMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (-Y) calibrated magnetic field Y: " << negYselfTestDataset.calMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (-Y) calibrated magnetic field Z: " << negYselfTestDataset.calMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (-Y) coil X current: " << negYselfTestDataset.coilXCurrent << " mA"
|
|
<< std::endl;
|
|
sif::info << "IMTQ self test (-Y) coil Y current: " << negYselfTestDataset.coilYCurrent << " mA"
|
|
<< std::endl;
|
|
sif::info << "IMTQ self test (-Y) coil Z current: " << negYselfTestDataset.coilZCurrent << " mA"
|
|
<< std::endl;
|
|
sif::info << "IMTQ self test (-Y) coil X temperature: " << negYselfTestDataset.coilXTemperature
|
|
<< " °C" << std::endl;
|
|
sif::info << "IMTQ self test (-Y) coil Y temperature: " << negYselfTestDataset.coilYTemperature
|
|
<< " °C" << std::endl;
|
|
sif::info << "IMTQ self test (-Y) coil Z temperature: " << negYselfTestDataset.coilZTemperature
|
|
<< " °C" << std::endl;
|
|
|
|
sif::info << "IMTQ self test (FINA) err: "
|
|
<< static_cast<unsigned int>(negYselfTestDataset.finaErr.value) << std::endl;
|
|
sif::info << "IMTQ self test (FINA) raw magnetic field X: " << negYselfTestDataset.finaRawMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << negYselfTestDataset.finaRawMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << negYselfTestDataset.finaRawMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) calibrated magnetic field X: "
|
|
<< negYselfTestDataset.finaCalMagX << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: "
|
|
<< negYselfTestDataset.finaCalMagY << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: "
|
|
<< negYselfTestDataset.finaCalMagZ << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil X current: " << negYselfTestDataset.finaCoilXCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Y current: " << negYselfTestDataset.finaCoilYCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Z current: " << negYselfTestDataset.finaCoilZCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil X temperature: "
|
|
<< negYselfTestDataset.finaCoilXTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Y temperature: "
|
|
<< negYselfTestDataset.finaCoilYTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Z temperature: "
|
|
<< negYselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
|
|
#endif
|
|
}
|
|
}
|
|
|
|
void ImtqHandler::handlePositiveZSelfTestReply(const uint8_t* packet) {
|
|
PoolReadGuard rg(&posXselfTestDataset);
|
|
|
|
uint16_t offset = 2;
|
|
/** Init measurements */
|
|
posZselfTestDataset.initErr = *(packet + offset);
|
|
offset += 2; // STEP byte will not be stored
|
|
posZselfTestDataset.initRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posZselfTestDataset.initRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posZselfTestDataset.initRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posZselfTestDataset.initCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posZselfTestDataset.initCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posZselfTestDataset.initCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posZselfTestDataset.initCoilXCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posZselfTestDataset.initCoilYCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posZselfTestDataset.initCoilZCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posZselfTestDataset.initCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
posZselfTestDataset.initCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
posZselfTestDataset.initCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
|
|
/** +X measurements */
|
|
checkErrorByte(*(packet + offset), *(packet + offset + 1));
|
|
posZselfTestDataset.err = *(packet + offset);
|
|
offset += 2; // STEP byte will not be stored
|
|
posZselfTestDataset.rawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posZselfTestDataset.rawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posZselfTestDataset.rawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posZselfTestDataset.calMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posZselfTestDataset.calMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posZselfTestDataset.calMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posZselfTestDataset.coilXCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posZselfTestDataset.coilYCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posZselfTestDataset.coilZCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posZselfTestDataset.coilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
posZselfTestDataset.coilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
posZselfTestDataset.coilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
|
|
/** FINA measurements */
|
|
checkErrorByte(*(packet + offset), *(packet + offset + 1));
|
|
posZselfTestDataset.finaErr = *(packet + offset);
|
|
offset += 2; // STEP byte will not be stored
|
|
posZselfTestDataset.finaRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posZselfTestDataset.finaRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posZselfTestDataset.finaRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
posZselfTestDataset.finaCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posZselfTestDataset.finaCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posZselfTestDataset.finaCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
posZselfTestDataset.finaCoilXCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posZselfTestDataset.finaCoilYCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posZselfTestDataset.finaCoilZCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
posZselfTestDataset.finaCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
posZselfTestDataset.finaCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
posZselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
|
|
if (debugMode) {
|
|
#if OBSW_VERBOSE_LEVEL >= 1
|
|
sif::info << "IMTQ self test (INIT) err: "
|
|
<< static_cast<unsigned int>(posZselfTestDataset.initErr.value) << std::endl;
|
|
sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posZselfTestDataset.initRawMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << posZselfTestDataset.initRawMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << posZselfTestDataset.initRawMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) calibrated magnetic field X: "
|
|
<< posZselfTestDataset.initCalMagX << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: "
|
|
<< posZselfTestDataset.initCalMagY << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: "
|
|
<< posZselfTestDataset.initCalMagZ << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil X current: " << posZselfTestDataset.initCoilXCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Y current: " << posZselfTestDataset.initCoilYCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Z current: " << posZselfTestDataset.initCoilZCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil X temperature: "
|
|
<< posZselfTestDataset.initCoilXTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Y temperature: "
|
|
<< posZselfTestDataset.initCoilYTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Z temperature: "
|
|
<< posZselfTestDataset.initCoilZTemperature << " °C" << std::endl;
|
|
|
|
sif::info << "IMTQ self test (+Z) err: "
|
|
<< static_cast<unsigned int>(posZselfTestDataset.err.value) << std::endl;
|
|
sif::info << "IMTQ self test (+Z) raw magnetic field X: " << posZselfTestDataset.rawMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (+Z) raw magnetic field Y: " << posZselfTestDataset.rawMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (+Z) raw magnetic field Z: " << posZselfTestDataset.rawMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (+Z) calibrated magnetic field X: " << posZselfTestDataset.calMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (+Z) calibrated magnetic field Y: " << posZselfTestDataset.calMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (+Z) calibrated magnetic field Z: " << posZselfTestDataset.calMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (+Z) coil X current: " << posZselfTestDataset.coilXCurrent << " mA"
|
|
<< std::endl;
|
|
sif::info << "IMTQ self test (+Z) coil Y current: " << posZselfTestDataset.coilYCurrent << " mA"
|
|
<< std::endl;
|
|
sif::info << "IMTQ self test (+Z) coil Z current: " << posZselfTestDataset.coilZCurrent << " mA"
|
|
<< std::endl;
|
|
sif::info << "IMTQ self test (+Z) coil X temperature: " << posZselfTestDataset.coilXTemperature
|
|
<< " °C" << std::endl;
|
|
sif::info << "IMTQ self test (+Z) coil Y temperature: " << posZselfTestDataset.coilYTemperature
|
|
<< " °C" << std::endl;
|
|
sif::info << "IMTQ self test (+Z) coil Z temperature: " << negYselfTestDataset.coilZTemperature
|
|
<< " °C" << std::endl;
|
|
|
|
sif::info << "IMTQ self test (FINA) err: "
|
|
<< static_cast<unsigned int>(posZselfTestDataset.finaErr.value) << std::endl;
|
|
sif::info << "IMTQ self test (FINA) raw magnetic field X: " << posZselfTestDataset.finaRawMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << posZselfTestDataset.finaRawMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << posZselfTestDataset.finaRawMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) calibrated magnetic field X: "
|
|
<< posZselfTestDataset.finaCalMagX << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: "
|
|
<< posZselfTestDataset.finaCalMagY << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: "
|
|
<< posZselfTestDataset.finaCalMagZ << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil X current: " << posZselfTestDataset.finaCoilXCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Y current: " << posZselfTestDataset.finaCoilYCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Z current: " << posZselfTestDataset.finaCoilZCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil X temperature: "
|
|
<< posZselfTestDataset.finaCoilXTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Y temperature: "
|
|
<< posZselfTestDataset.finaCoilYTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Z temperature: "
|
|
<< posZselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
|
|
#endif
|
|
}
|
|
}
|
|
|
|
void ImtqHandler::handleNegativeZSelfTestReply(const uint8_t* packet) {
|
|
PoolReadGuard rg(&posXselfTestDataset);
|
|
|
|
uint16_t offset = 2;
|
|
/** Init measurements */
|
|
negZselfTestDataset.initErr = *(packet + offset);
|
|
offset += 2; // STEP byte will not be stored
|
|
negZselfTestDataset.initRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negZselfTestDataset.initRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negZselfTestDataset.initRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negZselfTestDataset.initCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negZselfTestDataset.initCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negZselfTestDataset.initCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negZselfTestDataset.initCoilXCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negZselfTestDataset.initCoilYCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negZselfTestDataset.initCoilZCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negZselfTestDataset.initCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
negZselfTestDataset.initCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
negZselfTestDataset.initCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
|
|
/** +X measurements */
|
|
checkErrorByte(*(packet + offset), *(packet + offset + 1));
|
|
negZselfTestDataset.err = *(packet + offset);
|
|
offset += 2; // STEP byte will not be stored
|
|
negZselfTestDataset.rawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negZselfTestDataset.rawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negZselfTestDataset.rawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negZselfTestDataset.calMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negZselfTestDataset.calMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negZselfTestDataset.calMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negZselfTestDataset.coilXCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negZselfTestDataset.coilYCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negZselfTestDataset.coilZCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negZselfTestDataset.coilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
negZselfTestDataset.coilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
negZselfTestDataset.coilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
|
|
/** FINA measurements */
|
|
checkErrorByte(*(packet + offset), *(packet + offset + 1));
|
|
negZselfTestDataset.finaErr = *(packet + offset);
|
|
offset += 2; // STEP byte will not be stored
|
|
negZselfTestDataset.finaRawMagX = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negZselfTestDataset.finaRawMagY = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negZselfTestDataset.finaRawMagZ = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset)) *
|
|
7.5;
|
|
offset += 4;
|
|
negZselfTestDataset.finaCalMagX = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negZselfTestDataset.finaCalMagY = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negZselfTestDataset.finaCalMagZ = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
negZselfTestDataset.finaCoilXCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negZselfTestDataset.finaCoilYCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negZselfTestDataset.finaCoilZCurrent =
|
|
static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
|
|
offset += 2;
|
|
negZselfTestDataset.finaCoilXTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
negZselfTestDataset.finaCoilYTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 2;
|
|
negZselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
|
|
if (debugMode) {
|
|
#if OBSW_VERBOSE_LEVEL >= 1
|
|
sif::info << "IMTQ self test (INIT) err: "
|
|
<< static_cast<unsigned int>(negZselfTestDataset.initErr.value) << std::endl;
|
|
sif::info << "IMTQ self test (INIT) raw magnetic field X: " << negZselfTestDataset.initRawMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) raw magnetic field Y: " << negZselfTestDataset.initRawMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) raw magnetic field Z: " << negZselfTestDataset.initRawMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) calibrated magnetic field X: "
|
|
<< negZselfTestDataset.initCalMagX << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) calibrated magnetic field Y: "
|
|
<< negZselfTestDataset.initCalMagY << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) calibrated magnetic field Z: "
|
|
<< negZselfTestDataset.initCalMagZ << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil X current: " << negZselfTestDataset.initCoilXCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Y current: " << negZselfTestDataset.initCoilYCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Z current: " << negZselfTestDataset.initCoilZCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil X temperature: "
|
|
<< negZselfTestDataset.initCoilXTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Y temperature: "
|
|
<< negZselfTestDataset.initCoilYTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (INIT) coil Z temperature: "
|
|
<< negZselfTestDataset.initCoilZTemperature << " °C" << std::endl;
|
|
|
|
sif::info << "IMTQ self test (-Z) err: "
|
|
<< static_cast<unsigned int>(negZselfTestDataset.err.value) << std::endl;
|
|
sif::info << "IMTQ self test (-Z) raw magnetic field X: " << negZselfTestDataset.rawMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (-Z) raw magnetic field Y: " << negZselfTestDataset.rawMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (-Z) raw magnetic field Z: " << negZselfTestDataset.rawMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (-Z) calibrated magnetic field X: " << negZselfTestDataset.calMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (-Z) calibrated magnetic field Y: " << negZselfTestDataset.calMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (-Z) calibrated magnetic field Z: " << negZselfTestDataset.calMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (-Z) coil X current: " << negZselfTestDataset.coilXCurrent << " mA"
|
|
<< std::endl;
|
|
sif::info << "IMTQ self test (-Z) coil Y current: " << negZselfTestDataset.coilYCurrent << " mA"
|
|
<< std::endl;
|
|
sif::info << "IMTQ self test (-Z) coil Z current: " << negZselfTestDataset.coilZCurrent << " mA"
|
|
<< std::endl;
|
|
sif::info << "IMTQ self test (-Z) coil X temperature: " << negZselfTestDataset.coilXTemperature
|
|
<< " °C" << std::endl;
|
|
sif::info << "IMTQ self test (-Z) coil Y temperature: " << negZselfTestDataset.coilYTemperature
|
|
<< " °C" << std::endl;
|
|
sif::info << "IMTQ self test (-Z) coil Z temperature: " << negYselfTestDataset.coilZTemperature
|
|
<< " °C" << std::endl;
|
|
|
|
sif::info << "IMTQ self test (FINA) err: "
|
|
<< static_cast<unsigned int>(negZselfTestDataset.finaErr.value) << std::endl;
|
|
sif::info << "IMTQ self test (FINA) raw magnetic field X: " << negZselfTestDataset.finaRawMagX
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) raw magnetic field Y: " << negZselfTestDataset.finaRawMagY
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) raw magnetic field Z: " << negZselfTestDataset.finaRawMagZ
|
|
<< " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) calibrated magnetic field X: "
|
|
<< negZselfTestDataset.finaCalMagX << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) calibrated magnetic field Y: "
|
|
<< negZselfTestDataset.finaCalMagY << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) calibrated magnetic field Z: "
|
|
<< negZselfTestDataset.finaCalMagZ << " nT" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil X current: " << negZselfTestDataset.finaCoilXCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Y current: " << negZselfTestDataset.finaCoilYCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Z current: " << negZselfTestDataset.finaCoilZCurrent
|
|
<< " mA" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil X temperature: "
|
|
<< negZselfTestDataset.finaCoilXTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Y temperature: "
|
|
<< negZselfTestDataset.finaCoilYTemperature << " °C" << std::endl;
|
|
sif::info << "IMTQ self test (FINA) coil Z temperature: "
|
|
<< negZselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
|
|
#endif
|
|
}
|
|
}
|
|
|
|
void ImtqHandler::setDebugMode(bool enable) { this->debugMode = enable; }
|
|
|
|
void ImtqHandler::checkErrorByte(const uint8_t errorByte, const uint8_t step) {
|
|
std::string stepString("");
|
|
if (step < 8) {
|
|
stepString = makeStepString(step);
|
|
} else {
|
|
/** This should normally never happen */
|
|
sif::debug << "IMTQHandler::checkErrorByte: Invalid step" << std::endl;
|
|
return;
|
|
}
|
|
|
|
if (errorByte == 0) {
|
|
return;
|
|
}
|
|
|
|
if (errorByte & IMTQ::I2C_FAILURE_MASK) {
|
|
triggerEvent(SELF_TEST_I2C_FAILURE, step);
|
|
sif::error << "IMTQHandler::checkErrorByte: Self test I2C failure for step " << stepString
|
|
<< std::endl;
|
|
}
|
|
if (errorByte & IMTQ::SPI_FAILURE_MASK) {
|
|
triggerEvent(SELF_TEST_SPI_FAILURE, step);
|
|
sif::error << "IMTQHandler::checkErrorByte: Self test SPI failure for step " << stepString
|
|
<< std::endl;
|
|
}
|
|
if (errorByte & IMTQ::ADC_FAILURE_MASK) {
|
|
triggerEvent(SELF_TEST_ADC_FAILURE, step);
|
|
sif::error << "IMTQHandler::checkErrorByte: Self test ADC failure for step " << stepString
|
|
<< std::endl;
|
|
}
|
|
if (errorByte & IMTQ::PWM_FAILURE_MASK) {
|
|
triggerEvent(SELF_TEST_PWM_FAILURE, step);
|
|
sif::error << "IMTQHandler::checkErrorByte: Self test PWM failure for step " << stepString
|
|
<< std::endl;
|
|
}
|
|
if (errorByte & IMTQ::TC_FAILURE_MASK) {
|
|
triggerEvent(SELF_TEST_TC_FAILURE, step);
|
|
sif::error << "IMTQHandler::checkErrorByte: Self test TC failure (system failure) for step "
|
|
<< stepString << std::endl;
|
|
}
|
|
if (errorByte & IMTQ::MTM_RANGE_FAILURE_MASK) {
|
|
triggerEvent(SELF_TEST_TC_FAILURE, step);
|
|
sif::error << "IMTQHandler::checkErrorByte: Self test MTM range failure for step " << stepString
|
|
<< std::endl;
|
|
}
|
|
if (errorByte & IMTQ::COIL_CURRENT_FAILURE_MASK) {
|
|
triggerEvent(SELF_TEST_COIL_CURRENT_FAILURE, step);
|
|
sif::error << "IMTQHandler::checkErrorByte: Self test coil current outside of expected "
|
|
"range for step "
|
|
<< stepString << std::endl;
|
|
}
|
|
|
|
if (errorByte & IMTQ::INVALID_ERROR_BYTE) {
|
|
triggerEvent(INVALID_ERROR_BYTE, step);
|
|
sif::error << "IMTQHandler::checkErrorByte: Self test result of step " << stepString
|
|
<< " has invalid error byte" << std::endl;
|
|
}
|
|
}
|
|
|
|
void ImtqHandler::doSendRead() {
|
|
TaskFactory::delayTask(1);
|
|
DeviceHandlerBase::doSendRead();
|
|
}
|
|
|
|
std::string ImtqHandler::makeStepString(const uint8_t step) {
|
|
std::string stepString("");
|
|
switch (step) {
|
|
case IMTQ::SELF_TEST_STEPS::INIT:
|
|
stepString = std::string("INIT");
|
|
break;
|
|
case IMTQ::SELF_TEST_STEPS::X_POSITIVE:
|
|
stepString = std::string("+X");
|
|
break;
|
|
case IMTQ::SELF_TEST_STEPS::X_NEGATIVE:
|
|
stepString = std::string("-X");
|
|
break;
|
|
case IMTQ::SELF_TEST_STEPS::Y_POSITIVE:
|
|
stepString = std::string("+Y");
|
|
break;
|
|
case IMTQ::SELF_TEST_STEPS::Y_NEGATIVE:
|
|
stepString = std::string("-Y");
|
|
break;
|
|
case IMTQ::SELF_TEST_STEPS::Z_POSITIVE:
|
|
stepString = std::string("+Z");
|
|
break;
|
|
case IMTQ::SELF_TEST_STEPS::Z_NEGATIVE:
|
|
stepString = std::string("-Z");
|
|
break;
|
|
case IMTQ::SELF_TEST_STEPS::FINA:
|
|
stepString = std::string("FINA");
|
|
break;
|
|
default:
|
|
sif::error << "IMTQHandler::checkErrorByte: Received packet with invalid step information"
|
|
<< std::endl;
|
|
break;
|
|
}
|
|
return stepString;
|
|
}
|
|
|
|
ReturnValue_t ImtqHandler::getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) {
|
|
if (switcher != power::NO_SWITCH) {
|
|
*numberOfSwitches = 1;
|
|
*switches = &switcher;
|
|
return returnvalue::OK;
|
|
}
|
|
return DeviceHandlerBase::NO_SWITCH;
|
|
}
|