339 lines
13 KiB
C++
339 lines
13 KiB
C++
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_H_
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#define MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_H_
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#include <fsfw/datapoollocal/LocalPoolVariable.h>
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#include <fsfw/datapoollocal/StaticLocalDataSet.h>
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#include <fsfw/devicehandlers/DeviceHandlerIF.h>
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#include "eive/resultClassIds.h"
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#include "events/subsystemIdRanges.h"
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#include "objects/systemObjectList.h"
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namespace rws {
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void encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, uint8_t* encodedBuffer,
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size_t& encodedLen);
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size_t idToPacketLen(DeviceCommandId_t id);
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static const size_t SIZE_GET_RESET_STATUS = 5;
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static const size_t SIZE_CLEAR_RESET_STATUS = 4;
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static const size_t SIZE_INIT_RW = 4;
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static const size_t SIZE_GET_RW_STATUS = 14;
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static const size_t SIZE_SET_SPEED_REPLY = 4;
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static const size_t SIZE_GET_TEMPERATURE_REPLY = 8;
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/** Max size when requesting telemetry */
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static const size_t SIZE_GET_TELEMETRY_REPLY = 91;
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//! This is the end and start marker of the frame datalinklayer. Also called frame delimiter
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//! in the NanoAvionics datasheet.
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static constexpr uint8_t FRAME_DELIMITER = 0x7E;
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enum class SpecialRwRequest : uint8_t {
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REQUEST_NONE = 0,
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RESET_MCU = 1,
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INIT_RW_CONTROLLER = 2,
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GET_TM = 3,
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NUM_REQUESTS
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};
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static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;
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static const ReturnValue_t SPI_WRITE_FAILURE = MAKE_RETURN_CODE(0xB0);
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//! [EXPORT] : [COMMENT] Used by the spi send function to tell a failing read call
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static const ReturnValue_t SPI_READ_FAILURE = MAKE_RETURN_CODE(0xB1);
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//! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about a missing
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//! start sign 0x7E
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static const ReturnValue_t MISSING_START_SIGN = MAKE_RETURN_CODE(0xB2);
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//! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about an invalid
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//! substitution combination
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static const ReturnValue_t INVALID_SUBSTITUTE = MAKE_RETURN_CODE(0xB3);
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//! [EXPORT] : [COMMENT] HDLC decoding mechanism never receives the end sign 0x7E
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static const ReturnValue_t MISSING_END_SIGN = MAKE_RETURN_CODE(0xB4);
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//! [EXPORT] : [COMMENT] Reaction wheel only responds with empty frames.
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static const ReturnValue_t NO_REPLY = MAKE_RETURN_CODE(0xB5);
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//! [EXPORT] : [COMMENT] Expected a start marker as first byte
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static const ReturnValue_t NO_START_MARKER = MAKE_RETURN_CODE(0xB6);
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//! [EXPORT] : [COMMENT] Timeout when reading reply
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static const ReturnValue_t SPI_READ_TIMEOUT = MAKE_RETURN_CODE(0xB7);
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static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::RW_HANDLER;
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//! [EXPORT] : [COMMENT] Reaction wheel signals an error state
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static constexpr Event ERROR_STATE = MAKE_EVENT(1, severity::HIGH);
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static constexpr Event RESET_OCCURED = event::makeEvent(SUBSYSTEM_ID, 2, severity::LOW);
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//! Minimal delay as specified by the datasheet.
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static const uint32_t SPI_REPLY_DELAY = 20000; // us
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enum PoolIds : lp_id_t {
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TEMPERATURE_C,
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CURR_SPEED,
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REFERENCE_SPEED,
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STATE,
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CLC_MODE,
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LAST_RESET_STATUS,
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CURRRENT_RESET_STATUS,
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TM_LAST_RESET_STATUS,
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TM_MCU_TEMPERATURE,
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PRESSURE_SENSOR_TEMPERATURE,
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PRESSURE,
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TM_RW_STATE,
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TM_CLC_MODE,
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TM_RW_CURR_SPEED,
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TM_RW_REF_SPEED,
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INVALID_CRC_PACKETS,
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INVALID_LEN_PACKETS,
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INVALID_CMD_PACKETS,
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EXECUTED_REPLIES,
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COMMAND_REPLIES,
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UART_BYTES_WRITTEN,
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UART_BYTES_READ,
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UART_PARITY_ERRORS,
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UART_NOISE_ERRORS,
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UART_FRAME_ERRORS,
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UART_REG_OVERRUN_ERRORS,
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UART_TOTAL_ERRORS,
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TOTAL_ERRORS,
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SPI_BYTES_WRITTEN,
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SPI_BYTES_READ,
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SPI_REG_OVERRUN_ERRORS,
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SPI_TOTAL_ERRORS,
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RW_SPEED,
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RAMP_TIME,
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};
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enum States : uint8_t { STATE_ERROR, IDLE, COASTING, RUNNING_SPEED_STABLE, RUNNING_SPEED_CHANGING };
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enum LastResetStatusBitPos : uint8_t {
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PIN_RESET = 0,
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POR_PDR_BOR_RESET = 1,
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SOFTWARE_RESET = 2,
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INDEPENDENT_WATCHDOG_RESET = 3,
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WINDOW_WATCHDOG_RESET = 4,
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LOW_POWER_RESET = 5
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};
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enum DeviceCommandId : DeviceCommandId_t {
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RESET_MCU = 1,
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GET_LAST_RESET_STATUS = 2,
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CLEAR_LAST_RESET_STATUS = 3,
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GET_RW_STATUS = 4,
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INIT_RW_CONTROLLER = 5,
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SET_SPEED = 6,
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GET_TEMPERATURE = 8,
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GET_TM = 9
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};
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static constexpr DeviceCommandId_t REQUEST_ID = 0x77;
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static constexpr DeviceCommandId_t REPLY_ID = 0x78;
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enum SetIds : uint32_t {
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TEMPERATURE_SET_ID = DeviceCommandId::GET_TEMPERATURE,
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STATUS_SET_ID = DeviceCommandId::GET_RW_STATUS,
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LAST_RESET_ID = DeviceCommandId::GET_LAST_RESET_STATUS,
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TM_SET_ID = DeviceCommandId::GET_TM,
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SPEED_CMD_SET = 10,
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};
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/** Set speed command has maximum size */
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static const size_t MAX_CMD_SIZE = 9;
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/**
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* Max reply is reached when each byte is replaced by its substitude which should normally never
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* happen.
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*/
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static const size_t MAX_REPLY_SIZE = 2 * SIZE_GET_TELEMETRY_REPLY;
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static const uint8_t LAST_RESET_ENTRIES = 2;
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static const uint8_t STATUS_SET_ENTRIES = 5;
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static const uint8_t TM_SET_ENTRIES = 24;
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/**
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* @brief This dataset can be used to store the data periodically polled from the RW
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*/
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class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {
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public:
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StatusSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, rws::SetIds::STATUS_SET_ID) {}
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StatusSet(object_id_t objectId)
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: StaticLocalDataSet(sid_t(objectId, rws::SetIds::STATUS_SET_ID)) {}
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lp_var_t<int32_t> temperatureCelcius =
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lp_var_t<int32_t>(sid.objectId, PoolIds::TEMPERATURE_C, this);
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lp_var_t<int32_t> currSpeed = lp_var_t<int32_t>(sid.objectId, PoolIds::CURR_SPEED, this);
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lp_var_t<int32_t> referenceSpeed =
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lp_var_t<int32_t>(sid.objectId, PoolIds::REFERENCE_SPEED, this);
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lp_var_t<uint8_t> state = lp_var_t<uint8_t>(sid.objectId, PoolIds::STATE, this);
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lp_var_t<uint8_t> clcMode = lp_var_t<uint8_t>(sid.objectId, PoolIds::CLC_MODE, this);
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};
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/**
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* @brief This dataset stores the last reset status.
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*/
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class LastResetSatus : public StaticLocalDataSet<LAST_RESET_ENTRIES> {
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public:
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LastResetSatus(HasLocalDataPoolIF* owner)
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: StaticLocalDataSet(owner, rws::SetIds::LAST_RESET_ID) {}
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LastResetSatus(object_id_t objectId)
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: StaticLocalDataSet(sid_t(objectId, rws::SetIds::LAST_RESET_ID)) {}
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// If a reset occurs, the status code will be cached into this variable
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lp_var_t<uint8_t> lastNonClearedResetStatus =
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lp_var_t<uint8_t>(sid.objectId, PoolIds::LAST_RESET_STATUS, this);
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// This will always contain the last polled reset status
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lp_var_t<uint8_t> currentResetStatus =
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lp_var_t<uint8_t>(sid.objectId, PoolIds::CURRRENT_RESET_STATUS, this);
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};
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/**
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* @brief This dataset stores telemetry data as specified in the datasheet of the nano avionics
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* reaction wheels. https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/
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* EIVE_IRS/Arbeitsdaten/08_Used%20Components/Nanoavionics_Reactionwheels&fileid=181622
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*/
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class TmDataset : public StaticLocalDataSet<TM_SET_ENTRIES> {
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public:
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TmDataset(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, rws::SetIds::TM_SET_ID) {}
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TmDataset(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, rws::SetIds::TM_SET_ID)) {}
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lp_var_t<uint8_t> lastResetStatus =
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lp_var_t<uint8_t>(sid.objectId, PoolIds::TM_LAST_RESET_STATUS, this);
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lp_var_t<int32_t> mcuTemperature =
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lp_var_t<int32_t>(sid.objectId, PoolIds::TM_MCU_TEMPERATURE, this);
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lp_var_t<float> pressureSensorTemperature =
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lp_var_t<float>(sid.objectId, PoolIds::PRESSURE_SENSOR_TEMPERATURE, this);
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lp_var_t<float> pressure = lp_var_t<float>(sid.objectId, PoolIds::PRESSURE, this);
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lp_var_t<uint8_t> rwState = lp_var_t<uint8_t>(sid.objectId, PoolIds::TM_RW_STATE, this);
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lp_var_t<uint8_t> rwClcMode = lp_var_t<uint8_t>(sid.objectId, PoolIds::TM_CLC_MODE, this);
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lp_var_t<int32_t> rwCurrSpeed = lp_var_t<int32_t>(sid.objectId, PoolIds::TM_RW_CURR_SPEED, this);
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lp_var_t<int32_t> rwRefSpeed = lp_var_t<int32_t>(sid.objectId, PoolIds::TM_RW_REF_SPEED, this);
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lp_var_t<uint32_t> numOfInvalidCrcPackets =
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lp_var_t<uint32_t>(sid.objectId, PoolIds::INVALID_CRC_PACKETS, this);
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lp_var_t<uint32_t> numOfInvalidLenPackets =
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lp_var_t<uint32_t>(sid.objectId, PoolIds::INVALID_LEN_PACKETS, this);
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lp_var_t<uint32_t> numOfInvalidCmdPackets =
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lp_var_t<uint32_t>(sid.objectId, PoolIds::INVALID_CMD_PACKETS, this);
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lp_var_t<uint32_t> numOfCmdExecutedReplies =
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lp_var_t<uint32_t>(sid.objectId, PoolIds::EXECUTED_REPLIES, this);
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lp_var_t<uint32_t> numOfCmdReplies =
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lp_var_t<uint32_t>(sid.objectId, PoolIds::COMMAND_REPLIES, this);
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lp_var_t<uint32_t> uartNumOfBytesWritten =
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lp_var_t<uint32_t>(sid.objectId, PoolIds::UART_BYTES_WRITTEN, this);
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lp_var_t<uint32_t> uartNumOfBytesRead =
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lp_var_t<uint32_t>(sid.objectId, PoolIds::UART_BYTES_READ, this);
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lp_var_t<uint32_t> uartNumOfParityErrors =
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lp_var_t<uint32_t>(sid.objectId, PoolIds::UART_PARITY_ERRORS, this);
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lp_var_t<uint32_t> uartNumOfNoiseErrors =
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lp_var_t<uint32_t>(sid.objectId, PoolIds::UART_NOISE_ERRORS, this);
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lp_var_t<uint32_t> uartNumOfFrameErrors =
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lp_var_t<uint32_t>(sid.objectId, PoolIds::UART_FRAME_ERRORS, this);
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lp_var_t<uint32_t> uartNumOfRegisterOverrunErrors =
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lp_var_t<uint32_t>(sid.objectId, PoolIds::UART_REG_OVERRUN_ERRORS, this);
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lp_var_t<uint32_t> uartTotalNumOfErrors =
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lp_var_t<uint32_t>(sid.objectId, PoolIds::UART_TOTAL_ERRORS, this);
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lp_var_t<uint32_t> spiNumOfBytesWritten =
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lp_var_t<uint32_t>(sid.objectId, PoolIds::SPI_BYTES_WRITTEN, this);
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lp_var_t<uint32_t> spiNumOfBytesRead =
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lp_var_t<uint32_t>(sid.objectId, PoolIds::SPI_BYTES_READ, this);
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lp_var_t<uint32_t> spiNumOfRegisterOverrunErrors =
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lp_var_t<uint32_t>(sid.objectId, PoolIds::SPI_REG_OVERRUN_ERRORS, this);
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lp_var_t<uint32_t> spiTotalNumOfErrors =
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lp_var_t<uint32_t>(sid.objectId, PoolIds::SPI_TOTAL_ERRORS, this);
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};
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class RwSpeedActuationSet : public StaticLocalDataSet<2> {
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friend class RwHandler;
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public:
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RwSpeedActuationSet(HasLocalDataPoolIF& owner)
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: StaticLocalDataSet(&owner, rws::SetIds::SPEED_CMD_SET) {}
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RwSpeedActuationSet(object_id_t objectId)
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: StaticLocalDataSet(sid_t(objectId, rws::SetIds::SPEED_CMD_SET)) {}
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void setRwSpeed(int32_t rwSpeed_, uint16_t rampTime_) {
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if (rwSpeed.value != rwSpeed_) {
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rwSpeed = rwSpeed_;
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}
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if (rampTime.value != rampTime_) {
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rampTime = rampTime_;
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}
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}
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void getRwSpeed(int32_t& rwSpeed_, uint16_t& rampTime_) {
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rwSpeed_ = rwSpeed.value;
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rampTime_ = rampTime.value;
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}
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private:
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lp_var_t<int32_t> rwSpeed = lp_var_t<int32_t>(sid.objectId, rws::PoolIds::RW_SPEED, this);
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lp_var_t<uint16_t> rampTime = lp_var_t<uint16_t>(sid.objectId, rws::PoolIds::RAMP_TIME, this);
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};
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} // namespace rws
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/**
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* Raw pointer overlay to hold the different frames received from the reaction
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* wheel in a raw buffer and send them to the device handler.
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*/
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struct RwReplies {
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friend class RwPollingTask;
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public:
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RwReplies(const uint8_t* rawData) : rawData(const_cast<uint8_t*>(rawData)) { initPointers(); }
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const uint8_t* getClearLastResetStatusReply() const { return clearLastResetStatusReply + 1; }
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bool wasClearLastRsetStatusReplyRead() const { return clearLastResetStatusReply[0]; }
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const uint8_t* getGetLastResetStatusReply() const { return getLastResetStatusReply + 1; }
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bool wasGetLastStatusReplyRead() const { return getLastResetStatusReply[0]; }
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const uint8_t* getHkDataReply() const { return hkDataReply + 1; }
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bool wasHkDataReplyRead() const { return hkDataReply[0]; }
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const uint8_t* getInitRwControllerReply() const { return initRwControllerReply + 1; }
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bool wasInitRwControllerReplyRead() const { return initRwControllerReply[0]; }
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const uint8_t* getRawData() const { return rawData; }
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const uint8_t* getReadTemperatureReply() const { return readTemperatureReply + 1; }
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bool wasReadTemperatureReplySet() const { return readTemperatureReply[0]; }
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const uint8_t* getRwStatusReply() const { return rwStatusReply + 1; }
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bool wasRwStatusRead() const { return rwStatusReply[0]; }
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const uint8_t* getSetSpeedReply() const { return setSpeedReply + 1; }
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bool wasSetSpeedReplyRead() const { return setSpeedReply[0]; }
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private:
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RwReplies(uint8_t* rwData) : rawData(rwData) { initPointers(); }
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/**
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* The first byte of the reply buffers contains a flag which shows whether that
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* frame was read from the reaction wheel at least once.
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*/
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void initPointers() {
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rwStatusReply = rawData;
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setSpeedReply = rawData + rws::SIZE_GET_RW_STATUS + 1;
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getLastResetStatusReply = setSpeedReply + rws::SIZE_SET_SPEED_REPLY + 1;
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clearLastResetStatusReply = getLastResetStatusReply + rws::SIZE_GET_RESET_STATUS + 1;
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readTemperatureReply = clearLastResetStatusReply + rws::SIZE_CLEAR_RESET_STATUS + 1;
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hkDataReply = readTemperatureReply + rws::SIZE_GET_TEMPERATURE_REPLY + 1;
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initRwControllerReply = hkDataReply + rws::SIZE_GET_TELEMETRY_REPLY + 1;
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dummyPointer = initRwControllerReply + rws::SIZE_INIT_RW + 1;
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}
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uint8_t* rawData;
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uint8_t* rwStatusReply;
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uint8_t* setSpeedReply;
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uint8_t* getLastResetStatusReply;
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uint8_t* clearLastResetStatusReply;
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uint8_t* readTemperatureReply;
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uint8_t* hkDataReply;
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uint8_t* initRwControllerReply;
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uint8_t* dummyPointer;
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};
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#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_H_ */
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