eive/eive-obsw
eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 120 Wiki Activity
39f83937c5
eive-obsw/mission/devices/devicedefinitions/rwHelpers.h
Robin Mueller 39f83937c5
All checks were successful
EIVE/eive-obsw/pipeline/head This commit looks good
Details
DHB refactoring complete
2023-02-16 14:10:59 +01:00

322 lines
12 KiB
C++
Raw Blame History

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