75 lines
2.9 KiB
C++
75 lines
2.9 KiB
C++
#ifndef LINUX_DEVICES_IMTQPOLLINGTASK_H_
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#define LINUX_DEVICES_IMTQPOLLINGTASK_H_
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#include <fsfw/tasks/SemaphoreIF.h>
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#include <fsfw_hal/linux/i2c/I2cCookie.h>
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#include <atomic>
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#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
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#include "fsfw/objectmanager/SystemObject.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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#include "mission/acs/imtqHelpers.h"
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class ImtqPollingTask : public SystemObject,
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public ExecutableObjectIF,
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public DeviceCommunicationIF {
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public:
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ImtqPollingTask(object_id_t imtqPollingTask, std::atomic_uint16_t& i2cFatalErrors);
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ReturnValue_t performOperation(uint8_t operationCode) override;
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ReturnValue_t initialize() override;
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private:
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static constexpr ReturnValue_t NO_REPLY_AVAILABLE = returnvalue::makeCode(2, 0);
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enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE;
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imtq::RequestType currentRequest = imtq::RequestType::MEASURE_NO_ACTUATION;
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SemaphoreIF* semaphore;
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ReturnValue_t comStatus = returnvalue::OK;
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MutexIF* ipcLock;
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MutexIF* bufLock;
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std::atomic_uint16_t& i2cFatalErrors;
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I2cCookie* i2cCookie = nullptr;
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const char* i2cDev = nullptr;
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address_t i2cAddr = 0;
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uint32_t currentIntegrationTimeMs = 10;
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// Required in addition to integration time, otherwise old data might be read.
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static constexpr uint32_t MGM_READ_BUFFER_TIME_MS = 6;
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bool ignoreNextActuateRequest = false;
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imtq::SpecialRequest specialRequest = imtq::SpecialRequest::NONE;
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int16_t dipoles[3] = {};
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uint16_t torqueDuration = 0;
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std::array<uint8_t, 32> cmdBuf;
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std::array<uint8_t, 524> replyBuf;
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std::array<uint8_t, 524> replyBufActuation;
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std::array<uint8_t, 524> exchangeBuf;
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size_t cmdLen = 0;
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// DeviceCommunicationIF overrides
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ReturnValue_t initializeInterface(CookieIF* cookie) override;
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ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
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ReturnValue_t getSendSuccess(CookieIF* cookie) override;
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ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
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ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
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void ccToReplyPtrMeasure(ImtqRepliesDefault& replies, imtq::CC::CC cc, uint8_t** replyBuf,
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size_t& replyLen);
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void ccToReplyPtrActuate(ImtqRepliesWithTorque& replies, imtq::CC::CC cc, uint8_t** replyBuf,
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size_t& replyLen);
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void clearReadFlagsDefault(ImtqRepliesDefault& replies);
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void clearReadFlagsWithTorque(ImtqRepliesWithTorque& replies);
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size_t getExchangeBufLen(imtq::SpecialRequest specialRequest);
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void buildDipoleCommand();
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void handleMeasureStep();
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void handleActuateStep();
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ReturnValue_t i2cCmdExecDefault(imtq::CC::CC cc, uint8_t* replyPtr, size_t replyLen,
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ReturnValue_t comErrIfFails);
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ReturnValue_t performI2cFullRequest(uint8_t* reply, size_t replyLen);
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};
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#endif /* LINUX_DEVICES_IMTQPOLLINGTASK_H_ */
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