Robin Mueller
52d8ae5ffb
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101 lines
3.4 KiB
C++
101 lines
3.4 KiB
C++
#ifndef MISSION_DEVICES_STARTRACKERHANDLER_H_
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#define MISSION_DEVICES_STARTRACKERHANDLER_H_
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include <mission/devices/devicedefinitions/StarTrackerDefinitions.h>
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#include <thirdparty/arcsec_star_tracker/common/SLIP.h>
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/**
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* @brief This is the device handler for the star tracker from arcsec.
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*
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* @details Datasheet: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
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* Arbeitsdaten/08_Used%20Components/ArcSec_KULeuven_Startracker/
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* Sagitta%201.0%20Datapack&fileid=659181
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*
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* @author J. Meier
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*/
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class StarTrackerHandler: public DeviceHandlerBase {
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public:
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/**
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* @brief Constructor
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*
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* @param objectId
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* @param comIF
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* @param comCookie
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* @param gpioComIF Pointer to gpio communication interface
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* @param enablePin GPIO connected to the enable pin of the reaction wheels. Must be pulled
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* to high to enable the device.
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*/
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StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie);
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virtual ~StarTrackerHandler();
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protected:
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void doStartUp() override;
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void doShutDown() override;
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ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
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ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) override;
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void fillCommandAndReplyMap() override;
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ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t * commandData,size_t commandDataLen) override;
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ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
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DeviceCommandId_t *foundId, size_t *foundLen) override;
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ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) override;
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void setNormalDatapoolEntriesInvalid() override;
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uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) override;
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/**
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* @brief Overwritten here to always read all available data from the UartComIF.
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*/
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virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
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private:
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static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER;
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//! [EXPORT] : [COMMENT] Received reply is too short
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static const ReturnValue_t REPLY_TOO_SHORT = MAKE_RETURN_CODE(0xB0);
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//! [EXPORT] : [COMMENT] Received reply with invalid CRC
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static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xB0);
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HANDLER;
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//! [EXPORT] : [COMMENT] Result code of tm reply indicates an error
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static const ReturnValue_t TM_REPLY_ERROR = MAKE_RETURN_CODE(0xA0);
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//! P1: TM id
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StarTracker::TemperatureSet temperatureSet;
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uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
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uint8_t rxBuffer[StarTracker::MAX_FRAME_SIZE];
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uint8_t decodedFrame[StarTracker::MAX_FRAME_SIZE];
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/** Size of buffer derived from the egse source code */
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uint8_t encBuffer[StarTracker::MAX_FRAME_SIZE * 2 + 2];
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slip_decode_state slipInfo;
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enum class InternalState {
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TEMPERATURE_REQUEST
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};
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InternalState internalState = InternalState::TEMPERATURE_REQUEST;
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/**
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* @brief This function initializes the serial link ip protocol struct slipInfo.
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*/
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void slipInit();
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void prepareTemperatureRequest();
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/**
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* @brief This function handles the telemetry reply of a temperature request.
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*/
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void handleTemperatureTm();
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};
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#endif /* MISSION_DEVICES_STARTRACKERHANDLER_H_ */
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