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eive-obsw/mission/devices/devicedefinitions/RwDefinitions.h
meggert 5a5d00e4e5
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dataPool for setting RW speeds
2023-02-09 17:11:23 +01:00

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#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include "events/subsystemIdRanges.h"
#include "objects/systemObjectList.h"
namespace RwDefinitions {
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);
static const uint32_t SPI_REPLY_DELAY = 70000; // 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,
};
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
};
static const DeviceCommandId_t RESET_MCU = 1;
static const DeviceCommandId_t GET_LAST_RESET_STATUS = 2;
static const DeviceCommandId_t CLEAR_LAST_RESET_STATUS = 3;
static const DeviceCommandId_t GET_RW_STATUS = 4;
/** This command is needed to recover from error state */
static const DeviceCommandId_t INIT_RW_CONTROLLER = 5;
static const DeviceCommandId_t SET_SPEED = 6;
static const DeviceCommandId_t GET_TEMPERATURE = 8;
static const DeviceCommandId_t GET_TM = 9;
enum SetIds : uint32_t {
TEMPERATURE_SET_ID = GET_TEMPERATURE,
STATUS_SET_ID = GET_RW_STATUS,
LAST_RESET_ID = GET_LAST_RESET_STATUS,
TM_SET_ID = GET_TM,
RW_SPEED = 10,
};
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;
/** 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, RwDefinitions::SetIds::STATUS_SET_ID) {}
StatusSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, RwDefinitions::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, RwDefinitions::SetIds::LAST_RESET_ID) {}
LastResetSatus(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, RwDefinitions::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, RwDefinitions::SetIds::TM_SET_ID) {}
TmDataset(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, RwDefinitions::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 : StaticLocalDataSet<4> {
friend class ::RwHandler;
public:
RwSpeedActuationSet(HasLocalDataPoolIF& owner)
: StaticLocalDataSet(&owner, RwDefinitions::SetIds::RW_SPEED) {}
RwSpeedActuationSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::RW_SPEED)) {}
void setRwSpeed(int32_t rwSpeed_) {
if (rwSpeed.value != rwSpeed_) {
}
rwSpeed = rwSpeed_;
}
void getRwSpeed(int32_t& rwSpeed_) { rwSpeed_ = rwSpeed.value; }
private:
lp_var_t<int32_t> rwSpeed = lp_var_t<int32_t>(sid.objectId, RW_SPEED, this);
};
} // namespace RwDefinitions
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_ */
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