239 lines
8.3 KiB
C++
239 lines
8.3 KiB
C++
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_
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#define MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_
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#include <fsfw/datapoollocal/StaticLocalDataSet.h>
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#include <fsfw/datapoollocal/LocalPoolVariable.h>
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#include <fsfw/devicehandlers/DeviceHandlerIF.h>
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#include "objects/systemObjectList.h"
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namespace RwDefinitions {
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static const uint32_t SPI_REPLY_DELAY = 70000; //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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};
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enum States: uint8_t {
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ERROR,
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IDLE,
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COASTING,
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RUNNING_SPEED_STABLE,
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RUNNING_SPEED_CHANGING
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};
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enum LastResetStatus: uint8_t {
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CLEARED = 0,
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PIN_RESET = 1,
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POR_PDR_BOR_RESET = 2,
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SOFTWARE_RESET = 4,
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INDEPENDENT_WATCHDOG_RESET = 8,
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WINDOW_WATCHDOG_RESET = 16,
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LOW_POWER_RESET = 32
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};
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static const DeviceCommandId_t RESET_MCU = 1;
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static const DeviceCommandId_t GET_LAST_RESET_STATUS = 2;
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static const DeviceCommandId_t CLEAR_LAST_RESET_STATUS = 3;
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static const DeviceCommandId_t GET_RW_STATUS = 4;
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/** This command is needed to recover from error state */
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static const DeviceCommandId_t INIT_RW_CONTROLLER = 5;
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static const DeviceCommandId_t SET_SPEED = 6;
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static const DeviceCommandId_t GET_TEMPERATURE = 8;
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static const DeviceCommandId_t GET_TM = 9;
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static const uint32_t TEMPERATURE_SET_ID = GET_TEMPERATURE;
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static const uint32_t STATUS_SET_ID = GET_RW_STATUS;
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static const uint32_t LAST_RESET_ID = GET_LAST_RESET_STATUS;
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static const uint32_t TM_SET_ID = GET_TM;
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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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/** 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 TEMPERATURE_SET_ENTRIES = 1;
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static const uint8_t STATUS_SET_ENTRIES = 4;
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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 temperature of a reaction wheel.
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*/
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class TemperatureSet:
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public StaticLocalDataSet<TEMPERATURE_SET_ENTRIES> {
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public:
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TemperatureSet(HasLocalDataPoolIF* owner):
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StaticLocalDataSet(owner, TEMPERATURE_SET_ID) {
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}
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TemperatureSet(object_id_t objectId):
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StaticLocalDataSet(sid_t(objectId, TEMPERATURE_SET_ID)) {
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}
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lp_var_t<int32_t> temperatureCelcius = lp_var_t<int32_t>(sid.objectId,
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PoolIds::TEMPERATURE_C, this);
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};
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/**
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* @brief This dataset can be used to store the reaction wheel status.
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*/
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class StatusSet:
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public StaticLocalDataSet<STATUS_SET_ENTRIES> {
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public:
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StatusSet(HasLocalDataPoolIF* owner):
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StaticLocalDataSet(owner, STATUS_SET_ID) {
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}
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StatusSet(object_id_t objectId):
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StaticLocalDataSet(sid_t(objectId, STATUS_SET_ID)) {
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}
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lp_var_t<int32_t> currSpeed = lp_var_t<int32_t>(sid.objectId,
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PoolIds::CURR_SPEED, this);
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lp_var_t<int32_t> referenceSpeed = lp_var_t<int32_t>(sid.objectId,
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PoolIds::REFERENCE_SPEED, this);
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lp_var_t<uint8_t> state = lp_var_t<uint8_t>(sid.objectId,
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PoolIds::STATE, this);
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lp_var_t<uint8_t> clcMode = lp_var_t<uint8_t>(sid.objectId,
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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:
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public StaticLocalDataSet<LAST_RESET_ENTRIES> {
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public:
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LastResetSatus(HasLocalDataPoolIF* owner):
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StaticLocalDataSet(owner, LAST_RESET_ID) {
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}
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LastResetSatus(object_id_t objectId):
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StaticLocalDataSet(sid_t(objectId, LAST_RESET_ID)) {
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}
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lp_var_t<uint8_t> lastResetStatus = lp_var_t<uint8_t>(sid.objectId,
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PoolIds::LAST_RESET_STATUS, this);
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lp_var_t<uint8_t> currentResetStatus = lp_var_t<uint8_t>(sid.objectId,
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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:
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public StaticLocalDataSet<TM_SET_ENTRIES> {
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public:
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TmDataset(HasLocalDataPoolIF* owner):
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StaticLocalDataSet(owner, TM_SET_ID) {
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}
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TmDataset(object_id_t objectId):
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StaticLocalDataSet(sid_t(objectId, TM_SET_ID)) {
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}
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lp_var_t<uint8_t> lastResetStatus = lp_var_t<uint8_t>(sid.objectId,
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PoolIds::TM_LAST_RESET_STATUS, this);
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lp_var_t<int32_t> mcuTemperature = lp_var_t<int32_t>(sid.objectId,
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PoolIds::TM_MCU_TEMPERATURE, this);
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lp_var_t<float> pressureSensorTemperature = lp_var_t<float>(sid.objectId,
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PoolIds::PRESSURE_SENSOR_TEMPERATURE, this);
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lp_var_t<float> pressure = lp_var_t<float>(sid.objectId,
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PoolIds::PRESSURE, this);
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lp_var_t<uint8_t> rwState = lp_var_t<uint8_t>(sid.objectId,
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PoolIds::TM_RW_STATE, this);
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lp_var_t<uint8_t> rwClcMode = lp_var_t<uint8_t>(sid.objectId,
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PoolIds::TM_CLC_MODE, this);
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lp_var_t<int32_t> rwCurrSpeed = lp_var_t<int32_t>(sid.objectId,
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PoolIds::TM_RW_CURR_SPEED, this);
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lp_var_t<int32_t> rwRefSpeed = lp_var_t<int32_t>(sid.objectId,
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PoolIds::TM_RW_REF_SPEED, this);
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lp_var_t<uint32_t> numOfInvalidCrcPackets = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::INVALID_CRC_PACKETS, this);
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lp_var_t<uint32_t> numOfInvalidLenPackets = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::INVALID_LEN_PACKETS, this);
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lp_var_t<uint32_t> numOfInvalidCmdPackets = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::INVALID_CMD_PACKETS, this);
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lp_var_t<uint32_t> numOfCmdExecutedReplies = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::EXECUTED_REPLIES, this);
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lp_var_t<uint32_t> numOfCmdReplies = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::COMMAND_REPLIES, this);
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lp_var_t<uint32_t> uartNumOfBytesWritten = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::UART_BYTES_WRITTEN, this);
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lp_var_t<uint32_t> uartNumOfBytesRead = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::UART_BYTES_READ, this);
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lp_var_t<uint32_t> uartNumOfParityErrors = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::UART_PARITY_ERRORS, this);
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lp_var_t<uint32_t> uartNumOfNoiseErrors = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::UART_NOISE_ERRORS, this);
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lp_var_t<uint32_t> uartNumOfFrameErrors = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::UART_FRAME_ERRORS, this);
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lp_var_t<uint32_t> uartNumOfRegisterOverrunErrors = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::UART_REG_OVERRUN_ERRORS, this);
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lp_var_t<uint32_t> uartTotalNumOfErrors = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::UART_TOTAL_ERRORS, this);
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lp_var_t<uint32_t> spiNumOfBytesWritten = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::SPI_BYTES_WRITTEN, this);
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lp_var_t<uint32_t> spiNumOfBytesRead = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::SPI_BYTES_READ, this);
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lp_var_t<uint32_t> spiNumOfRegisterOverrunErrors = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::SPI_REG_OVERRUN_ERRORS, this);
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lp_var_t<uint32_t> spiTotalNumOfErrors = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::SPI_TOTAL_ERRORS, this);
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};
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}
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#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_ */
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