957 lines
42 KiB
C++
957 lines
42 KiB
C++
#ifndef MISSION_STARTRACKER_DEFINITIONS_H_
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#define MISSION_STARTRACKER_DEFINITIONS_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 <fsfw/serviceinterface/ServiceInterfaceStream.h>
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#include "objects/systemObjectList.h"
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#include <fsfw/datapool/PoolReadGuard.h>
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namespace StarTracker {
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/** This is the address of the star tracker */
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static const uint8_t ADDRESS = 33;
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static const uint8_t STATUS_OK = 0;
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enum PoolIds: lp_id_t {
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TICKS_TIME_SET,
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TIME_TIME_SET,
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RUN_TIME,
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UNIX_TIME,
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TICKS_VERSION_SET,
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TIME_VERSION_SET,
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PROGRAM,
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MAJOR,
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MINOR,
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TICKS_INTERFACE_SET,
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TIME_INTERFACE_SET,
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FRAME_COUNT,
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CHECKSUM_ERROR_COUNT,
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SET_PARAM_COUNT,
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SET_PARAM_REPLY_COUNT,
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PARAM_REQUEST_COUNT,
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PARAM_REPLY_COUNT,
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REQ_TM_COUNT,
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TM_REPLY_COUNT,
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ACTION_REQ_COUNT,
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ACTION_REPLY_COUNT,
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TICKS_POWER_SET,
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TIME_POWER_SET,
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MCU_CURRENT,
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MCU_VOLTAGE,
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FPGA_CORE_CURRENT,
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FPGA_CORE_VOLTAGE,
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FPGA_18_CURRENT,
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FPGA_18_VOLTAGE,
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FPGA_25_CURRENT,
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FPGA_25_VOLTAGE,
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CMV_21_CURRENT,
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CMV_21_VOLTAGE,
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CMV_PIX_CURRENT,
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CMV_PIX_VOLTAGE,
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CMV_33_CURRENT,
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CMV_33_VOLTAGE,
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CMV_RES_CURRENT,
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CMV_RES_VOLTAGE,
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TICKS_TEMPERATURE_SET,
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TIME_TEMPERATURE_SET,
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MCU_TEMPERATURE,
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CMOS_TEMPERATURE,
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TICKS_SOLUTION_SET,
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TIME_SOLUTION_SET,
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CALI_QW,
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CALI_QX,
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CALI_QY,
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CALI_QZ,
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TRACK_CONFIDENCE,
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TRACK_QW,
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TRACK_QX,
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TRACK_QY,
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TRACK_QZ,
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TRACK_REMOVED,
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STARS_CENTROIDED,
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STARS_MATCHED_DATABASE,
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LISA_QW,
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LISA_QX,
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LISA_QY,
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LISA_QZ,
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LISA_PERC_CLOSE,
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LISA_NR_CLOSE,
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TRUST_WORTHY,
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STABLE_COUNT,
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SOLUTION_STRATEGY,
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TICKS_HISTOGRAM_SET,
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TIME_HISTOGRAM_SET,
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HISTOGRAM_BINA0,
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HISTOGRAM_BINA1,
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HISTOGRAM_BINA2,
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HISTOGRAM_BINA3,
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HISTOGRAM_BINA4,
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HISTOGRAM_BINA5,
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HISTOGRAM_BINA6,
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HISTOGRAM_BINA7,
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HISTOGRAM_BINA8,
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HISTOGRAM_BINB0,
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HISTOGRAM_BINB1,
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HISTOGRAM_BINB2,
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HISTOGRAM_BINB3,
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HISTOGRAM_BINB4,
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HISTOGRAM_BINB5,
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HISTOGRAM_BINB6,
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HISTOGRAM_BINB7,
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HISTOGRAM_BINB8,
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HISTOGRAM_BINC0,
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HISTOGRAM_BINC1,
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HISTOGRAM_BINC2,
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HISTOGRAM_BINC3,
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HISTOGRAM_BINC4,
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HISTOGRAM_BINC5,
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HISTOGRAM_BINC6,
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HISTOGRAM_BINC7,
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HISTOGRAM_BINC8,
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HISTOGRAM_BIND0,
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HISTOGRAM_BIND1,
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HISTOGRAM_BIND2,
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HISTOGRAM_BIND3,
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HISTOGRAM_BIND4,
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HISTOGRAM_BIND5,
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HISTOGRAM_BIND6,
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HISTOGRAM_BIND7,
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HISTOGRAM_BIND8,
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TICKS_CONTRAST_SET,
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TIME_CONTRAST_SET,
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CONTRAST_BINA0,
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CONTRAST_BINA1,
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CONTRAST_BINA2,
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CONTRAST_BINA3,
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CONTRAST_BINA4,
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CONTRAST_BINA5,
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CONTRAST_BINA6,
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CONTRAST_BINA7,
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CONTRAST_BINA8,
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CONTRAST_BINB0,
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CONTRAST_BINB1,
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CONTRAST_BINB2,
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CONTRAST_BINB3,
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CONTRAST_BINB4,
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CONTRAST_BINB5,
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CONTRAST_BINB6,
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CONTRAST_BINB7,
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CONTRAST_BINB8,
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CONTRAST_BINC0,
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CONTRAST_BINC1,
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CONTRAST_BINC2,
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CONTRAST_BINC3,
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CONTRAST_BINC4,
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CONTRAST_BINC5,
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CONTRAST_BINC6,
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CONTRAST_BINC7,
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CONTRAST_BINC8,
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CONTRAST_BIND0,
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CONTRAST_BIND1,
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CONTRAST_BIND2,
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CONTRAST_BIND3,
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CONTRAST_BIND4,
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CONTRAST_BIND5,
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CONTRAST_BIND6,
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CONTRAST_BIND7,
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CONTRAST_BIND8,
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CHKSUM
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};
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static const DeviceCommandId_t PING_REQUEST = 0;
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// Boots image (works only in bootloader mode)
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static const DeviceCommandId_t BOOT = 1;
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static const DeviceCommandId_t REQ_VERSION = 2;
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static const DeviceCommandId_t REQ_INTERFACE = 3;
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static const DeviceCommandId_t REQ_TIME = 4;
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static const DeviceCommandId_t ERASE = 5;
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static const DeviceCommandId_t UNLOCK = 6;
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static const DeviceCommandId_t SWITCH_TO_BOOTLOADER_PROGRAM = 7;
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static const DeviceCommandId_t DOWNLOAD_IMAGE = 9;
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static const DeviceCommandId_t UPLOAD_IMAGE = 10;
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static const DeviceCommandId_t REQ_POWER = 11;
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static const DeviceCommandId_t TAKE_IMAGE = 15;
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static const DeviceCommandId_t DOWNLOAD_CENTROID = 16;
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static const DeviceCommandId_t UPLOAD_CENTROID = 17;
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static const DeviceCommandId_t SUBSCRIBE_TO_TM = 18;
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static const DeviceCommandId_t REQ_SOLUTION = 24;
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static const DeviceCommandId_t REQ_TEMPERATURE = 25;
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static const DeviceCommandId_t REQ_HISTOGRAM = 28;
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static const DeviceCommandId_t REQ_CONTRAST = 29;
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static const DeviceCommandId_t LIMITS = 40;
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static const DeviceCommandId_t MOUNTING = 41;
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static const DeviceCommandId_t CAMERA = 42;
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static const DeviceCommandId_t BLOB = 43;
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static const DeviceCommandId_t CENTROIDING = 44;
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static const DeviceCommandId_t LISA = 45;
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static const DeviceCommandId_t MATCHING = 46;
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static const DeviceCommandId_t TRACKING = 47;
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static const DeviceCommandId_t VALIDATION = 48;
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static const DeviceCommandId_t ALGO = 49;
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static const DeviceCommandId_t CHECKSUM = 50;
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static const DeviceCommandId_t READ = 51;
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static const DeviceCommandId_t WRITE = 52;
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static const DeviceCommandId_t DOWNLOAD_MATCHED_STAR = 53;
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static const DeviceCommandId_t DOWNLOAD_DB_IMAGE = 54;
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static const DeviceCommandId_t STOP_IMAGE_LOADER = 55;
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static const DeviceCommandId_t RESET_ERROR = 56;
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static const DeviceCommandId_t CHANGE_DOWNLOAD_FILE = 57;
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static const DeviceCommandId_t SET_JSON_FILE_NAME = 58;
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static const DeviceCommandId_t SET_READ_FILENAME = 59;
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static const DeviceCommandId_t NONE = 0xFFFFFFFF;
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static const uint32_t VERSION_SET_ID = REQ_VERSION;
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static const uint32_t INTERFACE_SET_ID = REQ_INTERFACE;
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static const uint32_t POWER_SET_ID = REQ_POWER;
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static const uint32_t TEMPERATURE_SET_ID = REQ_TEMPERATURE;
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static const uint32_t TIME_SET_ID = REQ_TIME;
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static const uint32_t SOLUTION_SET_ID = REQ_SOLUTION;
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static const uint32_t HISTOGRAM_SET_ID = REQ_HISTOGRAM;
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static const uint32_t CONTRAST_SET_ID = REQ_CONTRAST;
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static const uint32_t CHECKSUM_SET_ID = CHECKSUM;
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/** Max size of unencoded frame */
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static const size_t MAX_FRAME_SIZE = 1200;
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static const uint8_t TEMPERATURE_SET_ENTRIES = 4;
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static const uint8_t VERSION_SET_ENTRIES = 5;
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static const uint8_t INTERFACE_SET_ENTRIES = 4;
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static const uint8_t POWER_SET_ENTRIES = 18;
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static const uint8_t TIME_SET_ENTRIES = 4;
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static const uint8_t SOLUTION_SET_ENTRIES = 23;
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static const uint8_t HISTOGRAM_SET_ENTRIES = 38;
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static const uint8_t CONTRAST_SET_ENTRIES = 38;
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static const uint8_t CHECKSUM_SET_ENTRIES = 1;
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// Action, parameter and telemetry IDs
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namespace ID {
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static const uint8_t PING = 0;
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static const uint8_t BOOT = 1;
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static const uint8_t VERSION = 2;
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static const uint8_t INTERFACE = 3;
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static const uint8_t LIMITS = 5;
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static const uint8_t MOUNTING = 6;
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static const uint8_t CAMERA = 9;
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static const uint8_t BLOB = 10;
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static const uint8_t CENTROIDING = 11;
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static const uint8_t LISA = 12;
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static const uint8_t MATCHING = 13;
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static const uint8_t TRACKING = 14;
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static const uint8_t VALIDATION = 15;
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static const uint8_t ALGO = 16;
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static const uint8_t REBOOT = 7;
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static const uint8_t UPLOAD_IMAGE = 10;
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static const uint8_t POWER = 11;
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static const uint8_t SUBSCRIBE = 18;
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static const uint8_t SOLUTION = 24;
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static const uint8_t TEMPERATURE = 25;
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static const uint8_t HISTOGRAM = 28;
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static const uint8_t CONTRAST = 29;
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static const uint8_t TIME = 1;
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static const uint8_t WRITE = 2;
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static const uint8_t READ = 3;
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static const uint8_t CHECKSUM = 4;
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static const uint8_t ERASE = 5;
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static const uint8_t UNLOCK = 6;
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static const uint8_t TAKE_IMAGE = 15;
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static const uint8_t ERROR_RESET = 12;
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}
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namespace Program {
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static const uint8_t BOOTLOADER = 1;
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static const uint8_t FIRMWARE = 2;
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}
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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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static const size_t SIZE = 20;
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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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// Ticks is time reference generated by interanl counter of the star tracker
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lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::TICKS_TEMPERATURE_SET, this);
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/** Unix time in microseconds */
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lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId,
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PoolIds::TIME_TEMPERATURE_SET, this);
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lp_var_t<float> mcuTemperature = lp_var_t<float>(sid.objectId,
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PoolIds::MCU_TEMPERATURE, this);
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lp_var_t<float> cmosTemperature = lp_var_t<float>(sid.objectId,
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PoolIds::CMOS_TEMPERATURE, this);
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void printSet() {
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sif::info << "TemperatureSet::printSet: Ticks: "
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<< this->ticks << std::endl;
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sif::info << "TemperatureSet::printSet: Time: "
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<< this->time << " us" << std::endl;
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sif::info << "TemperatureSet::printSet: MCU Temperature: "
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<< this->mcuTemperature << " °C" << std::endl;
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sif::info << "TemperatureSet::printSet: CMOS Temperature: "
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<< this->cmosTemperature << " °C" << std::endl;
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}
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};
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/**
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* @brief Package to store version parameters
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*/
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class VersionSet:
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public StaticLocalDataSet<VERSION_SET_ENTRIES> {
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public:
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static const size_t SIZE = 15;
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VersionSet(HasLocalDataPoolIF* owner):
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StaticLocalDataSet(owner, VERSION_SET_ID) {
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}
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VersionSet(object_id_t objectId):
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StaticLocalDataSet(sid_t(objectId, VERSION_SET_ID)) {
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}
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// Ticks is time reference generated by interanl counter of the star tracker
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lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::TICKS_VERSION_SET, this);
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/** Unix time in microseconds */
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lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId,
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PoolIds::TIME_VERSION_SET, this);
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lp_var_t<uint8_t> program = lp_var_t<uint8_t>(sid.objectId,
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PoolIds::PROGRAM, this);
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lp_var_t<uint8_t> major = lp_var_t<uint8_t>(sid.objectId,
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PoolIds::MAJOR, this);
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lp_var_t<uint8_t> minor = lp_var_t<uint8_t>(sid.objectId,
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PoolIds::MINOR, this);
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void printSet() {
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PoolReadGuard rg(this);
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sif::info << "VersionSet::printSet: Ticks: "
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<< this->ticks << std::endl;
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sif::info << "VersionSet::printSet: Unix Time: "
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<< this->time << " us" << std::endl;
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sif::info << "VersionSet::printSet: Program: "
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<< static_cast<unsigned int>(this->program.value) << std::endl;
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sif::info << "VersionSet::printSet: Major: "
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<< static_cast<unsigned int>(this->major.value) << std::endl;
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sif::info << "VersionSet::printSet: Minor: "
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<< static_cast<unsigned int>(this->minor.value) << std::endl;
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}
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};
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/**
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* @brief Dataset to store the interface telemtry data.
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*/
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class InterfaceSet:
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public StaticLocalDataSet<INTERFACE_SET_ENTRIES> {
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public:
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static const size_t SIZE = 20;
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InterfaceSet(HasLocalDataPoolIF* owner):
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StaticLocalDataSet(owner, REQ_INTERFACE) {
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}
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InterfaceSet(object_id_t objectId):
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StaticLocalDataSet(sid_t(objectId, REQ_INTERFACE)) {
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}
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// Ticks is time reference generated by interanl counter of the star tracker
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lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::TICKS_INTERFACE_SET, this);
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/** Unix time in microseconds */
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lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId,
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PoolIds::TIME_INTERFACE_SET, this);
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lp_var_t<uint32_t> frameCount = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::FRAME_COUNT, this);
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lp_var_t<uint32_t> checksumerrorCount = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::CHECKSUM_ERROR_COUNT, this);
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void printSet() {
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PoolReadGuard rg(this);
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sif::info << "InterfaceSet::printSet: Ticks: "
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<< this->ticks << std::endl;
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sif::info << "InterfaceSet::printSet: Time: "
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<< this->time << " us" << std::endl;
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sif::info << "InterfaceSet::printSet: Frame Count: "
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<< this->frameCount << std::endl;
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sif::info << "InterfaceSet::printSet: Checksum Error Count: "
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<< this->checksumerrorCount << std::endl;
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}
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};
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/**
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* @brief Dataset to store the data of the power telemetry reply.
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*/
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class PowerSet:
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public StaticLocalDataSet<POWER_SET_ENTRIES> {
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public:
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static const size_t SIZE = 76;
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PowerSet(HasLocalDataPoolIF* owner):
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StaticLocalDataSet(owner, REQ_INTERFACE) {
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}
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PowerSet(object_id_t objectId):
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StaticLocalDataSet(sid_t(objectId, REQ_INTERFACE)) {
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}
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// Ticks is time reference generated by interanl counter of the star tracker
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lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::TICKS_POWER_SET, this);
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/** Unix time in microseconds */
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lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId,
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PoolIds::TIME_POWER_SET, this);
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lp_var_t<float> mcuCurrent = lp_var_t<float>(sid.objectId,
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PoolIds::MCU_CURRENT, this);
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lp_var_t<float> mcuVoltage = lp_var_t<float>(sid.objectId,
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PoolIds::MCU_VOLTAGE, this);
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lp_var_t<float> fpgaCoreCurrent = lp_var_t<float>(sid.objectId,
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PoolIds::FPGA_CORE_CURRENT, this);
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lp_var_t<float> fpgaCoreVoltage = lp_var_t<float>(sid.objectId,
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PoolIds::FPGA_CORE_VOLTAGE, this);
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lp_var_t<float> fpga18Current = lp_var_t<float>(sid.objectId,
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PoolIds::FPGA_18_CURRENT, this);
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lp_var_t<float> fpga18Voltage = lp_var_t<float>(sid.objectId,
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PoolIds::FPGA_18_VOLTAGE, this);
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lp_var_t<float> fpga25Current = lp_var_t<float>(sid.objectId,
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PoolIds::FPGA_25_CURRENT, this);
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lp_var_t<float> fpga25Voltage = lp_var_t<float>(sid.objectId,
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PoolIds::FPGA_25_VOLTAGE, this);
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lp_var_t<float> cmv21Current = lp_var_t<float>(sid.objectId,
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PoolIds::CMV_21_CURRENT, this);
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lp_var_t<float> cmv21Voltage = lp_var_t<float>(sid.objectId,
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PoolIds::CMV_21_VOLTAGE, this);
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lp_var_t<float> cmvPixCurrent = lp_var_t<float>(sid.objectId,
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PoolIds::CMV_PIX_CURRENT, this);
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lp_var_t<float> cmvPixVoltage = lp_var_t<float>(sid.objectId,
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PoolIds::CMV_PIX_VOLTAGE, this);
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lp_var_t<float> cmv33Current = lp_var_t<float>(sid.objectId,
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PoolIds::CMV_33_CURRENT, this);
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lp_var_t<float> cmv33Voltage = lp_var_t<float>(sid.objectId,
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PoolIds::CMV_33_VOLTAGE, this);
|
|
lp_var_t<float> cmvResCurrent = lp_var_t<float>(sid.objectId,
|
|
PoolIds::CMV_RES_CURRENT, this);
|
|
lp_var_t<float> cmvResVoltage = lp_var_t<float>(sid.objectId,
|
|
PoolIds::CMV_RES_VOLTAGE, this);
|
|
|
|
void printSet() {
|
|
PoolReadGuard rg(this);
|
|
sif::info << "PowerSet::printSet: Ticks: "
|
|
<< this->ticks << std::endl;
|
|
sif::info << "PowerSet::printSet: Time: "
|
|
<< this->time << " us" << std::endl;
|
|
sif::info << "PowerSet::printSet: MCU Current: "
|
|
<< this->mcuCurrent << " A" << std::endl;
|
|
sif::info << "PowerSet::printSet: MCU Voltage: "
|
|
<< this->mcuVoltage << " V" << std::endl;
|
|
sif::info << "PowerSet::printSet: FPGA Core current: "
|
|
<< this->fpgaCoreCurrent << " A" << std::endl;
|
|
sif::info << "PowerSet::printSet: FPGA Core voltage: "
|
|
<< this->fpgaCoreVoltage << " V" << std::endl;
|
|
sif::info << "PowerSet::printSet: FPGA 18 current: "
|
|
<< this->fpga18Current << " A" << std::endl;
|
|
sif::info << "PowerSet::printSet: FPGA 18 voltage: "
|
|
<< this->fpga18Voltage << " V" << std::endl;
|
|
sif::info << "PowerSet::printSet: FPGA 25 current: "
|
|
<< this->fpga25Current << " A" << std::endl;
|
|
sif::info << "PowerSet::printSet: FPGA 25 voltage: "
|
|
<< this->fpga25Voltage << " V" << std::endl;
|
|
sif::info << "PowerSet::printSet: CMV 21 current: "
|
|
<< this->cmv21Current << " A" << std::endl;
|
|
sif::info << "PowerSet::printSet: CMV 21 voltage: "
|
|
<< this->cmv21Voltage << " V" << std::endl;
|
|
sif::info << "PowerSet::printSet: CMV Pix current: "
|
|
<< this->cmvPixCurrent << " A" << std::endl;
|
|
sif::info << "PowerSet::printSet: CMV Pix voltage: "
|
|
<< this->cmvPixVoltage << " V" << std::endl;
|
|
sif::info << "PowerSet::printSet: CMV 33 current: "
|
|
<< this->cmv33Current << " A" << std::endl;
|
|
sif::info << "PowerSet::printSet: CMV 33 voltage: "
|
|
<< this->cmv33Voltage << " V" << std::endl;
|
|
sif::info << "PowerSet::printSet: CMV Res current: "
|
|
<< this->cmvResCurrent << " A" << std::endl;
|
|
sif::info << "PowerSet::printSet: CMV Res voltage: "
|
|
<< this->cmvResVoltage << " V" << std::endl;
|
|
}
|
|
};
|
|
|
|
/**
|
|
* @brief Data set to store the time telemetry packet.
|
|
*/
|
|
class TimeSet:
|
|
public StaticLocalDataSet<TIME_SET_ENTRIES> {
|
|
public:
|
|
|
|
static const size_t SIZE = 24;
|
|
|
|
TimeSet(HasLocalDataPoolIF* owner):
|
|
StaticLocalDataSet(owner, TIME_SET_ID) {
|
|
}
|
|
|
|
TimeSet(object_id_t objectId):
|
|
StaticLocalDataSet(sid_t(objectId, TIME_SET_ID)) {
|
|
}
|
|
|
|
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId,
|
|
PoolIds::TICKS_TIME_SET, this);
|
|
/** Unix time in microseconds */
|
|
lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId,
|
|
PoolIds::TIME_TIME_SET, this);
|
|
// Number of milliseconds since processor start-up
|
|
lp_var_t<uint32_t> runTime = lp_var_t<uint32_t>(sid.objectId,
|
|
PoolIds::RUN_TIME, this);
|
|
// Unix time in seconds?? --> maybe typo in datasheet. Seems to be microseconds
|
|
lp_var_t<uint64_t> unixTime = lp_var_t<uint64_t>(sid.objectId,
|
|
PoolIds::UNIX_TIME, this);
|
|
void printSet() {
|
|
PoolReadGuard rg(this);
|
|
sif::info << "TimeSet::printSet: Ticks: "
|
|
<< this->ticks << std::endl;
|
|
sif::info << "TimeSet::printSet: Time (time stamp): "
|
|
<< this->time << " us" << std::endl;
|
|
sif::info << "TimeSet::printSet: Run Time: "
|
|
<< this->runTime << " ms" << std::endl;
|
|
sif::info << "TimeSet::printSet: Unix Time: "
|
|
<< this->unixTime << " s" << std::endl;
|
|
}
|
|
};
|
|
|
|
/**
|
|
* @brief The solution dataset is the main dataset of the star tracker and contains the
|
|
* attitude information.
|
|
*/
|
|
class SolutionSet:
|
|
public StaticLocalDataSet<SOLUTION_SET_ENTRIES> {
|
|
public:
|
|
|
|
static const size_t SIZE = 78;
|
|
|
|
SolutionSet(HasLocalDataPoolIF* owner):
|
|
StaticLocalDataSet(owner, SOLUTION_SET_ID) {
|
|
}
|
|
|
|
SolutionSet(object_id_t objectId):
|
|
StaticLocalDataSet(sid_t(objectId, SOLUTION_SET_ID)) {
|
|
}
|
|
|
|
// Ticks timestamp
|
|
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId,
|
|
PoolIds::TICKS_SOLUTION_SET, this);
|
|
/// Unix time stamp
|
|
lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId,
|
|
PoolIds::TIME_SOLUTION_SET, this);
|
|
// Calibrated quaternion (takes into account the mounting quaternion), typically same as
|
|
// track q values
|
|
lp_var_t<float> caliQw = lp_var_t<float>(sid.objectId, PoolIds::CALI_QW, this);
|
|
lp_var_t<float> caliQx = lp_var_t<float>(sid.objectId, PoolIds::CALI_QX, this);
|
|
lp_var_t<float> caliQy = lp_var_t<float>(sid.objectId, PoolIds::CALI_QY, this);
|
|
lp_var_t<float> caliQz = lp_var_t<float>(sid.objectId, PoolIds::CALI_QZ, this);
|
|
// The lower this value the more confidence that the star tracker solution is correct
|
|
lp_var_t<float> trackConfidence = lp_var_t<float>(sid.objectId, PoolIds::TRACK_CONFIDENCE,
|
|
this);
|
|
// Estimated attitude of spacecraft
|
|
lp_var_t<float> trackQw = lp_var_t<float>(sid.objectId, PoolIds::TRACK_QW, this);
|
|
lp_var_t<float> trackQx = lp_var_t<float>(sid.objectId, PoolIds::TRACK_QX, this);
|
|
lp_var_t<float> trackQy = lp_var_t<float>(sid.objectId, PoolIds::TRACK_QY, this);
|
|
lp_var_t<float> trackQz = lp_var_t<float>(sid.objectId, PoolIds::TRACK_QZ, this);
|
|
// Number of stars removed from tracking solution
|
|
lp_var_t<uint8_t> trackRemoved = lp_var_t<uint8_t>(sid.objectId, PoolIds::TRACK_REMOVED, this);
|
|
// Number of stars for which a valid centroid was found
|
|
lp_var_t<uint8_t> starsCentroided = lp_var_t<uint8_t>(sid.objectId, PoolIds::STARS_CENTROIDED,
|
|
this);
|
|
// Number of stars that matched to a database star
|
|
lp_var_t<uint8_t> starsMatchedDatabase = lp_var_t<uint8_t>(sid.objectId,
|
|
PoolIds::STARS_MATCHED_DATABASE, this);
|
|
// Result of LISA (lost in space algorithm), searches for stars without prior knowledge of
|
|
// attitude
|
|
lp_var_t<float> lisaQw = lp_var_t<float>(sid.objectId, PoolIds::LISA_QW, this);
|
|
lp_var_t<float> lisaQx = lp_var_t<float>(sid.objectId, PoolIds::LISA_QX, this);
|
|
lp_var_t<float> lisaQy = lp_var_t<float>(sid.objectId, PoolIds::LISA_QY, this);
|
|
lp_var_t<float> lisaQz = lp_var_t<float>(sid.objectId, PoolIds::LISA_QZ, this);
|
|
// Percentage of close stars in LISA solution
|
|
lp_var_t<float> lisaPercentageClose = lp_var_t<float>(sid.objectId, PoolIds::LISA_PERC_CLOSE,
|
|
this);
|
|
// Number of close stars in LISA solution
|
|
lp_var_t<uint8_t> lisaNrClose = lp_var_t<uint8_t>(sid.objectId, PoolIds::LISA_NR_CLOSE, this);
|
|
// Gives a combined overview of the validation parameters (1 for valid solution, otherwise 0)
|
|
lp_var_t<uint8_t> isTrustWorthy = lp_var_t<uint8_t>(sid.objectId, PoolIds::TRUST_WORTHY, this);
|
|
// Number of times the validation criteria was met
|
|
lp_var_t<uint32_t> stableCount = lp_var_t<uint32_t>(sid.objectId, PoolIds::STABLE_COUNT, this);
|
|
// Shows the autonomous mode used to obtain the star tracker attitude
|
|
lp_var_t<uint8_t> solutionStrategy = lp_var_t<uint8_t>(sid.objectId, PoolIds::SOLUTION_STRATEGY,
|
|
this);
|
|
|
|
void printSet() {
|
|
PoolReadGuard rg(this);
|
|
sif::info << "SolutionSet::printSet: Ticks: "
|
|
<< this->ticks << std::endl;
|
|
sif::info << "SolutionSet::printSet: Time: "
|
|
<< this->time << std::endl;
|
|
sif::info << "SolutionSet::printSet: Calibrated quaternion Qw: "
|
|
<< this->caliQw << std::endl;
|
|
sif::info << "SolutionSet::printSet: Calibrated quaternion Qx: "
|
|
<< this->caliQx << std::endl;
|
|
sif::info << "SolutionSet::printSet: Calibrated quaternion Qy: "
|
|
<< this->caliQy << std::endl;
|
|
sif::info << "SolutionSet::printSet: Calibrated quaternion Qz: "
|
|
<< this->caliQz << std::endl;
|
|
sif::info << "SolutionSet::printSet: Track confidence: "
|
|
<< this->trackConfidence << std::endl;
|
|
sif::info << "SolutionSet::printSet: Track Qw: "
|
|
<< this->trackQw << std::endl;
|
|
sif::info << "SolutionSet::printSet: Track Qx: "
|
|
<< this->trackQx << std::endl;
|
|
sif::info << "SolutionSet::printSet: Track Qy: "
|
|
<< this->trackQy << std::endl;
|
|
sif::info << "SolutionSet::printSet: Track Qz: "
|
|
<< this->trackQz << std::endl;
|
|
sif::info << "SolutionSet::printSet: Track removed: "
|
|
<< static_cast<unsigned int>(this->trackRemoved.value) << std::endl;
|
|
sif::info << "SolutionSet::printSet: Number of stars centroided: "
|
|
<< static_cast<unsigned int>(this->starsCentroided.value) << std::endl;
|
|
sif::info << "SolutionSet::printSet: Number of stars matched database: "
|
|
<< static_cast<unsigned int>(this->starsMatchedDatabase.value) << std::endl;
|
|
sif::info << "SolutionSet::printSet: LISA Qw: "
|
|
<< this->lisaQw << std::endl;
|
|
sif::info << "SolutionSet::printSet: LISA Qx: "
|
|
<< this->lisaQx << std::endl;
|
|
sif::info << "SolutionSet::printSet: LISA Qy: "
|
|
<< this->lisaQy << std::endl;
|
|
sif::info << "SolutionSet::printSet: LISA Qz: "
|
|
<< this->lisaQz << std::endl;
|
|
sif::info << "SolutionSet::printSet: LISA Percentage close: "
|
|
<< this->lisaPercentageClose << std::endl;
|
|
sif::info << "SolutionSet::printSet: LISA number of close stars: "
|
|
<< static_cast<unsigned int>(this->lisaNrClose.value) << std::endl;
|
|
sif::info << "SolutionSet::printSet: Is trust worthy: "
|
|
<< static_cast<unsigned int>(this->isTrustWorthy.value) << std::endl;
|
|
sif::info << "SolutionSet::printSet: Stable count: "
|
|
<< this->stableCount << std::endl;
|
|
sif::info << "SolutionSet::printSet: Solution strategy: "
|
|
<< static_cast<unsigned int>(this->solutionStrategy.value) << std::endl;
|
|
}
|
|
};
|
|
|
|
/**
|
|
* @brief Dataset to store the histogram
|
|
*/
|
|
class HistogramSet:
|
|
public StaticLocalDataSet<HISTOGRAM_SET_ENTRIES> {
|
|
public:
|
|
|
|
// Size of dataset
|
|
static const size_t SIZE = 156;
|
|
|
|
HistogramSet(HasLocalDataPoolIF* owner):
|
|
StaticLocalDataSet(owner, HISTOGRAM_SET_ID) {
|
|
}
|
|
|
|
HistogramSet(object_id_t objectId):
|
|
StaticLocalDataSet(sid_t(objectId, HISTOGRAM_SET_ID)) {
|
|
}
|
|
|
|
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_HISTOGRAM_SET, this);
|
|
lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_HISTOGRAM_SET, this);
|
|
lp_var_t<uint32_t> binA0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA0, this);
|
|
lp_var_t<uint32_t> binA1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA1, this);
|
|
lp_var_t<uint32_t> binA2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA2, this);
|
|
lp_var_t<uint32_t> binA3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA3, this);
|
|
lp_var_t<uint32_t> binA4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA4, this);
|
|
lp_var_t<uint32_t> binA5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA5, this);
|
|
lp_var_t<uint32_t> binA6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA6, this);
|
|
lp_var_t<uint32_t> binA7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA7, this);
|
|
lp_var_t<uint32_t> binA8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA8, this);
|
|
lp_var_t<uint32_t> binB0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB0, this);
|
|
lp_var_t<uint32_t> binB1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB1, this);
|
|
lp_var_t<uint32_t> binB2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB2, this);
|
|
lp_var_t<uint32_t> binB3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB3, this);
|
|
lp_var_t<uint32_t> binB4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB4, this);
|
|
lp_var_t<uint32_t> binB5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB5, this);
|
|
lp_var_t<uint32_t> binB6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB6, this);
|
|
lp_var_t<uint32_t> binB7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB7, this);
|
|
lp_var_t<uint32_t> binB8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB8, this);
|
|
lp_var_t<uint32_t> binC0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC0, this);
|
|
lp_var_t<uint32_t> binC1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC1, this);
|
|
lp_var_t<uint32_t> binC2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC2, this);
|
|
lp_var_t<uint32_t> binC3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC3, this);
|
|
lp_var_t<uint32_t> binC4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC4, this);
|
|
lp_var_t<uint32_t> binC5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC5, this);
|
|
lp_var_t<uint32_t> binC6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC6, this);
|
|
lp_var_t<uint32_t> binC7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC7, this);
|
|
lp_var_t<uint32_t> binC8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC8, this);
|
|
lp_var_t<uint32_t> binD0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND0, this);
|
|
lp_var_t<uint32_t> binD1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND1, this);
|
|
lp_var_t<uint32_t> binD2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND2, this);
|
|
lp_var_t<uint32_t> binD3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND3, this);
|
|
lp_var_t<uint32_t> binD4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND4, this);
|
|
lp_var_t<uint32_t> binD5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND5, this);
|
|
lp_var_t<uint32_t> binD6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND6, this);
|
|
lp_var_t<uint32_t> binD7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND7, this);
|
|
lp_var_t<uint32_t> binD8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND8, this);
|
|
|
|
void printSet() {
|
|
PoolReadGuard rg(this);
|
|
sif::info << "HistogramSet::printSet: Ticks: " << this->ticks << std::endl;
|
|
sif::info << "HistogramSet::printSet: Time (time stamp): " << this->time << " us"
|
|
<< std::endl;
|
|
sif::info << "HistogramSet::printSet: BinA0: " << this->binA0 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinA1: " << this->binA1 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinA2: " << this->binA2 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinA3: " << this->binA3 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinA4: " << this->binA4 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinA5: " << this->binA5 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinA6: " << this->binA6 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinA7: " << this->binA7 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinA8: " << this->binA8 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinB0: " << this->binB0 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinB1: " << this->binB1 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinB2: " << this->binB2 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinB3: " << this->binB3 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinB4: " << this->binB4 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinB5: " << this->binB5 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinB6: " << this->binB6 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinB7: " << this->binB7 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinB8: " << this->binB8 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinC0: " << this->binC0 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinC1: " << this->binC1 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinC2: " << this->binC2 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinC3: " << this->binC3 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinC4: " << this->binC4 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinC5: " << this->binC5 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinC6: " << this->binC6 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinC7: " << this->binC7 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinC8: " << this->binC8 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinD0: " << this->binD0 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinD1: " << this->binD1 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinD2: " << this->binD2 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinD3: " << this->binD3 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinD4: " << this->binD4 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinD5: " << this->binD5 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinD6: " << this->binD6 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinD7: " << this->binD7 << std::endl;
|
|
sif::info << "HistogramSet::printSet: BinD8: " << this->binD8 << std::endl;
|
|
}
|
|
};
|
|
|
|
/**
|
|
* @brief Dataset to store the contrast telemetry data
|
|
*/
|
|
class ContrastSet:
|
|
public StaticLocalDataSet<CONTRAST_SET_ENTRIES> {
|
|
public:
|
|
|
|
// Size of dataset
|
|
static const size_t SIZE = 156;
|
|
|
|
ContrastSet(HasLocalDataPoolIF* owner):
|
|
StaticLocalDataSet(owner, CONTRAST_SET_ID) {
|
|
}
|
|
|
|
ContrastSet(object_id_t objectId):
|
|
StaticLocalDataSet(sid_t(objectId, CONTRAST_SET_ID)) {
|
|
}
|
|
|
|
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_CONTRAST_SET, this);
|
|
lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_CONTRAST_SET, this);
|
|
lp_var_t<uint32_t> binA0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA0, this);
|
|
lp_var_t<uint32_t> binA1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA1, this);
|
|
lp_var_t<uint32_t> binA2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA2, this);
|
|
lp_var_t<uint32_t> binA3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA3, this);
|
|
lp_var_t<uint32_t> binA4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA4, this);
|
|
lp_var_t<uint32_t> binA5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA5, this);
|
|
lp_var_t<uint32_t> binA6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA6, this);
|
|
lp_var_t<uint32_t> binA7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA7, this);
|
|
lp_var_t<uint32_t> binA8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA8, this);
|
|
lp_var_t<uint32_t> binb0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB0, this);
|
|
lp_var_t<uint32_t> binB1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB1, this);
|
|
lp_var_t<uint32_t> binB2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB2, this);
|
|
lp_var_t<uint32_t> binB3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB3, this);
|
|
lp_var_t<uint32_t> binB4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB4, this);
|
|
lp_var_t<uint32_t> binB5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB5, this);
|
|
lp_var_t<uint32_t> binB6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB6, this);
|
|
lp_var_t<uint32_t> binB7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB7, this);
|
|
lp_var_t<uint32_t> binB8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB8, this);
|
|
lp_var_t<uint32_t> binC0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC0, this);
|
|
lp_var_t<uint32_t> binC1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC1, this);
|
|
lp_var_t<uint32_t> binC2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC2, this);
|
|
lp_var_t<uint32_t> binC3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC3, this);
|
|
lp_var_t<uint32_t> binC4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC4, this);
|
|
lp_var_t<uint32_t> binC5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC5, this);
|
|
lp_var_t<uint32_t> binC6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC6, this);
|
|
lp_var_t<uint32_t> binC7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC7, this);
|
|
lp_var_t<uint32_t> binC8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC8, this);
|
|
lp_var_t<uint32_t> binD0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND0, this);
|
|
lp_var_t<uint32_t> binD1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND1, this);
|
|
lp_var_t<uint32_t> binD2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND2, this);
|
|
lp_var_t<uint32_t> binD3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND3, this);
|
|
lp_var_t<uint32_t> binD4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND4, this);
|
|
lp_var_t<uint32_t> binD5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND5, this);
|
|
lp_var_t<uint32_t> binD6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND6, this);
|
|
lp_var_t<uint32_t> binD7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND7, this);
|
|
lp_var_t<uint32_t> binD8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND8, this);
|
|
|
|
void printSet() {
|
|
PoolReadGuard rg(this);
|
|
sif::info << "ContrastSet::printSet: Ticks: " << this->ticks << std::endl;
|
|
sif::info << "ContrastSet::printSet: Time (time stamp): " << this->time << " us"
|
|
<< std::endl;
|
|
sif::info << "ContrastSet::printSet: BinA0: " << this->binA0 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinA1: " << this->binA1 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinA2: " << this->binA2 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinA3: " << this->binA3 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinA4: " << this->binA4 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinA5: " << this->binA5 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinA6: " << this->binA6 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinA7: " << this->binA7 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinA8: " << this->binA8 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinB0: " << this->binA0 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinB1: " << this->binB1 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinB2: " << this->binB2 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinB3: " << this->binB3 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinB4: " << this->binB4 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinB5: " << this->binB5 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinB6: " << this->binB6 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinB7: " << this->binB7 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinB8: " << this->binB8 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinC0: " << this->binC0 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinC1: " << this->binC1 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinC2: " << this->binC2 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinC3: " << this->binC3 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinC4: " << this->binC4 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinC5: " << this->binC5 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinC6: " << this->binC6 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinC7: " << this->binC7 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinC8: " << this->binC8 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinD0: " << this->binD0 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinD1: " << this->binD1 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinD2: " << this->binD2 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinD3: " << this->binD3 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinD4: " << this->binD4 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinD5: " << this->binD5 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinD6: " << this->binD6 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinD7: " << this->binD7 << std::endl;
|
|
sif::info << "ContrastSet::printSet: BinD8: " << this->binD8 << std::endl;
|
|
}
|
|
};
|
|
|
|
/**
|
|
* @brief Helper Class to extract information from bytestream.
|
|
*/
|
|
class ChecksumReply {
|
|
public:
|
|
|
|
/**
|
|
* @brief Constructor
|
|
*
|
|
* @param datafield Pointer to datafield in reply buffer
|
|
*
|
|
*/
|
|
ChecksumReply(const uint8_t* datafield) {
|
|
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
|
region = *(datafield);
|
|
const uint8_t* addressData = datafield + ADDRESS_OFFSET;
|
|
size_t size = sizeof(address);
|
|
result = SerializeAdapter::deSerialize(&address, &addressData, &size,
|
|
SerializeIF::Endianness::LITTLE);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
sif::debug << "ChecksumReply::ChecksumReply: Failed to deserialize address"
|
|
<< std::endl;
|
|
}
|
|
const uint8_t* lengthData = datafield + LENGTH_OFFSET;
|
|
size = sizeof(length);
|
|
result = SerializeAdapter::deSerialize(&length, &lengthData, &size,
|
|
SerializeIF::Endianness::LITTLE);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
sif::debug << "ChecksumReply::ChecksumReply: Failed to deserialize length"
|
|
<< std::endl;
|
|
}
|
|
const uint8_t* checksumData = datafield + CHECKSUM_OFFSET;
|
|
size = sizeof(checksum);
|
|
result = SerializeAdapter::deSerialize(&checksum, &checksumData, &size,
|
|
SerializeIF::Endianness::LITTLE);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
sif::debug << "ChecksumReply::ChecksumReply: Failed to deserialize checksum"
|
|
<< std::endl;
|
|
}
|
|
}
|
|
|
|
uint8_t getRegion() {
|
|
return region;
|
|
}
|
|
|
|
uint32_t getAddress() {
|
|
return address;
|
|
}
|
|
|
|
uint32_t getLength() {
|
|
return length;
|
|
}
|
|
|
|
uint32_t getChecksum() {
|
|
return checksum;
|
|
}
|
|
|
|
void printChecksum() {
|
|
sif::info << "ChecksumReply::printChecksum: 0x" << std::hex << checksum << std::endl;
|
|
}
|
|
|
|
private:
|
|
|
|
static const uint8_t ADDRESS_OFFSET = 1;
|
|
static const uint8_t LENGTH_OFFSET = 5;
|
|
static const uint8_t CHECKSUM_OFFSET = 9;
|
|
|
|
uint8_t region = 0;
|
|
uint32_t address = 0;
|
|
uint32_t length = 0;
|
|
uint32_t checksum = 0;
|
|
};
|
|
|
|
class EraseReply {
|
|
public:
|
|
EraseReply(const uint8_t* datafield) {
|
|
region = *datafield;
|
|
}
|
|
|
|
uint8_t getRegion() {
|
|
return region;
|
|
}
|
|
|
|
private:
|
|
uint8_t region = 0;
|
|
};
|
|
|
|
class ChecksumSet:
|
|
public StaticLocalDataSet<CHECKSUM_SET_ENTRIES> {
|
|
public:
|
|
|
|
// Size of dataset
|
|
static const size_t SIZE = 156;
|
|
|
|
ChecksumSet(HasLocalDataPoolIF* owner):
|
|
StaticLocalDataSet(owner, CHECKSUM_SET_ID) {
|
|
}
|
|
|
|
ChecksumSet(object_id_t objectId):
|
|
StaticLocalDataSet(sid_t(objectId, CHECKSUM_SET_ID)) {
|
|
}
|
|
|
|
lp_var_t<uint32_t> checksum = lp_var_t<uint32_t>(sid.objectId, PoolIds::CHKSUM, this);
|
|
};
|
|
}
|
|
|
|
#endif /* MISSION_STARTRACKER_DEFINITIONS_H_ */
|