284 lines
9.7 KiB
C++
284 lines
9.7 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 <fsfw/src/fsfw/serialize/SerializeAdapter.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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#include <fsfw/datapool/PoolReadGuard.h>
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#include <bsp_q7s/devices/StrImageLoader.h>
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#include <bsp_q7s/devices/ArcsecDataLinkLayer.h>
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#include <fsfw/events/HasEventsIF.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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* @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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StrImageLoader* strImageLoader);
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virtual ~StarTrackerHandler();
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ReturnValue_t initialize() override;
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/**
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* @brief Overwrite this function from DHB to handle commands executed by the str image
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* loader task.
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*/
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ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) override;
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void performOperationHook() override;
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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(0xB1);
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//! [EXPORT] : [COMMENT] Image loader executing
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static const ReturnValue_t IMAGE_LOADER_EXECUTING = MAKE_RETURN_CODE(0xB2);
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HANDLER;
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//! [EXPORT] : [COMMENT] Status in temperature reply signals error
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static const ReturnValue_t TEMPERATURE_REQ_FAILED = MAKE_RETURN_CODE(0xA0);
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//! [EXPORT] : [COMMENT] Ping command failed
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static const ReturnValue_t PING_FAILED = MAKE_RETURN_CODE(0xA1);
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//! [EXPORT] : [COMMENT] Status in version reply signals error
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static const ReturnValue_t VERSION_REQ_FAILED = MAKE_RETURN_CODE(0xA3);
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//! [EXPORT] : [COMMENT] Status in interface reply signals error
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static const ReturnValue_t INTERFACE_REQ_FAILED = MAKE_RETURN_CODE(0xA4);
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//! [EXPORT] : [COMMENT] Status in power reply signals error
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static const ReturnValue_t POWER_REQ_FAILED = MAKE_RETURN_CODE(0xA5);
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//! [EXPORT] : [COMMENT] Status of reply to parameter set command signals error
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static const ReturnValue_t SET_PARAM_FAILED = MAKE_RETURN_CODE(0xA6);
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//! [EXPORT] : [COMMENT] Status of reply to action command signals error
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static const ReturnValue_t ACTION_FAILED = MAKE_RETURN_CODE(0xA7);
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//! [EXPORT] : [COMMENT] Received upload image command with invalid length
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static const ReturnValue_t UPLOAD_TOO_SHORT = MAKE_RETURN_CODE(0xA8);
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//! [EXPORT] : [COMMENT] Received upload image command with invalid position field
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static const ReturnValue_t UPLOAD_INVALID_POSITION = MAKE_RETURN_CODE(0xA8);
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//! [EXPORT] : [COMMENT] Position value in upload image reply not matching sent position
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static const ReturnValue_t UPLOAD_IMAGE_FAILED = MAKE_RETURN_CODE(0xA9);
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//! [EXPORT] : [COMMENT] Received upload image command with invalid length
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static const ReturnValue_t INVALID_UPLOAD_COMMAND = MAKE_RETURN_CODE(0xA9);
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// position (uint32) + 1024 image data
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static const size_t UPLOAD_COMMAND_LEN = 1028;
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// Max valid position value in upload image command
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static const uint16_t MAX_POSITION= 4095;
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static const uint8_t STATUS_OFFSET = 1;
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static const uint8_t TICKS_OFFSET = 2;
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static const uint8_t TIME_OFFSET = 6;
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static const uint8_t TM_DATA_FIELD_OFFSET = 14;
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static const uint8_t PARAMETER_ID_OFFSET = 0;
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static const uint8_t ACTION_ID_OFFSET = 0;
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static const uint8_t ACTION_DATA_OFFSET = 2;
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// Ping request will reply ping with this ID (data field)
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static const uint32_t PING_ID = 0x55;
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static const uint32_t BOOT_REGION_ID = 1;
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static const MutexIF::TimeoutType TIMEOUT_TYPE= MutexIF::TimeoutType::WAITING;
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static const uint32_t MUTEX_TIMEOUT = 20;
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// Pointer to object responsible for uploading and downloading images to/from the star tracker
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StrImageLoader* strImageLoader = nullptr;
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MessageQueueIF* eventQueue = nullptr;
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ArcsecDatalinkLayer dataLinkLayer;
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StarTracker::TemperatureSet temperatureSet;
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StarTracker::VersionSet versionSet;
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StarTracker::PowerSet powerSet;
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StarTracker::InterfaceSet interfaceSet;
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StarTracker::TimeSet timeSet;
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StarTracker::SolutionSet solutionSet;
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uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
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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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bool imageLoaderExecuting = false;
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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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ReturnValue_t scanForActionReply(DeviceCommandId_t *foundId);
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ReturnValue_t scanForSetParameterReply(DeviceCommandId_t *foundId);
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ReturnValue_t scanForTmReply(DeviceCommandId_t *foundId);
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/**
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* @brief Fills command buffer with data to ping the star tracker
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*/
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void preparePingRequest();
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/**
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* @brief Fills command buffer with data to request the time telemetry.
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*/
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void prepareTimeRequest();
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/**
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* @brief Fills command buffer with data to boot image (works only when star tracker is
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* in bootloader mode).
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*/
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void prepareBootCommand();
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/**
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* @brief Fills command buffer with data to request the version telemetry packet
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*/
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void prepareVersionRequest();
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/**
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* @brief Fills the command buffer with data to request the interface telemetry packet.
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*/
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void prepareInterfaceRequest();
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/**
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* @brief Fills the command buffer with data to request the power telemetry packet.
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*/
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void preparePowerRequest();
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/**
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* @brief Fills command buffer with data to reboot star tracker.
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*/
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void prepareRebootCommand();
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/**
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* @brief Fills command buffer with data to subscribe to a telemetry packet.
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*
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* @param tmId The ID of the telemetry packet to subscribe to
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*/
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void prepareSubscriptionCommand(const uint8_t* tmId);
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/**
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* @brief Fills command buffer with data to request solution telemtry packet (contains
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* attitude information)
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*/
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void prepareSolutionRequest();
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/**
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* @brief Fills command buffer with data to request temperature from star tracker
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*/
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void prepareTemperatureRequest();
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/**
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* @brief Default function to handle action replies
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*/
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ReturnValue_t handleActionReply();
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/**
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* @brief Handles all set parameter replies
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*/
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ReturnValue_t handleSetParamReply();
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ReturnValue_t handlePingReply();
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/**
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* @brief Fills the time set with the data of the time request reply.
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*/
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ReturnValue_t handleTimeTm();
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/**
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* @brief Handles reply data of solution request.
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*/
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ReturnValue_t handleSolutionTm();
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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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ReturnValue_t handleTemperatureTm();
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/**
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* @brief This function handles the telemetry reply of a version request.
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*/
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ReturnValue_t handleVersionTm();
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/**
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* @brief Handles reply to request interface telemetry command.
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*/
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ReturnValue_t handleInterfaceTm();
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/**
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* @brief Handles reply to request power telemetry command.
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*/
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ReturnValue_t handlePowerTm();
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/**
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* @brief Extracts the header data of a received telemetry frame
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*/
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void getTmHeaderData(uint8_t* status, uint32_t* ticks, uint64_t* time);
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/**
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* @brief This function deserializes 8 bytes into a 32 bit unsigned integer.
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*
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* @param buffer Pointer to buffer holding the data to deserialize
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*
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* @return The 32-bit unsigned integer.
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*
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* @note Deserialization will be performed in little endian byte order
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*/
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uint32_t deserializeUint32(const uint8_t* buffer);
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/**
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* @brief This function deserializes 8 bytes into a 64 bit unsigned integer.
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*
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* @param buffer Pointer to buffer holding the data to deserialize
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*
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* @return The 64-bit unsigned integer.
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*
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* @note Deserialization will be performed in little endian byte order
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*/
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uint64_t deserializeUint64(uint8_t* buffer);
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};
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#endif /* MISSION_DEVICES_STARTRACKERHANDLER_H_ */
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