467 lines
18 KiB
C++
467 lines
18 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 "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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};
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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 REBOOT = 7;
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static const DeviceCommandId_t REQ_POWER = 11;
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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 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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/** 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 = 12;
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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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// 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 REBOOT = 7;
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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 TIME = 1;
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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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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->mcuTemperature << " °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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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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};
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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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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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lp_var_t<uint32_t> setParamCount = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::SET_PARAM_COUNT, this);
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lp_var_t<uint32_t> setParamReplyCount = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::SET_PARAM_REPLY_COUNT, this);
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lp_var_t<uint32_t> paramRequestCount = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::PARAM_REQUEST_COUNT, this);
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lp_var_t<uint32_t> paramReplyCount = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::PARAM_REPLY_COUNT, this);
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lp_var_t<uint32_t> reqTmCount = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::REQ_TM_COUNT, this);
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lp_var_t<uint32_t> tmReplyCount = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::TM_REPLY_COUNT, this);
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lp_var_t<uint32_t> actionReqCount = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::ACTION_REQ_COUNT, this);
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lp_var_t<uint32_t> actionReplyCount = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::ACTION_REPLY_COUNT, this);
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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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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);
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lp_var_t<float> cmvResCurrent = lp_var_t<float>(sid.objectId,
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PoolIds::CMV_RES_CURRENT, this);
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lp_var_t<float> cmvResVoltage = lp_var_t<float>(sid.objectId,
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PoolIds::CMV_RES_VOLTAGE, this);
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};
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/**
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* @brief Data set to store the time telemetry packet.
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*/
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class TimeSet:
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public StaticLocalDataSet<TIME_SET_ENTRIES> {
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public:
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TimeSet(HasLocalDataPoolIF* owner):
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StaticLocalDataSet(owner, TIME_SET_ID) {
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}
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TimeSet(object_id_t objectId):
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StaticLocalDataSet(sid_t(objectId, TIME_SET_ID)) {
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}
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lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::TICKS_TIME_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_TIME_SET, this);
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// Number of milliseconds since processor start-up
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lp_var_t<uint32_t> runTime = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::RUN_TIME, this);
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// Unix time in seconds?? --> maybe typo in datasheet. Seems to be microseconds
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lp_var_t<uint64_t> unixTime = lp_var_t<uint64_t>(sid.objectId,
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PoolIds::UNIX_TIME, this);
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void printSet() {
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PoolReadGuard rg(this);
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sif::info << "TimeSet::printSet: Ticks: "
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<< this->ticks << std::endl;
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sif::info << "TimeSet::printSet: Time (time stamp): "
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<< this->time << " us" << std::endl;
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sif::info << "TimeSet::printSet: Run Time: "
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<< this->runTime << " ms" << std::endl;
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sif::info << "TimeSet::printSet: Unix Time: "
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<< this->unixTime << " s" << std::endl;
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}
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};
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/**
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* @brief The solution dataset is the main dataset of the star tracker and contains the
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* attitude information.
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*/
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class SolutionSet:
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public StaticLocalDataSet<SOLUTION_SET_ENTRIES> {
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public:
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SolutionSet(HasLocalDataPoolIF* owner):
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StaticLocalDataSet(owner, SOLUTION_SET_ID) {
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}
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SolutionSet(object_id_t objectId):
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StaticLocalDataSet(sid_t(objectId, SOLUTION_SET_ID)) {
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}
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// Ticks timestamp
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lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::TICKS_SOLUTION_SET, this);
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/// Unix time stamp
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lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId,
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PoolIds::TIME_SOLUTION_SET, this);
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// Calibrated quaternion (takes into account the mounting quaternion), typically same as
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// track q values
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lp_var_t<float> caliQw = lp_var_t<float>(sid.objectId,
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PoolIds::CALI_QW, this);
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lp_var_t<float> caliQx = lp_var_t<float>(sid.objectId,
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PoolIds::CALI_QX, this);
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lp_var_t<float> caliQy = lp_var_t<float>(sid.objectId,
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PoolIds::CALI_QY, this);
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lp_var_t<float> caliQz = lp_var_t<float>(sid.objectId,
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PoolIds::CALI_QZ, this);
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// The lower this value the more confidence that the star tracker solution is correct
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lp_var_t<float> trackConfidence = lp_var_t<float>(sid.objectId,
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PoolIds::TRACK_CONFIDENCE, this);
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// Estimated attitude of spacecraft
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lp_var_t<float> trackQw = lp_var_t<float>(sid.objectId,
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PoolIds::TRACK_QW, this);
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lp_var_t<float> trackQx = lp_var_t<float>(sid.objectId,
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PoolIds::TRACK_QX, this);
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lp_var_t<float> trackQy = lp_var_t<float>(sid.objectId,
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PoolIds::TRACK_QY, this);
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lp_var_t<float> trackQz = lp_var_t<float>(sid.objectId,
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PoolIds::TRACK_QZ, this);
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// Number of stars removed from tracking solution
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lp_var_t<uint8_t> trackRemoved = lp_var_t<uint8_t>(sid.objectId,
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PoolIds::TRACK_REMOVED, this);
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// Number of stars for which a valid centroid was found
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lp_var_t<uint8_t> starsCentroided = lp_var_t<uint8_t>(sid.objectId,
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PoolIds::STARS_CENTROIDED, this);
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// Number of stars that matched to a database star
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lp_var_t<uint8_t> starsMatchedDatabase = lp_var_t<uint8_t>(sid.objectId,
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PoolIds::STARS_MATCHED_DATABASE, this);
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// Result of LISA (lost in space algorithm), searches for stars without prior knowledge of
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// attitude
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lp_var_t<float> lisaQw = lp_var_t<float>(sid.objectId,
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PoolIds::LISA_QW, this);
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lp_var_t<float> lisaQx = lp_var_t<float>(sid.objectId,
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PoolIds::LISA_QX, this);
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lp_var_t<float> lisaQy = lp_var_t<float>(sid.objectId,
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PoolIds::LISA_QY, this);
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lp_var_t<float> lisaQz = lp_var_t<float>(sid.objectId,
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PoolIds::LISA_QZ, this);
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// Percentage of close stars in LISA solution
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lp_var_t<float> lisaPercentageClose = lp_var_t<float>(sid.objectId,
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PoolIds::LISA_PERC_CLOSE, this);
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// Number of close stars in LISA solution
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lp_var_t<uint8_t> lisaNrClose = lp_var_t<uint8_t>(sid.objectId,
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PoolIds::LISA_NR_CLOSE, this);
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// Gives a combined overview of the validation parameters (1 for valid solution, otherwise 0)
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lp_var_t<uint8_t> isTrustWorthy = lp_var_t<uint8_t>(sid.objectId,
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PoolIds::TRUST_WORTHY, this);
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// Number of times the validation criteria was met
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lp_var_t<uint32_t> stableCount = lp_var_t<uint32_t>(sid.objectId,
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PoolIds::STABLE_COUNT, this);
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// Shows the autonomous mode used to obtain the star tracker attitude
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lp_var_t<uint8_t> solutionStrategy = lp_var_t<uint8_t>(sid.objectId,
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PoolIds::SOLUTION_STRATEGY, this);
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void printSet() {
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PoolReadGuard rg(this);
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sif::info << "SolutionSet::printSet: Ticks: "
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<< this->ticks << std::endl;
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sif::info << "SolutionSet::printSet: Time: "
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<< this->time << std::endl;
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sif::info << "SolutionSet::printSet: Calibrated quaternion Qw: "
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<< this->caliQw << std::endl;
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sif::info << "SolutionSet::printSet: Calibrated quaternion Qx: "
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<< this->caliQx << std::endl;
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sif::info << "SolutionSet::printSet: Calibrated quaternion Qy: "
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<< this->caliQy << std::endl;
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sif::info << "SolutionSet::printSet: Calibrated quaternion Qz: "
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<< this->caliQz << std::endl;
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sif::info << "SolutionSet::printSet: Track confidence: "
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<< this->trackConfidence << std::endl;
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sif::info << "SolutionSet::printSet: Track Qw: "
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<< this->trackQw << std::endl;
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sif::info << "SolutionSet::printSet: Track Qx: "
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<< this->trackQx << std::endl;
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sif::info << "SolutionSet::printSet: Track Qy: "
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<< this->trackQy << std::endl;
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sif::info << "SolutionSet::printSet: Track Qz: "
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<< this->trackQz << std::endl;
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sif::info << "SolutionSet::printSet: Track removed: "
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<< static_cast<uint8_t>(this->trackRemoved) << std::endl;
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sif::info << "SolutionSet::printSet: Number of stars centroided: "
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<< static_cast<uint8_t>(this->starsCentroided) << std::endl;
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sif::info << "SolutionSet::printSet: Number of stars matched database: "
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<< static_cast<uint8_t>(this->starsMatchedDatabase) << std::endl;
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sif::info << "SolutionSet::printSet: LISA Qw: "
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<< this->lisaQw << std::endl;
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sif::info << "SolutionSet::printSet: LISA Qx: "
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<< this->lisaQx << std::endl;
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sif::info << "SolutionSet::printSet: LISA Qy: "
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<< this->lisaQy << std::endl;
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sif::info << "SolutionSet::printSet: LISA Qz: "
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<< this->lisaQz << std::endl;
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sif::info << "SolutionSet::printSet: LISA Percentage close: "
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<< this->lisaPercentageClose << std::endl;
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sif::info << "SolutionSet::printSet: LISA number of close stars: "
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<< static_cast<uint8_t>(this->lisaNrClose) << std::endl;
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sif::info << "SolutionSet::printSet: Is trust worthy: "
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<< static_cast<uint8_t>(this->isTrustWorthy) << std::endl;
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sif::info << "SolutionSet::printSet: Stable count: "
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<< this->stableCount << std::endl;
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sif::info << "SolutionSet::printSet: Solution strategy: "
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<< static_cast<uint8_t>(this->solutionStrategy) << std::endl;
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}
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};
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}
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#endif /* MISSION_STARTRACKER_DEFINITIONS_H_ */
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