Marius Eggert
c7bfe4002d
All checks were successful
EIVE/eive-obsw/pipeline/head This commit looks good
267 lines
9.7 KiB
C++
267 lines
9.7 KiB
C++
#ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_
|
|
#define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_
|
|
|
|
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
|
#include <fsfw/datapoollocal/localPoolDefinitions.h>
|
|
|
|
#include <cstdint>
|
|
|
|
namespace acsctrl {
|
|
|
|
enum SetIds : uint32_t {
|
|
MGM_SENSOR_DATA,
|
|
MGM_PROCESSED_DATA,
|
|
SUS_SENSOR_DATA,
|
|
SUS_PROCESSED_DATA,
|
|
GYR_SENSOR_DATA,
|
|
GYR_PROCESSED_DATA,
|
|
GPS_PROCESSED_DATA,
|
|
MEKF_DATA,
|
|
CTRL_VAL_DATA,
|
|
ACTUATOR_CMD_DATA
|
|
};
|
|
|
|
enum PoolIds : lp_id_t {
|
|
// MGM Raw
|
|
MGM_0_LIS3_UT,
|
|
MGM_1_RM3100_UT,
|
|
MGM_2_LIS3_UT,
|
|
MGM_3_RM3100_UT,
|
|
MGM_IMTQ_CAL_NT,
|
|
MGM_IMTQ_CAL_ACT_STATUS,
|
|
// MGM Processed
|
|
MGM_0_VEC,
|
|
MGM_1_VEC,
|
|
MGM_2_VEC,
|
|
MGM_3_VEC,
|
|
MGM_4_VEC,
|
|
MGM_VEC_TOT,
|
|
MGM_VEC_TOT_DERIVATIVE,
|
|
MAG_IGRF_MODEL,
|
|
// SUS Raw
|
|
SUS_0_N_LOC_XFYFZM_PT_XF,
|
|
SUS_6_R_LOC_XFYBZM_PT_XF,
|
|
|
|
SUS_1_N_LOC_XBYFZM_PT_XB,
|
|
SUS_7_R_LOC_XBYBZM_PT_XB,
|
|
|
|
SUS_2_N_LOC_XFYBZB_PT_YB,
|
|
SUS_8_R_LOC_XBYBZB_PT_YB,
|
|
|
|
SUS_3_N_LOC_XFYBZF_PT_YF,
|
|
SUS_9_R_LOC_XBYBZB_PT_YF,
|
|
|
|
SUS_4_N_LOC_XMYFZF_PT_ZF,
|
|
SUS_10_N_LOC_XMYBZF_PT_ZF,
|
|
|
|
SUS_5_N_LOC_XFYMZB_PT_ZB,
|
|
SUS_11_R_LOC_XBYMZB_PT_ZB,
|
|
// SUS Processed
|
|
SUS_0_VEC,
|
|
SUS_1_VEC,
|
|
SUS_2_VEC,
|
|
SUS_3_VEC,
|
|
SUS_4_VEC,
|
|
SUS_5_VEC,
|
|
SUS_6_VEC,
|
|
SUS_7_VEC,
|
|
SUS_8_VEC,
|
|
SUS_9_VEC,
|
|
SUS_10_VEC,
|
|
SUS_11_VEC,
|
|
SUS_VEC_TOT,
|
|
SUS_VEC_TOT_DERIVATIVE,
|
|
SUN_IJK_MODEL,
|
|
// GYR Raw
|
|
GYR_0_ADIS,
|
|
GYR_1_L3,
|
|
GYR_2_ADIS,
|
|
GYR_3_L3,
|
|
// GYR Processed
|
|
GYR_0_VEC,
|
|
GYR_1_VEC,
|
|
GYR_2_VEC,
|
|
GYR_3_VEC,
|
|
GYR_VEC_TOT,
|
|
// GPS Processed
|
|
GC_LATITUDE,
|
|
GD_LONGITUDE,
|
|
// MEKF
|
|
SAT_ROT_RATE_MEKF,
|
|
QUAT_MEKF,
|
|
// Ctrl Values
|
|
TGT_QUAT,
|
|
ERROR_QUAT,
|
|
ERROR_ANG,
|
|
// Actuator Cmd
|
|
RW_TARGET_TORQUE,
|
|
RW_TARGET_SPEED,
|
|
MTQ_TARGET_DIPOLE,
|
|
};
|
|
|
|
static constexpr uint8_t MGM_SET_RAW_ENTRIES = 10;
|
|
static constexpr uint8_t MGM_SET_PROCESSED_ENTRIES = 8;
|
|
static constexpr uint8_t SUS_SET_RAW_ENTRIES = 12;
|
|
static constexpr uint8_t SUS_SET_PROCESSED_ENTRIES = 15;
|
|
static constexpr uint8_t GYR_SET_RAW_ENTRIES = 4;
|
|
static constexpr uint8_t GYR_SET_PROCESSED_ENTRIES = 5;
|
|
static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 2;
|
|
static constexpr uint8_t MEKF_SET_ENTRIES = 2;
|
|
static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 3;
|
|
static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
|
|
|
|
/**
|
|
* @brief Raw MGM sensor data. Includes the IMTQ sensor data and actuator status.
|
|
*/
|
|
class MgmDataRaw : public StaticLocalDataSet<MGM_SET_RAW_ENTRIES> {
|
|
public:
|
|
MgmDataRaw(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_SENSOR_DATA) {}
|
|
|
|
// The ACS board measurement are in floating point uT
|
|
lp_vec_t<float, 3> mgm0Lis3 = lp_vec_t<float, 3>(sid.objectId, MGM_0_LIS3_UT, this);
|
|
lp_vec_t<float, 3> mgm1Rm3100 = lp_vec_t<float, 3>(sid.objectId, MGM_1_RM3100_UT, this);
|
|
lp_vec_t<float, 3> mgm2Lis3 = lp_vec_t<float, 3>(sid.objectId, MGM_2_LIS3_UT, this);
|
|
lp_vec_t<float, 3> mgm3Rm3100 = lp_vec_t<float, 3>(sid.objectId, MGM_3_RM3100_UT, this);
|
|
// The IMTQ measurements are in integer nT
|
|
lp_vec_t<float, 3> imtqRaw = lp_vec_t<float, 3>(sid.objectId, MGM_IMTQ_CAL_NT, this);
|
|
lp_var_t<uint8_t> actuationCalStatus =
|
|
lp_var_t<uint8_t>(sid.objectId, MGM_IMTQ_CAL_ACT_STATUS, this);
|
|
|
|
private:
|
|
};
|
|
|
|
class MgmDataProcessed : public StaticLocalDataSet<MGM_SET_PROCESSED_ENTRIES> {
|
|
public:
|
|
MgmDataProcessed(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_PROCESSED_DATA) {}
|
|
|
|
lp_vec_t<float, 3> mgm0vec = lp_vec_t<float, 3>(sid.objectId, MGM_0_VEC, this);
|
|
lp_vec_t<float, 3> mgm1vec = lp_vec_t<float, 3>(sid.objectId, MGM_1_VEC, this);
|
|
lp_vec_t<float, 3> mgm2vec = lp_vec_t<float, 3>(sid.objectId, MGM_2_VEC, this);
|
|
lp_vec_t<float, 3> mgm3vec = lp_vec_t<float, 3>(sid.objectId, MGM_3_VEC, this);
|
|
lp_vec_t<float, 3> mgm4vec = lp_vec_t<float, 3>(sid.objectId, MGM_4_VEC, this);
|
|
lp_vec_t<double, 3> mgmVecTot = lp_vec_t<double, 3>(sid.objectId, MGM_VEC_TOT, this);
|
|
lp_vec_t<double, 3> mgmVecTotDerivative =
|
|
lp_vec_t<double, 3>(sid.objectId, MGM_VEC_TOT_DERIVATIVE, this);
|
|
lp_vec_t<double, 3> magIgrfModel = lp_vec_t<double, 3>(sid.objectId, MAG_IGRF_MODEL, this);
|
|
|
|
private:
|
|
};
|
|
|
|
class SusDataRaw : public StaticLocalDataSet<SUS_SET_RAW_ENTRIES> {
|
|
public:
|
|
SusDataRaw(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, SUS_SENSOR_DATA) {}
|
|
|
|
lp_vec_t<uint16_t, 6> sus0 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_0_N_LOC_XFYFZM_PT_XF, this);
|
|
lp_vec_t<uint16_t, 6> sus1 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_1_N_LOC_XBYFZM_PT_XB, this);
|
|
lp_vec_t<uint16_t, 6> sus2 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_2_N_LOC_XFYBZB_PT_YB, this);
|
|
lp_vec_t<uint16_t, 6> sus3 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_3_N_LOC_XFYBZF_PT_YF, this);
|
|
lp_vec_t<uint16_t, 6> sus4 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_4_N_LOC_XMYFZF_PT_ZF, this);
|
|
lp_vec_t<uint16_t, 6> sus5 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_5_N_LOC_XFYMZB_PT_ZB, this);
|
|
lp_vec_t<uint16_t, 6> sus6 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_6_R_LOC_XFYBZM_PT_XF, this);
|
|
lp_vec_t<uint16_t, 6> sus7 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_7_R_LOC_XBYBZM_PT_XB, this);
|
|
lp_vec_t<uint16_t, 6> sus8 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_8_R_LOC_XBYBZB_PT_YB, this);
|
|
lp_vec_t<uint16_t, 6> sus9 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_9_R_LOC_XBYBZB_PT_YF, this);
|
|
lp_vec_t<uint16_t, 6> sus10 =
|
|
lp_vec_t<uint16_t, 6>(sid.objectId, SUS_10_N_LOC_XMYBZF_PT_ZF, this);
|
|
lp_vec_t<uint16_t, 6> sus11 =
|
|
lp_vec_t<uint16_t, 6>(sid.objectId, SUS_11_R_LOC_XBYMZB_PT_ZB, this);
|
|
|
|
private:
|
|
};
|
|
|
|
class SusDataProcessed : public StaticLocalDataSet<SUS_SET_PROCESSED_ENTRIES> {
|
|
public:
|
|
SusDataProcessed(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, SUS_PROCESSED_DATA) {}
|
|
|
|
lp_vec_t<float, 3> sus0vec = lp_vec_t<float, 3>(sid.objectId, SUS_0_VEC, this);
|
|
lp_vec_t<float, 3> sus1vec = lp_vec_t<float, 3>(sid.objectId, SUS_1_VEC, this);
|
|
lp_vec_t<float, 3> sus2vec = lp_vec_t<float, 3>(sid.objectId, SUS_2_VEC, this);
|
|
lp_vec_t<float, 3> sus3vec = lp_vec_t<float, 3>(sid.objectId, SUS_3_VEC, this);
|
|
lp_vec_t<float, 3> sus4vec = lp_vec_t<float, 3>(sid.objectId, SUS_4_VEC, this);
|
|
lp_vec_t<float, 3> sus5vec = lp_vec_t<float, 3>(sid.objectId, SUS_5_VEC, this);
|
|
lp_vec_t<float, 3> sus6vec = lp_vec_t<float, 3>(sid.objectId, SUS_6_VEC, this);
|
|
lp_vec_t<float, 3> sus7vec = lp_vec_t<float, 3>(sid.objectId, SUS_7_VEC, this);
|
|
lp_vec_t<float, 3> sus8vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
|
|
lp_vec_t<float, 3> sus9vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
|
|
lp_vec_t<float, 3> sus10vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
|
|
lp_vec_t<float, 3> sus11vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
|
|
lp_vec_t<double, 3> susVecTot = lp_vec_t<double, 3>(sid.objectId, SUS_VEC_TOT, this);
|
|
lp_vec_t<double, 3> susVecTotDerivative =
|
|
lp_vec_t<double, 3>(sid.objectId, SUS_VEC_TOT_DERIVATIVE, this);
|
|
lp_vec_t<double, 3> sunIjkModel = lp_vec_t<double, 3>(sid.objectId, SUN_IJK_MODEL, this);
|
|
|
|
private:
|
|
};
|
|
|
|
class GyrDataRaw : public StaticLocalDataSet<GYR_SET_RAW_ENTRIES> {
|
|
public:
|
|
GyrDataRaw(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, GYR_SENSOR_DATA) {}
|
|
|
|
lp_vec_t<double, 3> gyr0Adis = lp_vec_t<double, 3>(sid.objectId, GYR_0_ADIS, this);
|
|
lp_vec_t<float, 3> gyr1L3 = lp_vec_t<float, 3>(sid.objectId, GYR_1_L3, this);
|
|
lp_vec_t<double, 3> gyr2Adis = lp_vec_t<double, 3>(sid.objectId, GYR_2_ADIS, this);
|
|
lp_vec_t<float, 3> gyr3L3 = lp_vec_t<float, 3>(sid.objectId, GYR_3_L3, this);
|
|
|
|
private:
|
|
};
|
|
|
|
class GyrDataProcessed : public StaticLocalDataSet<GYR_SET_PROCESSED_ENTRIES> {
|
|
public:
|
|
GyrDataProcessed(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, GYR_PROCESSED_DATA) {}
|
|
|
|
lp_vec_t<double, 3> gyr0vec = lp_vec_t<double, 3>(sid.objectId, GYR_0_VEC, this);
|
|
lp_vec_t<double, 3> gyr1vec = lp_vec_t<double, 3>(sid.objectId, GYR_1_VEC, this);
|
|
lp_vec_t<double, 3> gyr2vec = lp_vec_t<double, 3>(sid.objectId, GYR_2_VEC, this);
|
|
lp_vec_t<double, 3> gyr3vec = lp_vec_t<double, 3>(sid.objectId, GYR_3_VEC, this);
|
|
lp_vec_t<double, 3> gyrVecTot = lp_vec_t<double, 3>(sid.objectId, GYR_VEC_TOT, this);
|
|
|
|
private:
|
|
};
|
|
|
|
class GpsDataProcessed : public StaticLocalDataSet<GPS_SET_PROCESSED_ENTRIES> {
|
|
public:
|
|
GpsDataProcessed(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, GPS_PROCESSED_DATA) {}
|
|
|
|
lp_var_t<double> gcLatitude = lp_var_t<double>(sid.objectId, GC_LATITUDE, this);
|
|
lp_var_t<double> gdLongitude = lp_var_t<double>(sid.objectId, GD_LONGITUDE, this);
|
|
|
|
private:
|
|
};
|
|
|
|
class MekfData : public StaticLocalDataSet<MEKF_SET_ENTRIES> {
|
|
public:
|
|
MekfData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MEKF_DATA) {}
|
|
|
|
lp_vec_t<double, 4> quatMekf = lp_vec_t<double, 4>(sid.objectId, QUAT_MEKF, this);
|
|
lp_vec_t<double, 3> satRotRateMekf = lp_vec_t<double, 3>(sid.objectId, SAT_ROT_RATE_MEKF, this);
|
|
|
|
private:
|
|
};
|
|
|
|
class CtrlValData : public StaticLocalDataSet<CTRL_VAL_SET_ENTRIES> {
|
|
public:
|
|
CtrlValData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, CTRL_VAL_DATA) {}
|
|
|
|
lp_vec_t<double, 4> tgtQuat = lp_vec_t<double, 4>(sid.objectId, TGT_QUAT, this);
|
|
lp_vec_t<double, 4> errQuat = lp_vec_t<double, 4>(sid.objectId, ERROR_QUAT, this);
|
|
lp_var_t<double> errAng = lp_var_t<double>(sid.objectId, ERROR_ANG, this);
|
|
|
|
private:
|
|
};
|
|
|
|
class ActuatorCmdData : public StaticLocalDataSet<ACT_CMD_SET_ENTRIES> {
|
|
public:
|
|
ActuatorCmdData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, ACTUATOR_CMD_DATA) {}
|
|
|
|
lp_vec_t<double, 4> rwTargetTorque = lp_vec_t<double, 4>(sid.objectId, RW_TARGET_TORQUE, this);
|
|
lp_vec_t<int32_t, 4> rwTargetSpeed = lp_vec_t<int32_t, 4>(sid.objectId, RW_TARGET_SPEED, this);
|
|
lp_vec_t<int16_t, 3> mtqTargetDipole =
|
|
lp_vec_t<int16_t, 3>(sid.objectId, MTQ_TARGET_DIPOLE, this);
|
|
|
|
private:
|
|
};
|
|
|
|
} // namespace acsctrl
|
|
|
|
#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_ */
|