138 lines
5.0 KiB
C++
138 lines
5.0 KiB
C++
#ifndef MISSION_DEVICES_RWHANDLER_H_
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#define MISSION_DEVICES_RWHANDLER_H_
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include <fsfw_hal/common/gpio/gpioDefinitions.h>
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#include <mission/acs/rwHelpers.h>
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#include <string.h>
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#include "events/subsystemIdRanges.h"
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#include "returnvalues/classIds.h"
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static constexpr bool ACTUATION_WIRETAPPING = false;
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class GpioIF;
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/**
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* @brief This is the device handler for the reaction wheel from nano avionics.
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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/Nanoavionics_Reactionwheels&fileid=181622
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*
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* @note Values are transferred in little endian format.
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*
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* @author J. Meier
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*/
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class RwHandler : 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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RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, GpioIF* gpioComIF,
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gpioId_t enableGpio, uint8_t rwIdx);
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void setDebugMode(bool enable);
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virtual ~RwHandler();
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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, const uint8_t* commandData,
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size_t commandDataLen) override;
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ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
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size_t* foundLen) override;
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ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) 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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LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
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private:
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static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;
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//! [EXPORT] : [COMMENT] Action Message with invalid speed was received. Valid speeds must be in
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//! the range of [-65000; 1000] or [1000; 65000]
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static const ReturnValue_t INVALID_SPEED = MAKE_RETURN_CODE(0xA0);
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//! [EXPORT] : [COMMENT] Action Message with invalid ramp time was received.
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static const ReturnValue_t INVALID_RAMP_TIME = MAKE_RETURN_CODE(0xA1);
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//! [EXPORT] : [COMMENT] Received set speed command has invalid length. Should be 6.
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static const ReturnValue_t SET_SPEED_COMMAND_INVALID_LENGTH = MAKE_RETURN_CODE(0xA2);
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//! [EXPORT] : [COMMENT] Command execution failed
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static const ReturnValue_t EXECUTION_FAILED = MAKE_RETURN_CODE(0xA3);
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//! [EXPORT] : [COMMENT] Reaction wheel reply has invalid crc
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static const ReturnValue_t CRC_ERROR = MAKE_RETURN_CODE(0xA4);
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static const ReturnValue_t VALUE_NOT_READ = MAKE_RETURN_CODE(0xA5);
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GpioIF* gpioComIF = nullptr;
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gpioId_t enableGpio = gpio::NO_GPIO;
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bool debugMode = false;
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Countdown offTransitionCountdown = Countdown(5000);
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rws::RwRequest currentRequest;
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rws::StatusSet statusSet;
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rws::LastResetSatus lastResetStatusSet;
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rws::TmDataset tmDataset;
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rws::RwSpeedActuationSet rwSpeedActuationSet;
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uint8_t commandBuffer[32];
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uint8_t rwIdx;
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PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>({0});
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PoolEntry<uint16_t> rampTime = PoolEntry<uint16_t>({10});
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enum class InternalState { DEFAULT, GET_TM, INIT_RW_CONTROLLER, RESET_MCU, SHUTDOWN };
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enum class ShutdownState {
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NONE,
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SET_SPEED_ZERO,
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STOP_POLLING,
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DONE,
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} shutdownState = ShutdownState::NONE;
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InternalState internalState = InternalState::DEFAULT;
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/**
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* @brief This function checks if the receiced speed and ramp time to set are in a valid
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* range.
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* @return returnvalue::OK if successful, otherwise error code.
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*/
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ReturnValue_t checkSpeedAndRampTime();
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/**
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* @brief This function writes the last reset status retrieved with the get last reset status
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* command into the reset status dataset.
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*
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* @param packet Pointer to the buffer holding the reply data.
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*/
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void handleResetStatusReply(const uint8_t* packet);
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/**
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* @brief This function handles the reply of the get temperature command.
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*
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* @param packet Pointer to the reply data
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*/
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void handleTemperatureReply(const uint8_t* packet);
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/**
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* @brief This function fills the status set with the data from the get-status-reply.
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*/
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void handleGetRwStatusReply(const uint8_t* packet);
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/**
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* @brief This function fills the tmDataset with the reply data requested with get telemetry
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* command.
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*/
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void handleGetTelemetryReply(const uint8_t* packet);
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};
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#endif /* MISSION_DEVICES_RWHANDLER_H_ */
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