521 lines
24 KiB
C++
521 lines
24 KiB
C++
#include "RwHandler.h"
|
|
|
|
#include <fsfw/datapool/PoolReadGuard.h>
|
|
#include <fsfw/globalfunctions/CRC.h>
|
|
|
|
#include "OBSWConfig.h"
|
|
|
|
RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
|
|
LinuxLibgpioIF* gpioComIF, gpioId_t enableGpio)
|
|
: DeviceHandlerBase(objectId, comIF, comCookie),
|
|
gpioComIF(gpioComIF),
|
|
enableGpio(enableGpio),
|
|
temperatureSet(this),
|
|
statusSet(this),
|
|
lastResetStatusSet(this),
|
|
tmDataset(this) {
|
|
if (comCookie == NULL) {
|
|
sif::error << "RwHandler: Invalid com cookie" << std::endl;
|
|
}
|
|
if (gpioComIF == NULL) {
|
|
sif::error << "RwHandler: Invalid gpio communication interface" << std::endl;
|
|
}
|
|
}
|
|
|
|
RwHandler::~RwHandler() {}
|
|
|
|
void RwHandler::doStartUp() {
|
|
internalState = InternalState::GET_RESET_STATUS;
|
|
|
|
if (gpioComIF->pullHigh(enableGpio) != RETURN_OK) {
|
|
sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to high";
|
|
}
|
|
setMode(_MODE_TO_ON);
|
|
}
|
|
|
|
void RwHandler::doShutDown() {
|
|
if (gpioComIF->pullLow(enableGpio) != RETURN_OK) {
|
|
sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to low";
|
|
}
|
|
setMode(_MODE_POWER_DOWN);
|
|
}
|
|
|
|
ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
|
|
switch (internalState) {
|
|
case InternalState::GET_RESET_STATUS:
|
|
*id = RwDefinitions::GET_LAST_RESET_STATUS;
|
|
internalState = InternalState::READ_TEMPERATURE;
|
|
break;
|
|
case InternalState::CLEAR_RESET_STATUS:
|
|
*id = RwDefinitions::CLEAR_LAST_RESET_STATUS;
|
|
/** After reset status is cleared, reset status will be polled again for verification */
|
|
internalState = InternalState::GET_RESET_STATUS;
|
|
break;
|
|
case InternalState::READ_TEMPERATURE:
|
|
*id = RwDefinitions::GET_TEMPERATURE;
|
|
internalState = InternalState::GET_RW_SATUS;
|
|
break;
|
|
case InternalState::GET_RW_SATUS:
|
|
*id = RwDefinitions::GET_RW_STATUS;
|
|
internalState = InternalState::GET_RESET_STATUS;
|
|
break;
|
|
default:
|
|
sif::debug << "RwHandler::buildNormalDeviceCommand: Invalid internal step" << std::endl;
|
|
break;
|
|
}
|
|
return buildCommandFromCommand(*id, NULL, 0);
|
|
}
|
|
|
|
ReturnValue_t RwHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
|
|
return NOTHING_TO_SEND;
|
|
}
|
|
|
|
ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
|
|
const uint8_t* commandData,
|
|
size_t commandDataLen) {
|
|
ReturnValue_t result = RETURN_OK;
|
|
|
|
switch (deviceCommand) {
|
|
case (RwDefinitions::RESET_MCU): {
|
|
prepareSimpleCommand(deviceCommand);
|
|
return RETURN_OK;
|
|
}
|
|
case (RwDefinitions::GET_LAST_RESET_STATUS): {
|
|
prepareSimpleCommand(deviceCommand);
|
|
return RETURN_OK;
|
|
}
|
|
case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
|
|
prepareSimpleCommand(deviceCommand);
|
|
return RETURN_OK;
|
|
}
|
|
case (RwDefinitions::GET_RW_STATUS): {
|
|
prepareSimpleCommand(deviceCommand);
|
|
return RETURN_OK;
|
|
}
|
|
case (RwDefinitions::INIT_RW_CONTROLLER): {
|
|
prepareSimpleCommand(deviceCommand);
|
|
return RETURN_OK;
|
|
}
|
|
case (RwDefinitions::SET_SPEED): {
|
|
if (commandDataLen != 6) {
|
|
sif::error << "RwHandler::buildCommandFromCommand: Received set speed command with"
|
|
<< " invalid length" << std::endl;
|
|
return SET_SPEED_COMMAND_INVALID_LENGTH;
|
|
}
|
|
result = checkSpeedAndRampTime(commandData, commandDataLen);
|
|
if (result != RETURN_OK) {
|
|
return result;
|
|
}
|
|
prepareSetSpeedCmd(commandData, commandDataLen);
|
|
return result;
|
|
}
|
|
case (RwDefinitions::GET_TEMPERATURE): {
|
|
prepareSimpleCommand(deviceCommand);
|
|
return RETURN_OK;
|
|
}
|
|
case (RwDefinitions::GET_TM): {
|
|
prepareSimpleCommand(deviceCommand);
|
|
return RETURN_OK;
|
|
}
|
|
default:
|
|
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
|
}
|
|
return HasReturnvaluesIF::RETURN_FAILED;
|
|
}
|
|
|
|
void RwHandler::fillCommandAndReplyMap() {
|
|
this->insertInCommandMap(RwDefinitions::RESET_MCU);
|
|
this->insertInCommandAndReplyMap(RwDefinitions::GET_LAST_RESET_STATUS, 1, &lastResetStatusSet,
|
|
RwDefinitions::SIZE_GET_RESET_STATUS);
|
|
this->insertInCommandAndReplyMap(RwDefinitions::CLEAR_LAST_RESET_STATUS, 1, nullptr,
|
|
RwDefinitions::SIZE_CLEAR_RESET_STATUS);
|
|
this->insertInCommandAndReplyMap(RwDefinitions::GET_RW_STATUS, 1, &statusSet,
|
|
RwDefinitions::SIZE_GET_RW_STATUS);
|
|
this->insertInCommandAndReplyMap(RwDefinitions::INIT_RW_CONTROLLER, 1, nullptr,
|
|
RwDefinitions::SIZE_INIT_RW);
|
|
this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, &temperatureSet,
|
|
RwDefinitions::SIZE_GET_TEMPERATURE_REPLY);
|
|
this->insertInCommandAndReplyMap(RwDefinitions::SET_SPEED, 1, nullptr,
|
|
RwDefinitions::SIZE_SET_SPEED_REPLY);
|
|
this->insertInCommandAndReplyMap(RwDefinitions::GET_TM, 1, &tmDataset,
|
|
RwDefinitions::SIZE_GET_TELEMETRY_REPLY);
|
|
}
|
|
|
|
ReturnValue_t RwHandler::scanForReply(const uint8_t* start, size_t remainingSize,
|
|
DeviceCommandId_t* foundId, size_t* foundLen) {
|
|
uint8_t replyByte = *start;
|
|
switch (replyByte) {
|
|
case (RwDefinitions::GET_LAST_RESET_STATUS): {
|
|
*foundLen = RwDefinitions::SIZE_GET_RESET_STATUS;
|
|
*foundId = RwDefinitions::GET_LAST_RESET_STATUS;
|
|
break;
|
|
}
|
|
case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
|
|
*foundLen = RwDefinitions::SIZE_CLEAR_RESET_STATUS;
|
|
*foundId = RwDefinitions::CLEAR_LAST_RESET_STATUS;
|
|
break;
|
|
}
|
|
case (RwDefinitions::GET_RW_STATUS): {
|
|
*foundLen = RwDefinitions::SIZE_GET_RW_STATUS;
|
|
*foundId = RwDefinitions::GET_RW_STATUS;
|
|
break;
|
|
}
|
|
case (RwDefinitions::INIT_RW_CONTROLLER): {
|
|
*foundLen = RwDefinitions::SIZE_INIT_RW;
|
|
*foundId = RwDefinitions::INIT_RW_CONTROLLER;
|
|
break;
|
|
}
|
|
case (RwDefinitions::SET_SPEED): {
|
|
*foundLen = RwDefinitions::SIZE_SET_SPEED_REPLY;
|
|
*foundId = RwDefinitions::SET_SPEED;
|
|
break;
|
|
}
|
|
case (RwDefinitions::GET_TEMPERATURE): {
|
|
*foundLen = RwDefinitions::SIZE_GET_TEMPERATURE_REPLY;
|
|
*foundId = RwDefinitions::GET_TEMPERATURE;
|
|
break;
|
|
}
|
|
case (RwDefinitions::GET_TM): {
|
|
*foundLen = RwDefinitions::SIZE_GET_TELEMETRY_REPLY;
|
|
*foundId = RwDefinitions::GET_TM;
|
|
break;
|
|
}
|
|
default: {
|
|
sif::warning << "RwHandler::scanForReply: Reply contains invalid command code" << std::endl;
|
|
*foundLen = remainingSize;
|
|
return RETURN_FAILED;
|
|
}
|
|
}
|
|
|
|
sizeOfReply = *foundLen;
|
|
|
|
return RETURN_OK;
|
|
}
|
|
|
|
ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
|
|
/** Check result code */
|
|
if (*(packet + 1) == RwDefinitions::STATE_ERROR) {
|
|
sif::error << "RwHandler::interpretDeviceReply: Command execution failed. Command id: " << id
|
|
<< std::endl;
|
|
return EXECUTION_FAILED;
|
|
}
|
|
|
|
/** Received in little endian byte order */
|
|
uint16_t replyCrc = *(packet + sizeOfReply - 1) << 8 | *(packet + sizeOfReply - 2);
|
|
|
|
if (CRC::crc16ccitt(packet, sizeOfReply - 2, 0xFFFF) != replyCrc) {
|
|
sif::error << "RwHandler::interpretDeviceReply: cRC error" << std::endl;
|
|
return CRC_ERROR;
|
|
}
|
|
|
|
switch (id) {
|
|
case (RwDefinitions::GET_LAST_RESET_STATUS): {
|
|
handleResetStatusReply(packet);
|
|
break;
|
|
}
|
|
case (RwDefinitions::GET_RW_STATUS): {
|
|
handleGetRwStatusReply(packet);
|
|
break;
|
|
}
|
|
case (RwDefinitions::CLEAR_LAST_RESET_STATUS):
|
|
case (RwDefinitions::INIT_RW_CONTROLLER):
|
|
case (RwDefinitions::SET_SPEED):
|
|
// no reply data expected
|
|
break;
|
|
case (RwDefinitions::GET_TEMPERATURE): {
|
|
handleTemperatureReply(packet);
|
|
break;
|
|
}
|
|
case (RwDefinitions::GET_TM): {
|
|
handleGetTelemetryReply(packet);
|
|
break;
|
|
}
|
|
default: {
|
|
sif::debug << "RwHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
|
|
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
|
|
}
|
|
}
|
|
|
|
return RETURN_OK;
|
|
}
|
|
|
|
void RwHandler::setNormalDatapoolEntriesInvalid() {}
|
|
|
|
uint32_t RwHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; }
|
|
|
|
ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
|
LocalDataPoolManager& poolManager) {
|
|
localDataPoolMap.emplace(RwDefinitions::TEMPERATURE_C, new PoolEntry<int32_t>({0}));
|
|
|
|
localDataPoolMap.emplace(RwDefinitions::CURR_SPEED, new PoolEntry<int32_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::REFERENCE_SPEED, new PoolEntry<int32_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::STATE, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::CLC_MODE, new PoolEntry<uint8_t>({0}));
|
|
|
|
localDataPoolMap.emplace(RwDefinitions::LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>({0}));
|
|
|
|
localDataPoolMap.emplace(RwDefinitions::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::PRESSURE_SENSOR_TEMPERATURE, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::PRESSURE, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::TM_RW_STATE, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::TM_CLC_MODE, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::TM_RW_CURR_SPEED, new PoolEntry<int32_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::TM_RW_REF_SPEED, new PoolEntry<int32_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::EXECUTED_REPLIES, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::COMMAND_REPLIES, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::UART_BYTES_READ, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::UART_PARITY_ERRORS, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::UART_NOISE_ERRORS, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::UART_FRAME_ERRORS, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(RwDefinitions::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
|
|
poolManager.subscribeForPeriodicPacket(temperatureSet.getSid(), false, 30.0, false);
|
|
poolManager.subscribeForPeriodicPacket(statusSet.getSid(), false, 5.0, true);
|
|
poolManager.subscribeForPeriodicPacket(tmDataset.getSid(), false, 30.0, false);
|
|
return RETURN_OK;
|
|
}
|
|
|
|
void RwHandler::prepareSimpleCommand(DeviceCommandId_t id) {
|
|
commandBuffer[0] = static_cast<uint8_t>(id);
|
|
uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
|
|
commandBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
|
|
commandBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
|
|
rawPacket = commandBuffer;
|
|
rawPacketLen = 3;
|
|
}
|
|
|
|
ReturnValue_t RwHandler::checkSpeedAndRampTime(const uint8_t* commandData, size_t commandDataLen) {
|
|
int32_t speed =
|
|
*commandData << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 | *(commandData + 3);
|
|
|
|
if ((speed < -65000 || speed > 65000 || (speed > -1000 && speed < 1000)) && (speed != 0)) {
|
|
sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid speed" << std::endl;
|
|
return INVALID_SPEED;
|
|
}
|
|
|
|
uint16_t rampTime = *(commandData + 4) << 8 | *(commandData + 5);
|
|
|
|
if (rampTime < 10 || rampTime > 10000) {
|
|
sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid ramp time" << std::endl;
|
|
return INVALID_RAMP_TIME;
|
|
}
|
|
|
|
return RETURN_OK;
|
|
}
|
|
|
|
void RwHandler::prepareSetSpeedCmd(const uint8_t* commandData, size_t commandDataLen) {
|
|
commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::SET_SPEED);
|
|
|
|
/** Speed (0.1 RPM) */
|
|
commandBuffer[1] = *(commandData + 3);
|
|
commandBuffer[2] = *(commandData + 2);
|
|
commandBuffer[3] = *(commandData + 1);
|
|
commandBuffer[4] = *commandData;
|
|
/** Ramp time (ms) */
|
|
commandBuffer[5] = *(commandData + 5);
|
|
commandBuffer[6] = *(commandData + 4);
|
|
|
|
uint16_t crc = CRC::crc16ccitt(commandBuffer, 7, 0xFFFF);
|
|
commandBuffer[7] = static_cast<uint8_t>(crc & 0xFF);
|
|
commandBuffer[8] = static_cast<uint8_t>(crc >> 8 & 0xFF);
|
|
rawPacket = commandBuffer;
|
|
rawPacketLen = 9;
|
|
}
|
|
|
|
void RwHandler::handleResetStatusReply(const uint8_t* packet) {
|
|
PoolReadGuard rg(&lastResetStatusSet);
|
|
uint8_t offset = 2;
|
|
uint8_t resetStatus = *(packet + offset);
|
|
if (resetStatus != RwDefinitions::CLEARED) {
|
|
internalState = InternalState::CLEAR_RESET_STATUS;
|
|
lastResetStatusSet.lastResetStatus = resetStatus;
|
|
}
|
|
lastResetStatusSet.currentResetStatus = resetStatus;
|
|
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
|
|
sif::info << "RwHandler::handleResetStatusReply: Last reset status: "
|
|
<< static_cast<unsigned int>(lastResetStatusSet.lastResetStatus.value) << std::endl;
|
|
sif::info << "RwHandler::handleResetStatusReply: Current reset status: "
|
|
<< static_cast<unsigned int>(lastResetStatusSet.currentResetStatus.value) << std::endl;
|
|
#endif
|
|
}
|
|
|
|
void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
|
|
PoolReadGuard rg(&statusSet);
|
|
uint8_t offset = 2;
|
|
statusSet.currSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
statusSet.referenceSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
statusSet.state = *(packet + offset);
|
|
offset += 1;
|
|
statusSet.clcMode = *(packet + offset);
|
|
|
|
if (statusSet.state == RwDefinitions::STATE_ERROR) {
|
|
/**
|
|
* This requires the commanding of the init reaction wheel controller command to recover
|
|
* form error state which must be handled by the FDIR instance.
|
|
*/
|
|
triggerEvent(ERROR_STATE);
|
|
sif::error << "RwHandler::handleGetRwStatusReply: Reaction wheel in error state" << std::endl;
|
|
}
|
|
|
|
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
|
|
sif::info << "RwHandler::handleGetRwStatusReply: Current speed is: " << statusSet.currSpeed
|
|
<< " * 0.1 RPM" << std::endl;
|
|
sif::info << "RwHandler::handleGetRwStatusReply: Reference speed is: " << statusSet.referenceSpeed
|
|
<< " * 0.1 RPM" << std::endl;
|
|
sif::info << "RwHandler::handleGetRwStatusReply: State is: "
|
|
<< (unsigned int)statusSet.state.value << std::endl;
|
|
sif::info << "RwHandler::handleGetRwStatusReply: clc mode is: "
|
|
<< (unsigned int)statusSet.clcMode.value << std::endl;
|
|
#endif
|
|
}
|
|
|
|
void RwHandler::handleTemperatureReply(const uint8_t* packet) {
|
|
PoolReadGuard rg(&temperatureSet);
|
|
uint8_t offset = 2;
|
|
temperatureSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
|
|
sif::info << "RwHandler::handleTemperatureReply: Temperature: "
|
|
<< temperatureSet.temperatureCelcius << " °C" << std::endl;
|
|
#endif
|
|
}
|
|
|
|
void RwHandler::handleGetTelemetryReply(const uint8_t* packet) {
|
|
PoolReadGuard rg(&tmDataset);
|
|
uint8_t offset = 2;
|
|
tmDataset.lastResetStatus = *(packet + offset);
|
|
offset += 1;
|
|
tmDataset.mcuTemperature = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.pressureSensorTemperature = *(packet + offset + 3) << 24 |
|
|
*(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 |
|
|
*(packet + offset);
|
|
offset += 4;
|
|
tmDataset.pressure = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.rwState = *(packet + offset);
|
|
offset += 1;
|
|
tmDataset.rwClcMode = *(packet + offset);
|
|
offset += 1;
|
|
tmDataset.rwCurrSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.rwRefSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.numOfInvalidCrcPackets = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.numOfInvalidLenPackets = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.numOfInvalidCmdPackets = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.numOfCmdExecutedReplies = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.numOfCmdReplies = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.uartNumOfBytesWritten = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.uartNumOfBytesRead = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.uartNumOfParityErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.uartNumOfNoiseErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.uartNumOfFrameErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.uartNumOfRegisterOverrunErrors = *(packet + offset + 3) << 24 |
|
|
*(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.uartTotalNumOfErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.spiNumOfBytesWritten = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.spiNumOfBytesRead = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.spiNumOfRegisterOverrunErrors = *(packet + offset + 3) << 24 |
|
|
*(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.spiTotalNumOfErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
|
|
sif::info << "RwHandler::handleGetTelemetryReply: Last reset status: "
|
|
<< static_cast<unsigned int>(tmDataset.lastResetStatus.value) << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: MCU temperature: " << tmDataset.mcuTemperature
|
|
<< std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: Pressure sensor temperature: "
|
|
<< tmDataset.pressureSensorTemperature << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: Pressure " << tmDataset.pressure << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: State: "
|
|
<< static_cast<unsigned int>(tmDataset.rwState.value) << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: CLC mode: "
|
|
<< static_cast<unsigned int>(tmDataset.rwClcMode.value) << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: Current speed: " << tmDataset.rwCurrSpeed
|
|
<< std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: Reference speed: " << tmDataset.rwRefSpeed
|
|
<< std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: Number of invalid CRC packets: "
|
|
<< tmDataset.numOfInvalidCrcPackets << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: Number of invalid length packets: "
|
|
<< tmDataset.numOfInvalidLenPackets << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: Number of invalid command packets: "
|
|
<< tmDataset.numOfInvalidCmdPackets << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: Number of command executed replies: "
|
|
<< tmDataset.numOfCmdExecutedReplies << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: Number of command replies: "
|
|
<< tmDataset.numOfCmdReplies << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: UART number of bytes written: "
|
|
<< tmDataset.uartNumOfBytesWritten << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: UART number of bytes read: "
|
|
<< tmDataset.uartNumOfBytesRead << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: UART number of parity errors: "
|
|
<< tmDataset.uartNumOfParityErrors << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: UART number of noise errors: "
|
|
<< tmDataset.uartNumOfNoiseErrors << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: UART number of frame errors: "
|
|
<< tmDataset.uartNumOfFrameErrors << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: UART number of register overrun errors: "
|
|
<< tmDataset.uartNumOfRegisterOverrunErrors << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: UART number of total errors: "
|
|
<< tmDataset.uartTotalNumOfErrors << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: SPI number of bytes written: "
|
|
<< tmDataset.spiNumOfBytesWritten << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: SPI number of bytes read: "
|
|
<< tmDataset.spiNumOfBytesRead << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: SPI number of register overrun errors: "
|
|
<< tmDataset.spiNumOfRegisterOverrunErrors << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: SPI number of register total errors: "
|
|
<< tmDataset.spiTotalNumOfErrors << std::endl;
|
|
#endif
|
|
}
|