160 lines
6.3 KiB
C++
160 lines
6.3 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/devices/devicedefinitions/RwDefinitions.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);
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void setDebugMode(bool enable);
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virtual ~RwHandler();
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static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;
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static const ReturnValue_t SPI_WRITE_FAILURE = MAKE_RETURN_CODE(0xB0);
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//! [EXPORT] : [COMMENT] Used by the spi send function to tell a failing read call
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static const ReturnValue_t SPI_READ_FAILURE = MAKE_RETURN_CODE(0xB1);
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//! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about a missing
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//! start sign 0x7E
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static const ReturnValue_t MISSING_START_SIGN = MAKE_RETURN_CODE(0xB2);
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//! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about an invalid
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//! substitution combination
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static const ReturnValue_t INVALID_SUBSTITUTE = MAKE_RETURN_CODE(0xB3);
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//! [EXPORT] : [COMMENT] HDLC decoding mechanism never receives the end sign 0x7E
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static const ReturnValue_t MISSING_END_SIGN = MAKE_RETURN_CODE(0xB4);
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//! [EXPORT] : [COMMENT] Reaction wheel only responds with empty frames.
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static const ReturnValue_t NO_REPLY = MAKE_RETURN_CODE(0xB5);
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//! [EXPORT] : [COMMENT] Expected a start marker as first byte
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static const ReturnValue_t NO_START_MARKER = MAKE_RETURN_CODE(0xB6);
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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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private:
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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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GpioIF* gpioComIF = nullptr;
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gpioId_t enableGpio = gpio::NO_GPIO;
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bool debugMode = false;
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RwDefinitions::StatusSet statusSet;
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RwDefinitions::LastResetSatus lastResetStatusSet;
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RwDefinitions::TmDataset tmDataset;
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RwDefinitions::RwSpeedActuationSet rwSpeedActuationSet;
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uint8_t commandBuffer[RwDefinitions::MAX_CMD_SIZE];
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PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>(0, false);
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PoolEntry<uint16_t> rampTime = PoolEntry<uint16_t>(10, false);
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enum class InternalState { GET_RESET_STATUS, CLEAR_RESET_STATUS, READ_TEMPERATURE, GET_RW_SATUS };
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InternalState internalState = InternalState::GET_RESET_STATUS;
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size_t sizeOfReply = 0;
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/**
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* @brief This function can be used to build commands which do not contain any data apart
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* from the command id and the CRC.
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* @param commandId The command id of the command to build.
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*/
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void prepareSimpleCommand(DeviceCommandId_t id);
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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 prepares the set speed command from the dataSet received with
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* an action message or set in the software.
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* @return returnvalue::OK if successful, otherwise error code.
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*/
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ReturnValue_t prepareSetSpeedCmd();
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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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