76 lines
2.7 KiB
Python
76 lines
2.7 KiB
Python
import struct
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from pus_tm.defs import PrintWrapper
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from tmtccmd.utility import ObjectId
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from tmtccmd.utility.tmtc_printer import FsfwTmTcPrinter
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from pus_tc.devs.gyros import L3gGyroSetIds, AdisGyroSetIds
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import config.object_ids as obj_ids
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def handle_gyros_hk_data(
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object_id: ObjectId, printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes
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):
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if object_id.as_bytes in [
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obj_ids.GYRO_0_ADIS_HANDLER_ID,
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obj_ids.GYRO_2_ADIS_HANDLER_ID,
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]:
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handle_adis_gyro_hk(
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object_id=object_id, printer=printer, set_id=set_id, hk_data=hk_data
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)
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elif object_id.as_bytes in [
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obj_ids.GYRO_1_L3G_HANDLER_ID,
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obj_ids.GYRO_3_L3G_HANDLER_ID,
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]:
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handle_l3g_gyro_hk(
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object_id=object_id, printer=printer, set_id=set_id, hk_data=hk_data
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)
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def handle_adis_gyro_hk(
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object_id: ObjectId, printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes
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):
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if set_id == AdisGyroSetIds.CORE_HK:
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pw = PrintWrapper(printer)
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fmt_str = "!ddddddf"
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inc_len = struct.calcsize(fmt_str)
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(angVelocX, angVelocY, angVelocZ, accelX, accelY, accelZ, temp) = struct.unpack(
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fmt_str, hk_data[0 : 0 + inc_len]
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)
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pw.dlog(f"Received ADIS1650X Gyro HK data from object {object_id}")
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pw.dlog(
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f"Angular Velocities (degrees per second): X {angVelocX} | "
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f"Y {angVelocY} | Z {angVelocZ}"
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)
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pw.dlog(f"Acceleration (m/s^2): X {accelX} | Y {accelY} | Z {accelZ}")
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pw.dlog(f"Temperature {temp} C")
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if set_id == AdisGyroSetIds.CFG_HK:
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pw = PrintWrapper(printer)
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fmt_str = "!HBHH"
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inc_len = struct.calcsize(fmt_str)
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(diag_stat_reg, filter_setting, msc_ctrl_reg, dec_rate_reg) = struct.unpack(
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fmt_str, hk_data[0 : 0 + inc_len]
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)
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pw.dlog(f"Diagnostic Status Register {diag_stat_reg:#018b}")
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pw.dlog(f"Filter Settings {filter_setting:#010b}")
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pw.dlog(f"Miscellaneous Control Register {msc_ctrl_reg:#018b}")
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pw.dlog(f"Decimation Rate {dec_rate_reg:#06x}")
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def handle_l3g_gyro_hk(
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object_id: ObjectId, printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes
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):
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if set_id == L3gGyroSetIds.CORE_HK:
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pw = PrintWrapper(printer)
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fmt_str = "!ffff"
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inc_len = struct.calcsize(fmt_str)
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(angVelocX, angVelocY, angVelocZ, temp) = struct.unpack(
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fmt_str, hk_data[0 : 0 + inc_len]
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)
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pw.dlog(f"Received L3GD20H Gyro HK data from object {object_id}")
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pw.dlog(
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f"Angular Velocities (degrees per second): X {angVelocX} | "
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f"Y {angVelocY} | Z {angVelocZ}"
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)
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pw.dlog(f"Temperature {temp} °C")
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