200 lines
6.6 KiB
Python
200 lines
6.6 KiB
Python
import enum
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import logging
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import struct
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from spacepackets.ecss import PusTelecommand
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from tmtccmd.config import CmdTreeNode
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from tmtccmd.tmtc import DefaultPusQueueHelper
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from tmtccmd.pus.s201_fsfw_health import pack_set_health_cmd_data, FsfwHealth
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from tmtccmd.pus.s201_fsfw_health import Subservice
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import eive_tmtc.config.object_ids as obj_ids
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from tmtccmd.pus.s200_fsfw_mode import create_mode_command, Mode
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from tmtccmd.pus.tc.s3_fsfw_hk import create_request_one_hk_command, make_sid
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from tmtccmd.config.tmtc import (
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tmtc_definitions_provider,
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OpCodeEntry,
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TmtcDefinitionWrapper,
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)
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from eive_tmtc.config.object_ids import (
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GYRO_0_ADIS_HANDLER_ID,
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GYRO_1_L3G_HANDLER_ID,
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GYRO_2_ADIS_HANDLER_ID,
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GYRO_3_L3G_HANDLER_ID,
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)
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from eive_tmtc.config.definitions import CustomServiceList
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from eive_tmtc.pus_tm.defs import PrintWrapper
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from tmtccmd.util import ObjectIdU32
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class OpCode:
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NML = "normal"
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OFF = "off"
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CORE_HK = "core_hk"
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CFG_HK = "cfg_hk"
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SET_FAULTY = "set_faulty"
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class AdisGyroSetId(enum.IntEnum):
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CORE_HK = 0
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CFG_HK = 1
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class L3gGyroSetId(enum.IntEnum):
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CORE_HK = 0
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class GyrSel(enum.IntEnum):
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GYR_0_ADIS = 0
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GYR_1_L3G = 1
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GYR_2_ADIS = 2
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GYR_3_L3G = 3
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GYR_SEL_DICT = {
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GyrSel.GYR_0_ADIS: ("GYRO_0_ADIS", GYRO_0_ADIS_HANDLER_ID),
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GyrSel.GYR_1_L3G: ("GYRO_1_L3G", GYRO_1_L3G_HANDLER_ID),
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GyrSel.GYR_2_ADIS: ("GYRO_2_ADIS", GYRO_2_ADIS_HANDLER_ID),
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GyrSel.GYR_3_L3G: ("GYRO_3_L3G", GYRO_3_L3G_HANDLER_ID),
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}
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def handle_gyr_cmd(q: DefaultPusQueueHelper, cmd_str: str):
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print("Please select the Gyro Device")
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for k, v in GYR_SEL_DICT.items():
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print(f"{k}: {v[0]}")
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sel_idx = int(input("Select gyro device by index: "))
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gyr_info = GYR_SEL_DICT[GyrSel(sel_idx)]
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gyr_obj_id = gyr_info[1]
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is_adis = False
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if sel_idx == GyrSel.GYR_0_ADIS or sel_idx == GyrSel.GYR_2_ADIS:
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is_adis = True
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core_hk_id = AdisGyroSetId.CORE_HK
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else:
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core_hk_id = L3gGyroSetId.CORE_HK
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if cmd_str == OpCode.NML:
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q.add_log_cmd(f"Gyro {gyr_info[0]} NORMAL mode")
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q.add_pus_tc(create_mode_command(gyr_obj_id, Mode.NORMAL, 0))
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if cmd_str == OpCode.OFF:
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q.add_log_cmd(f"Gyro {gyr_info[0]} OFF mode")
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q.add_pus_tc(create_mode_command(gyr_obj_id, Mode.OFF, 0))
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elif cmd_str == OpCode.CORE_HK:
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q.add_log_cmd(f"Gyro {gyr_info[0]} Core HK")
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q.add_pus_tc(create_request_one_hk_command(make_sid(gyr_obj_id, core_hk_id)))
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elif cmd_str == OpCode.CFG_HK:
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if not is_adis:
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raise ValueError("No config HK for L3 device")
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q.add_log_cmd(f"Gyro {gyr_info[0]} CFG HK")
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q.add_pus_tc(
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create_request_one_hk_command(make_sid(gyr_obj_id, AdisGyroSetId.CFG_HK))
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)
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elif cmd_str == OpCode.SET_FAULTY:
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q.add_log_cmd(f"Gyro {gyr_info[0]} set faulty")
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q.add_pus_tc(
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PusTelecommand(
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service=201,
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subservice=Subservice.TC_SET_HEALTH,
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app_data=pack_set_health_cmd_data(
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object_id=gyr_obj_id, health=FsfwHealth.FAULTY
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),
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)
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)
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else:
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logging.getLogger(__name__).warning(
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f"invalid op code {cmd_str} for gyro command"
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)
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def handle_gyros_hk_data(
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object_id: ObjectIdU32, pw: PrintWrapper, 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(object_id=object_id, pw=pw, set_id=set_id, hk_data=hk_data)
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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(object_id=object_id, pw=pw, set_id=set_id, hk_data=hk_data)
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def handle_adis_gyro_hk(
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object_id: ObjectIdU32, pw: PrintWrapper, set_id: int, hk_data: bytes
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):
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if set_id == AdisGyroSetId.CORE_HK:
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fmt_str = "!ddddddf"
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inc_len = struct.calcsize(fmt_str)
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(
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ang_veloc_x,
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ang_veloc_y,
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ang_veloc_z,
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accel_x,
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accel_y,
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accel_z,
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temp,
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) = struct.unpack(fmt_str, hk_data[0 : 0 + inc_len])
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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 {ang_veloc_x} | "
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f"Y {ang_veloc_y} | Z {ang_veloc_z}"
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)
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pw.dlog(f"Acceleration (m/s^2): X {accel_x} | Y {accel_y} | Z {accel_z}")
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pw.dlog(f"Temperature {temp} C")
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if set_id == AdisGyroSetId.CFG_HK:
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fmt_str = "!HBHHH"
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inc_len = struct.calcsize(fmt_str)
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print(len(hk_data))
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(
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diag_stat_reg,
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filter_setting,
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range_mdl,
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msc_ctrl_reg,
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dec_rate_reg,
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) = struct.unpack(fmt_str, hk_data[0 : 0 + inc_len])
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pw.dlog(f"Diagnostic Status Register {diag_stat_reg:#018b}")
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pw.dlog(f"Range MDL {range_mdl}")
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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: ObjectIdU32, pw: PrintWrapper, set_id: int, hk_data: bytes
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):
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if set_id == L3gGyroSetId.CORE_HK:
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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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def create_gyros_node() -> CmdTreeNode:
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node = CmdTreeNode("gyros", "Gyroscope devices")
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node.add_child(CmdTreeNode(OpCode.CORE_HK, "Request Core HK"))
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node.add_child(CmdTreeNode(OpCode.CFG_HK, "Request CFG HK"))
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node.add_child(CmdTreeNode(OpCode.NML, "Normal Mode"))
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node.add_child(CmdTreeNode(OpCode.OFF, "Off Mode"))
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node.add_child(CmdTreeNode(OpCode.SET_FAULTY, "Set Faulty"))
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return node
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@tmtc_definitions_provider
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def add_gyr_cmd_defs(defs: TmtcDefinitionWrapper):
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oce = OpCodeEntry()
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oce.add(keys=OpCode.CORE_HK, info="Request Core HK")
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oce.add(keys=OpCode.CFG_HK, info="Request CFG HK")
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oce.add(keys=OpCode.NML, info="Normal Mode")
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oce.add(keys=OpCode.OFF, info="Off Mode")
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oce.add(keys=OpCode.SET_FAULTY, info="Set Faulty")
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defs.add_service(CustomServiceList.GYRO, info="Gyro", op_code_entry=oce)
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