acs.h File Reference

#include "ch.h"
#include "hal.h"
#include "bldc.h"
#include "magnetorquer.h"
#include "chprintf.h"
#include "oresat.h"

Include dependency graph for acs.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures
struct	can_buffer
	can_buffer structure holds the send and recv buffers that are registered with the CAN bus More...
struct	ACS
	ACS structure for maintaining the ACS state. More...
struct	acs_transition
	structure for manipulating state transistions and trap functions More...

Macros
#define	WA_ACS_THD_SIZE   (1<<7)
#define	CAN_NODE   0x3F
#define	CAN_BUF_SIZE   8
#define	DEBUG_SERIAL   SD2
#define	DEBUG_CHP   ((BaseSequentialStream *) &DEBUG_SERIAL)
#define	EXIT_SUCCESS   0
#define	EXIT_FAILURE   1

Typedefs
typedef struct acs_transition	acs_trap

Enumerations
enum	can_msg { MSG_TYPE =0, ARG_BYTE, ARG_BYTE1, ARG_BYTE2 }
	can_msg enumeraton More...
enum	can_recv { ERROR_CODE = 0, ACS_STATE, LAST_EVENT, LAST_TRAP }
	enumeration for the recv buffer More...
enum	can_msg_type { NOP =0, CHG_STATE, CALL_TRAP }
	enumeration for CAN message types More...
enum	acs_state {   ST_ANY =-1, ST_OFF, ST_INIT, ST_RDY,   ST_RW, ST_MTQR }
	enumeration for ACS states More...
enum	acs_event {   EV_ANY =-1, EV_OFF, EV_INIT, EV_RDY,   EV_RW, EV_MTQR, EV_RW_START, EV_RW_STOP,   EV_RW_STRETCH, EV_RW_CONTROL, EV_RW_SKIP, EV_RW_SCALE,   EV_MTQR_START, EV_MTQR_STOP, EV_MTQR_DC, EV_MTQR_DIR,   EV_END }
	enumeration for all the possible events More...

Functions
int	acsInit (ACS *acs)
	general ACS initialization More...
	THD_WORKING_AREA (wa_acsThread, WA_ACS_THD_SIZE)
	THD_FUNCTION (acsThread, acs)

Macro Definition Documentation

CAN_BUF_SIZE

#define CAN_BUF_SIZE   8

CAN_NODE

#define CAN_NODE   0x3F

DEBUG_CHP

#define DEBUG_CHP   ((BaseSequentialStream *) &DEBUG_SERIAL)

DEBUG_SERIAL

#define DEBUG_SERIAL   SD2

EXIT_FAILURE

#define EXIT_FAILURE   1

EXIT_SUCCESS

#define EXIT_SUCCESS   0

WA_ACS_THD_SIZE

#define WA_ACS_THD_SIZE   (1<<7)

Todo:

: Thread sizes cause continual problems for managing memory if the threads are too small it breaks, if the thread working areas are too large then you run out of memory. One solution is to move to a mcu with more memory.

Typedef Documentation

acs_trap

typedef struct acs_transition acs_trap

Enumeration Type Documentation

acs_event

enum acs_event

enumeration for all the possible events

Todo:

: This is going to change in v2.0 to more accurately reflect how the ACS will operate

hexidecimal values are passed to the ACS via the bus.

Enumerator
EV_ANY	-1
EV_OFF	0
EV_INIT	1
EV_RDY	2
EV_RW	3
EV_MTQR	4
EV_RW_START	5
EV_RW_STOP	6
EV_RW_STRETCH	7
EV_RW_CONTROL	8
EV_RW_SKIP	9
EV_RW_SCALE	a
EV_MTQR_START	b
EV_MTQR_STOP	c
EV_MTQR_DC	d
EV_MTQR_DIR	e
EV_END	this must be the last event

             {
    EV_ANY=-1,      
    EV_OFF,                 
    EV_INIT,                
    EV_RDY,                 
    EV_RW,                  
    EV_MTQR,                
    EV_RW_START,        
    EV_RW_STOP,         
  EV_RW_STRETCH,  
  EV_RW_CONTROL,  
  EV_RW_SKIP,     
  EV_RW_SCALE,    
    EV_MTQR_START,  
    EV_MTQR_STOP,   
    EV_MTQR_DC,         
    EV_MTQR_DIR,        
    EV_END 
}acs_event;

acs_state

enum acs_state

enumeration for ACS states

Todo:

: This is going to change in v2.0 to more accurately reflect how the ACS will operate

Enumerator
ST_ANY
ST_OFF
ST_INIT
ST_RDY
ST_RW
ST_MTQR

            {
    ST_ANY=-1,
    ST_OFF,
    ST_INIT,
    ST_RDY,
    ST_RW,
    ST_MTQR
}acs_state;

can_msg

enum can_msg

can_msg enumeraton

Todo:

: This is going to change in v2.0 once a protocol is decided for communication with the ACS

Byte Name Use 0 MSG_TYPE CHG_STATE is the only current implementation 1 ARG_BYTE used for passing arguments 2 ARG_BYTE1 used for passing arguments 3 ARG_BYTE2 used for passing arguments 4 unimplemented 5 unimplemented 6 unimplemented 7 unimplemented

Enumerator
MSG_TYPE
ARG_BYTE
ARG_BYTE1
ARG_BYTE2

            {
    MSG_TYPE=0,
    ARG_BYTE,
    ARG_BYTE1,
    ARG_BYTE2
}can_msg;

can_msg_type

enum can_msg_type

enumeration for CAN message types

Todo:

: This is going to change in v2.0 once a protocol is decided for communication with the ACS

Enumerator
NOP
CHG_STATE
CALL_TRAP

            {
    NOP=0,
    CHG_STATE,
    CALL_TRAP,
}can_msg_type;

can_recv

enum can_recv

enumeration for the recv buffer

Todo:

: This is going to change in v2.0 once a protocol is decided for communication with the ACS

Byte Name Use 0 unimplemented 1 STATE current state 2 LAST_EVENT last event received 3 unimplemented 4 unimplemented 5 unimplemented 6 unimplemented 7 unimplemented

Enumerator
ERROR_CODE
ACS_STATE
LAST_EVENT
LAST_TRAP

            {
    ERROR_CODE = 0,
    ACS_STATE,
    LAST_EVENT,
    LAST_TRAP,
}can_recv;

Function Documentation

acsInit()

int acsInit

(

ACS *

acs

)

general ACS initialization

                            {
    (void)acs;
    mtqrInit(&acs->mtqr);
    return EXIT_SUCCESS;
}

THD_FUNCTION()

THD_FUNCTION	(	acsThread	,
		acs
	)

                           {
  chRegSetThreadName("acsThread");
    chEvtRegister(&rpdo_event,&el,0);

    acs_statemachine(acs);
}

THD_WORKING_AREA()

THD_WORKING_AREA	(	wa_acsThread	,
		WA_ACS_THD_SIZE
	)