ISIS iMTQ API¶

Core¶

Command Response Flags

RESP_NEW¶: First time retrieving this response.

RESP_IVA_X¶: X-axis measurement might be invalid.

RESP_IVA_Y¶: Y-axis measurement might be invalid.

RESP_IVA_Z¶: Z-axis measurement might be invalid.

Enums

enum KADCSStatus¶

ADCS function return values.

Values:

ADCS_OK¶

ADCS_ERROR¶: Generic error.

ADCS_ERROR_CONFIG¶: Configuration error.

ADCS_ERROR_NO_RESPONSE¶: No response received from subsystem.

ADCS_ERROR_INTERNAL¶: An error was thrown by the subsystem.

ADCS_ERROR_MUTEX¶: Mutex-related error.

ADCS_ERROR_NOT_IMPLEMENTED¶: Requested function has not been implemented for the subsystem.

enum KIMTQStatus¶

iMTQ Return Values Error codes which may be returned in the imtq_resp_header.status byte of a response message

Values:

IMTQ_OK¶

IMTQ_ERROR = 0x01¶: Generic error.

IMTQ_ERROR_BAD_CMD = 0x02¶: Invalid command.

IMTQ_ERROR_NO_PARAM = 0x03¶: Parameter missing.

IMTQ_ERROR_BAD_PARAM = 0x04¶: Parameter invalid.

IMTQ_ERROR_MODE = 0x05¶: Command unavailable in current mode.

IMTQ_ERROR_RESERVED = 0x06¶: (Internal reserved value)

IMTQ_ERROR_INTERNAL = 0x07¶: Internal error.

enum ADCSMode¶

Available iMTQ system modes.

Values:

IDLE¶: Idle mode.

SELFTEST¶: Self-test mode.

DETUMBLE¶: Detumble mode.

Functions

KADCSStatus k_adcs_init(char *bus, uint16_t addr, int timeout)¶

Initialize the ADCS interface.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

bus: I2C bus device name
addr: I2C address
timeout: Watchdog timeout in seconds

void k_adcs_terminate(void)¶: Terminate the ADCS interface.

KADCSStatus k_imtq_watchdog_start(void)¶

Start a thread to kick the iMTQ’s watchdog at an interval of (timeout/3) seconds (timeout specified in k_adcs_init)

Return: KADCSStatus ADCS_OK if OK, error otherwise

KADCSStatus k_imtq_watchdog_stop(void)¶

Stop the watchdog thread.

Return: KADCSStatus ADCS_OK if OK, error otherwise

KADCSStatus k_imtq_reset(void)¶

Reboot the iMTQ.

Note: All configuration options will be reset to their default values
Return: KADCSStatus ADCS_OK if OK, error otherwise

KADCSStatus k_adcs_passthrough(const uint8_t *tx, int tx_len, uint8_t *rx, int rx_len, const struct timespec *delay)¶

Pass a command packet directly through to the ADCS.

Useful for executing commands which have not been implemented in either the generic or specific ADCS APIs.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

tx: Pointer to command packet to send
tx_len: Size of command packet
rx: Pointer to storage for command response
rx_len: Expected length of command response
delay: Time to wait inbetween sending the command packet and requesting a response

KADCSStatus kprv_imtq_transfer(const uint8_t *tx, int tx_len, uint8_t *rx, int rx_len, const struct timespec *delay)¶

Send an iMTQ request and fetch the response.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

tx: Pointer to data to send
tx_len: Length of data to send
rx: Pointer to buffer for response data
rx_len: Length of data to read for response
delay: Delay between sending data to the iMTQ and reading the response. A value of NULL indicates that the default should be used.

static KIMTQStatus kprv_imtq_check_error(uint8_t status)¶

Extract the return code in a response status byte.

Return

Converted KIMTQStatus value

Parameters

status: A imtq_resp_header.status byte returned in a response message structure

Variables

pthread_mutex_t imtq_mutex¶: System mutex to preserve iMTQ command/response ordering.

struct imtq_resp_header¶

#include <imtq.h>

Response header structure.

Public Members

uint8_t cmd¶: Command which produced this response.

uint8_t status¶

Status byte.

Contains command response flags, like RESP_IVA_X, and a return code which can be extracted with kprv_imtq_check_error

struct imtq_axis_data¶

#include <imtq.h>

Generic structure for data relating to the axes.

Public Members

int16_t x¶: X-axis.

int16_t y¶: Y-axis.

int16_t z¶: Z-axis.

Configuration¶

Magnetometer Configuration Parameter Codes

MTM_SELECT¶

Select MTM to use for measurement.

0 - Internal, 1 - External

MTM_INTERNAL_TIME¶

Integration time selection for idle mode MTM measurements.

Refer to Table 3-10 of the iMTQ User Manual for more information

MTM_EXTERNAL_TIME¶

Integration time selection for idle mode MTM measurements.

Refer to Table 3-10 of the iMTQ User Manual for more information

MTM_INTERNAL_MAP_X¶: iMTQ axis to which the MTM x-axis is mapped

MTM_INTERNAL_MAP_Y¶: iMTQ axis to which the MTM y-axis is mapped

MTM_INTERNAL_MAP_Z¶: iMTQ axis to which the MTM z-axis is mapped

MTM_EXTERNAL_MAP_X¶: iMTQ axis to which the MTM x-axis is mapped

MTM_EXTERNAL_MAP_Y¶: iMTQ axis to which the MTM y-axis is mapped

MTM_EXTERNAL_MAP_Z¶: iMTQ axis to which the MTM z-axis is mapped

MTM_MATRIX_R1_C1¶: MTM raw -> corrected correction matrix (Row 1, Column 1)

MTM_MATRIX_R1_C2¶: MTM raw -> corrected correction matrix (Row 1, Column 2)

MTM_MATRIX_R1_C3¶: MTM raw -> corrected correction matrix (Row 1, Column 3)

MTM_MATRIX_R2_C1¶: MTM raw -> corrected correction matrix (Row 2, Column 1)

MTM_MATRIX_R2_C2¶: MTM raw -> corrected correction matrix (Row 2, Column 2)

MTM_MATRIX_R2_C3¶: MTM raw -> corrected correction matrix (Row 2, Column 3)

MTM_MATRIX_R3_C1¶: MTM raw -> corrected correction matrix (Row 3, Column 1)

MTM_MATRIX_R3_C2¶: MTM raw -> corrected correction matrix (Row 3, Column 2)

MTM_MATRIX_R3_C3¶: MTM raw -> corrected correction matrix (Row 3, Column 3)

MTM_BIAS_X¶: MTM raw -> corrected correction bias vector (X-axis value)

MTM_BIAS_Y¶: MTM raw -> corrected correction bias vector (Y-axis value)

MTM_BIAS_Z¶: MTM raw -> corrected correction bias vector (Z-axis value)

Current/Temperature Measurement Configuration Parameter Codes

ADC_COIL_CURRENT_BIAS_X¶: X-axis voltage bias for coil current ADC -> engineering value conversion.

ADC_COIL_CURRENT_BIAS_Y¶: Y-axis voltage bias for coil current ADC -> engineering value conversion.

ADC_COIL_CURRENT_BIAS_Z¶: Z-axis voltage bias for coil current ADC -> engineering value conversion.

ADC_COIL_CURRENT_MULT_X¶: X-axis pre-multiplier for coil current ADC -> engineering value conversion.

ADC_COIL_CURRENT_MULT_Y¶: Y-axis pre-multiplier for coil current ADC -> engineering value conversion.

ADC_COIL_CURRENT_MULT_Z¶: Z-axis pre-multiplier for coil current ADC -> engineering value conversion.

ADC_COIL_CURRENT_DIV_X¶: X-axis post-divider for coil current ADC -> engineering value conversion.

ADC_COIL_CURRENT_DIV_Y¶: Y-axis post-divider for coil current ADC -> engineering value conversion.

ADC_COIL_CURRENT_DIV_Z¶: Z-axis post-divider for coil current ADC -> engineering value conversion.

ADC_COIL_TEMP_BIAS_X¶: X-axis voltage bias for coil temperature ADC -> engineering value conversion.

ADC_COIL_TEMP_BIAS_Y¶: Y-axis voltage bias for coil temperature ADC -> engineering value conversion.

ADC_COIL_TEMP_BIAS_Z¶: Z-axis voltage bias for coil temperature ADC -> engineering value conversion.

ADC_COIL_TEMP_MULT_X¶: X-axis pre-multiplier for coil temperature ADC -> engineering value conversion.

ADC_COIL_TEMP_MULT_Y¶: Y-axis pre-multiplier for coil temperature ADC -> engineering value conversion.

ADC_COIL_TEMP_MULT_Z¶: Z-axis pre-multiplier for coil temperature ADC -> engineering value conversion.

ADC_COIL_TEMP_DIV_X¶: X-axis post-divider for coil temperature ADC -> engineering value conversion.

ADC_COIL_TEMP_DIV_Y¶: Y-axis post-divider for coil temperature ADC -> engineering value conversion.

ADC_COIL_TEMP_DIV_Z¶: Z-axis post-divider for coil temperature ADC -> engineering value conversion.

Detumble Configuration Parameter Codes

DETUMBLE_FREQUENCY¶

Control frequency of the detumble mode control loop.

Values: 1, 2, 4, or 8 Hz

BDOT_GAIN¶

B-Dot algorithm gain when converting from B-Dot to dipole.

Value should be negative

MTM_FILTER_SENSITIVITY¶: Adaptive sensitivity of low-pass filter applied to calibrated MTM measurements during detumble mode.

MTM_FILTER_WEIGHT¶: Adaptive weight of low-pass filter applied to calibrated MTM measurements during detumble mode.

Dipole to Current Conversion Configuration Parameter Codes

COIL_AREA_X¶: X-axis area of the coil used to calculate the dipole from the current flowing through the coil.

COIL_AREA_Y¶: Y-axis area of the coil used to calculate the dipole from the current flowing through the coil.

COIL_AREA_Z¶: Z-axis area of the coil used to calculate the dipole from the current flowing through the coil.

COIL_CURRENT_LIMIT¶: Maximum total coil current allowed for dipole generation (excluding idle current consumption)

Current to Actuation-percentage Conversion Configuration Parameter Codes

CURRENT_FEEDBACK_ENABLE¶

Current feedback control.

0 - Open-loop temperature-compensated, 1 - Software-based closed-loop

CURRENT_FEEDBACK_GAIN_X¶: X-axis feedback gain of the proportional difference controller.

CURRENT_FEEDBACK_GAIN_Y¶: Y-axis feedback gain of the proportional difference controller.

CURRENT_FEEDBACK_GAIN_Z¶: Z-axis feedback gain of the proportional difference controller.

CURRENT_MAP_TEMP_T1¶: Current-map profile temperature 1 (lowest)

CURRENT_MAP_TEMP_T2¶: Current-map profile temperature 2.

CURRENT_MAP_TEMP_T3¶: Current-map profile temperature 3.

CURRENT_MAP_TEMP_T4¶: Current-map profile temperature 4.

CURRENT_MAP_TEMP_T5¶: Current-map profile temperature 5.

CURRENT_MAP_TEMP_T6¶: Current-map profile temperature 6.

CURRENT_MAP_TEMP_T7¶: Current-map profile temperature 7 (highest)

CURRENT_MAX_X_T1¶: X-axis maximum current at temperature 1.

CURRENT_MAX_X_T2¶: X-axis maximum current at temperature 2.

CURRENT_MAX_X_T3¶: X-axis maximum current at temperature 3.

CURRENT_MAX_X_T4¶: X-axis maximum current at temperature 4.

CURRENT_MAX_X_T5¶: X-axis maximum current at temperature 5.

CURRENT_MAX_X_T6¶: X-axis maximum current at temperature 6.

CURRENT_MAX_X_T7¶: X-axis maximum current at temperature 7.

CURRENT_MAX_Y_T1¶: Y-axis maximum current at temperature 1.

CURRENT_MAX_Y_T2¶: Y-axis maximum current at temperature 2.

CURRENT_MAX_Y_T3¶: Y-axis maximum current at temperature 3.

CURRENT_MAX_Y_T4¶: Y-axis maximum current at temperature 4.

CURRENT_MAX_Y_T5¶: Y-axis maximum current at temperature 5.

CURRENT_MAX_Y_T6¶: Y-axis maximum current at temperature 6.

CURRENT_MAX_Y_T7¶: Y-axis maximum current at temperature 7.

CURRENT_MAX_Z_T1¶: Z-axis maximum current at temperature 1.

CURRENT_MAX_Z_T2¶: Z-axis maximum current at temperature 2.

CURRENT_MAX_Z_T3¶: Z-axis maximum current at temperature 3.

CURRENT_MAX_Z_T4¶: Z-axis maximum current at temperature 4.

CURRENT_MAX_Z_T5¶: Z-axis maximum current at temperature 5.

CURRENT_MAX_Z_T6¶: Z-axis maximum current at temperature 6.

CURRENT_MAX_Z_T7¶: Z-axis maximum current at temperature 7.

Read-Only Configuration Parameter Codes

HW_CONFIG¶

iMTQ hardware configuration.

0 - Internal config, 1 - External config

WATCHDOG_TIMEOUT¶

I²C watchdog timeout interval in seconds.

Value of 0 indicates the watchdog is disabled

SLAVE_ADDRESS¶: iMTQ’s I²C address

SOFTWARE_VERSION¶

iMTQ’s software version.

v[second byte].[third byte].[fourth byte]; first byte is ignored

Functions

KADCSStatus k_adcs_configure(const JsonNode *config)¶

Configure the ADCS.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

config: ADCS configuration structure

KADCSStatus k_imtq_get_param(uint16_t param, imtq_config_resp *response)¶

Get the current value of a configuration parameter.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

param: ID of parameter value to fetch
response: Pointer to storage for response message. Returns the current value of the parameter.

KADCSStatus k_imtq_set_param(uint16_t param, const imtq_config_value *value, imtq_config_resp *response)¶

Set the value of a configuration parameter.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

param: ID of parameter to update
value: Pointer to new parameter value
response: Pointer to storage for response message. Returns the updated value of the parameter. If successful, the new value should match the requested value.

KADCSStatus k_imtq_reset_param(uint16_t param, imtq_config_resp *response)¶

Reset the value of a configuration parameter to its default.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

param: ID of parameter value to reset
response: Pointer to storage for response message. Returns the new value of the parameter.

union imtq_config_value¶

#include <imtq-config.h>

Configuration value storage union Using a union allows one common variable type to be used for all configuration functions.

Public Members

int8_t int8_val¶: Storage for signed single-byte values.

uint8_t uint8_val¶: Storage for unsigned single-byte values.

int16_t int16_val¶: Storage for signed byte-pair values.

uint16_t uint16_val¶: Storage for unsigned byte-pair values.

int32_t int32_val¶: Storage for signed four-byte values.

uint32_t uint32_val¶: Storage for unsigned four-byte values.

float float_val¶: Storage for IEEE754 single-precision floating point values (four bytes)

int64_t int64_val¶: Storage for signed eight-byte values.

uint64_t uint64_val¶: Storage for unsigned eight-byte values.

double double_val¶: Storage for IEEE754 double-precision floating point values (eight bytes)

struct imtq_config_resp¶

#include <imtq-config.h>

Message structure returned by all get/set/reset configuration requests.

Public Members

imtq_resp_header hdr¶: Response message header.

uint16_t param¶: Echo of requested parameter ID.

imtq_config_value value¶: Current value of requested parameter.

Operations¶

Typedefs

typedef uint16_t adcs_mode_param¶

Parameter for k_adcs_set_mode

For the iMTQ, exclusively used to specify the duration when entering DETUMBLE mode

typedef JsonNode *adcs_test_results¶: Pointer to self-test results JSON structure created by k_adcs_run_test

Enums

enum KADCSReset¶

Available iMTQ system reset types.

Values:

SOFT_RESET¶: Software reset.

enum ADCSTestType¶

Self-Test Axis Options.

Values:

TEST_ALL¶: Test all axes.

TEST_X_POS¶: Test positive x-axis.

TEST_X_NEG¶: Test negative x-axis.

TEST_Y_POS¶: Test positive y-axis.

TEST_Y_NEG¶: Test negative y-axis.

TEST_Z_POS¶: Test positive z-axis.

TEST_Z_NEG¶: Test negative z-axis.

Functions

KADCSStatus k_adcs_noop(void)¶

Execute ADCS no-op command.

Note: This function might not be implemented for all ADCSs.
Return: KADCSStatus ADCS_OK if OK, error otherwise

KADCSStatus k_adcs_reset(KADCSReset type)¶

Reset the ADCS.

Note

This function might not be implemented for all ADCSs

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

type: Type of reset to perform (hard, soft, etc)

KADCSStatus k_adcs_set_mode(ADCSMode mode, const adcs_mode_param *params)¶

Set the ADCS’s operating mode.

Note

See specific ADCS API documentation for available modes

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

mode: Operating mode to change to
params: Pointer to optional parameters which may be needed to configure the new operational mode

KADCSStatus k_adcs_run_test(ADCSTestType test, adcs_test_results buffer)¶

Run an ADCS self-test.

Note

This function might not be implemented for all ADCSs. See specific ADCS API documentation for available self-tests.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

test: Type of self-test to run
buffer: (Pointer to) structure which the test-results should be copied to

KADCSStatus k_imtq_cancel_op(void)¶

Switch to idle mode and cancel any ongoing actuation.

Return: KADCSStatus ADCS_OK if OK, error otherwise

KADCSStatus k_imtq_start_measurement(void)¶

Start a 3-axis measurement of the magnetic field using the MTM.

Return: KADCSStatus ADCS_OK if OK, error otherwise

KADCSStatus k_imtq_start_actuation_current(imtq_axis_data current, uint16_t time)¶

Turn on the coils by current.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

current: Axes current values in [10^-4 Am²]
time: Amount of time coils should remain at the specified levels, in milliseconds. If time is zero, the coils will stay on until another command capable of changing the coils’ states/levels is run.

KADCSStatus k_imtq_start_actuation_dipole(imtq_axis_data dipole, uint16_t time)¶

Turn on the coils by desired dipole.

Note

If the specified values exceed the coils’ capabilities, the dipole will be scaled. The resulting values can be retrieved with k_imtq_get_dipole.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

dipole: Axes dipole values in [10^-4 Am²]
time: Amount of time coils should remain at the specified levels, in milliseconds. If time is zero, the coils will stay on until another command capable of changing the coils’ states/levels is run.

KADCSStatus k_imtq_start_actuation_PWM(imtq_axis_data pwm, uint16_t time)¶

Turn on the coils by PWM duty cycle.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

pwm: Axes PWM duty cycles in [0.1%]. Max single-axis value: 1000 (100%)
time: Amount of time coils should remain at the specified levels, in milliseconds. If time is zero, the coils will stay on until another command capable of changing the coils’ states/levels is run.

KADCSStatus k_imtq_start_test(ADCSTestType axis)¶

Start axis self-test.

Use k_imtq_get_test_results_single or k_imtq_get_test_results_all to check the output

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

axis: Axis to test. Should be a ADCSTestType value (use TEST_ALL to text each axis sequentially)

KADCSStatus k_imtq_start_detumble(uint16_t time)¶

Switch to detumble mode.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

time: Length of time to spend in detumble mode (seconds)

Data Requests¶

Self-Test Error Byte Flags

TEST_ERROR_I2C¶: I²C Failure.

TEST_ERROR_SPI¶: SPI Failure (MTM connectivity)

TEST_ERROR_ADC¶: ADC Failure (current/temp measurement)

TEST_ERROR_PWM¶: PWM Failure (coil actuation)

TEST_ERROR_TC¶: System Failure.

TEST_ERROR_MTM¶: MTM values outside of expected range.

TEST_ERROR_COIL¶: Coil currents outside of expected range.

Typedefs

typedef uint32_t adcs_power_status¶: System uptime returned by k_adcs_get_power_status

typedef imtq_axis_msg imtq_coil_current¶: Coil currents in [10^-4 A] returned by k_imtq_get_coil_current.

typedef imtq_axis_msg imtq_coil_temp¶: Coil temperatures in [^oC] returned by k_imtq_get_coil_temps.

typedef imtq_axis_msg imtq_dipole¶: Commanded actuation dipole in [10^-4 Am²] returned by k_imtq_get_dipole.

Enums

enum ADCSTelemType¶

Categories of telemetry which can be returned by k_adcs_get_telemetry

Values:

NOMINAL¶: System state, all system measurements.

DEBUG¶: System state, current configuration, last test results.

Functions

KADCSStatus k_adcs_get_power_status(adcs_power_status *data)¶

Get the ADCS’s power status.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

data: Pointer to storage for returned system uptime. If the value is zero, then the ADCS is offline.

KADCSStatus k_adcs_get_mode(ADCSMode *mode)¶

Get the ADCS’s current operating mode.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

mode: Pointer to storage which the mode value should be copied to

KADCSStatus k_adcs_get_orientation(adcs_orient *data)¶

Get the ADCS’s current orientation.

Note

This function might not be implemented for all ADCSs.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

data: Pointer to storage for returned data.

KADCSStatus k_adcs_get_spin(adcs_spin *data)¶

Get the ADCS’s current spin.

Note

This function might not be implemented for all ADCSs.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

data: Pointer to storage for returned data.

KADCSStatus k_adcs_get_telemetry(ADCSTelemType type, JsonNode *buffer)¶

Read ADCS telemetry values.

Note

See specific ADCS API documentation for available telemetry types

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

type: Telemetry packet to read
buffer: (Pointer to) structure which data should be copied to

KADCSStatus k_imtq_get_system_state(imtq_state *state)¶

Get iMTQ system state.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

state: Pointer to storage for state data

KADCSStatus k_imtq_get_raw_mtm(imtq_mtm_msg *data)¶

Get raw data values from MTM.

Measurement units are in [7.5 * 10^-9 T], as documented in the XEN1210 datasheet

Note

The k_imtq_start_measurement function must have been called in order for this function to be able to retrieve data

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

data: Pointer to storage for data

KADCSStatus k_imtq_get_calib_mtm(imtq_mtm_msg *data)¶

Get calibrated data values from MTM.

Measurement units are in [10^-9 T]

Note

The k_imtq_start_measurement function must have been called in order for this function to be able to retrieve data

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

data: Pointer to storage for data

KADCSStatus k_imtq_get_coil_current(imtq_coil_current *data)¶

Get coil currents.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

data: Pointer to storage for data

KADCSStatus k_imtq_get_coil_temps(imtq_coil_temp *data)¶

Get coil temperatures.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

data: Pointer to storage for data

KADCSStatus k_imtq_get_dipole(imtq_dipole *data)¶

Get commanded actuation dipole.

Note

Only applies to coil actuations started with k_imtq_start_actuation_dipole. Can also be used in detumble mode to retrieve the latest actuation dipole

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

data: Pointer to storage for data

KADCSStatus k_imtq_get_test_results_single(imtq_test_result_single *data)¶

Get results from a single-axis self-test.

The test can be started with k_imtq_start_test

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

data: Pointer to storage for data

KADCSStatus k_imtq_get_test_results_all(imtq_test_result_all *data)¶

Get results from an all-axes self-test.

The test can be started with k_imtq_start_test by specifying TEST_ALL

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

data: Pointer to storage for data

KADCSStatus k_imtq_get_detumble(imtq_detumble *data)¶

Get detumble data.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

data: Pointer to storage for data

KADCSStatus k_imtq_get_raw_housekeeping(imtq_housekeeping_raw *data)¶

Get the housekeeping data of the iMTQ as raw ADC values.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

data: Pointer to storage for data

KADCSStatus k_imtq_get_eng_housekeeping(imtq_housekeeping_eng *data)¶

Get the housekeeping data of the iMTQ in interpreted engineering units.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

data: Pointer to storage for data

KADCSStatus kprv_adcs_get_status_telemetry(JsonNode *buffer)¶

Get the current system status and add it to the telemetry JSON.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

buffer: Pointer to telemetry JSON structure

KADCSStatus kprv_adcs_get_nominal_telemetry(JsonNode *buffer)¶

Get the current system measurements and add them to the telemetry JSON.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

buffer: Pointer to telemetry JSON structure

KADCSStatus kprv_adcs_get_debug_telemetry(JsonNode *buffer)¶

Get the current system configuration and last self-test results and add them to the telemetry JSON.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

buffer: Pointer to telemetry JSON structure

void kprv_adcs_process_test(JsonNode *parent, imtq_test_result test)¶

Add a self-test result to the requested JSON structure.

Return

KADCSStatus ADCS_OK if OK, error otherwise

Parameters

parent: Pointer to JSON structure results should be added to
test: Self-test results to be parsed into JSON

struct imtq_state¶

#include <imtq-data.h>

iMTQ system state data returned by k_imtq_get_system_state

Public Members

imtq_resp_header hdr¶: Response message header.

uint8_t mode¶: Current system mode.

uint8_t error¶: Error encountered during previous interation.

uint8_t config¶: Parameter updated since system startup? 0 - No, 1 - Yes.

uint32_t uptime¶: System uptime in seconds.

struct imtq_mtm_data¶

#include <imtq-data.h>

MTM measurements data structure.

Public Members

int32_t x¶: X-axis.

int32_t y¶: Y-axis.

int32_t z¶: Z-axis.

struct imtq_mtm_msg¶

#include <imtq-data.h>

MTM measurement returned by k_imtq_get_raw_mtm and k_imtq_get_calib_mtm.

Public Members

imtq_resp_header hdr¶: Response message header.

imtq_mtm_data data¶

MTM measurement data.

Units dependent on function used

uint8_t act_status¶

Coils actuation status during measurement.

0 - Not actuating, 1 - Actuating

struct imtq_axis_msg¶

#include <imtq-data.h>

Generic structure for messages relating to the axes.

Public Members

imtq_resp_header hdr¶: Response message header.

imtq_axis_data data¶: Axes data.

struct imtq_test_result¶

#include <imtq-data.h>

Self-test step result structure.

Public Members

imtq_resp_header hdr¶: Response message header.

uint8_t error¶: Return code for the step.

uint8_t step¶: Axis being tested.

imtq_mtm_data mtm_raw¶: Raw MTM data in [7.5*10^-9 T] per count.

imtq_mtm_data mtm_calib¶: Calibrated MTM data in [10^-9 T].

imtq_axis_data coil_current¶: Coil currents in [10^-4 A].

imtq_axis_data coil_temp¶: Coil temperatures in [^oC].

struct imtq_test_result_single¶

#include <imtq-data.h>

Self-test single-axis result structure returned by k_imtq_get_test_results_single.

Public Members

imtq_test_result init¶: Measurements before actuation.

imtq_test_result step¶: Measurements during actuation of requested axis.

imtq_test_result final¶: Measurements after actuation.

struct imtq_test_result_all¶

#include <imtq-data.h>

Self-test all-axes result structure returned by k_imtq_get_test_results_all.

Public Members

imtq_test_result init¶: Measurements before actuation.

imtq_test_result x_pos¶: Measurements during actuation of positive x-axis.

imtq_test_result x_neg¶: Measurements during actuation of negative x-axis.

imtq_test_result y_pos¶: Measurements during actuation of positive y-axis.

imtq_test_result y_neg¶: Measurements during actuation of negative y-axis.

imtq_test_result z_pos¶: Measurements during actuation of positive z-axis.

imtq_test_result z_neg¶: Measurements during actuation of negative z-axis.

imtq_test_result final¶: Measurements after actuation.

struct imtq_detumble¶

#include <imtq-data.h>

Detumble data returned by k_imtq_get_detumble.

Public Members

imtq_resp_header hdr¶: Response message header.

imtq_mtm_data mtm_calib¶: Calibrated MTM data in [10^-9 T].

imtq_mtm_data mtm_filter¶: Filtered MTM data in [10^-9 T].

imtq_mtm_data bdot¶: B-Dot in [10^-9 T*s^-1].

imtq_axis_data dipole¶: Commanded actuation dipole in [10^-4 Am²].

imtq_axis_data cmd_current¶: Command current in [10^-4 A].

imtq_axis_data coil_current¶: Coil currents in [10^-4 A].

struct imtq_axis_data_raw¶

#include <imtq-data.h>

Generic structure for raw ADC data relating to the axes.

Public Members

int16_t x¶: X-axis.

int16_t y¶: Y-axis.

int16_t z¶: Z-axis.

struct imtq_housekeeping_raw¶

#include <imtq-data.h>

Housekeeping data (raw ADC values) returned by k_imtq_get_raw_housekeeping.

Public Members

imtq_resp_header hdr¶: Response message header.

uint16_t voltage_d¶: Digital supply voltage.

uint16_t voltage_a¶: Analog supply voltage.

uint16_t current_d¶: Digital supply current.

uint16_t current_a¶: Analog supply current.

imtq_axis_data_raw coil_current¶: Coil currents.

imtq_axis_data_raw coil_temp¶: Coil temperatures.

uint16_t mcu_temp¶: MCU temperature.

struct imtq_housekeeping_eng¶

#include <imtq-data.h>

Housekeeping data (engineering values) returned by k_imtq_get_eng_housekeeping.

Public Members

imtq_resp_header hdr¶: Response message header.

uint16_t voltage_d¶: Digital supply voltage in [mV].

uint16_t voltage_a¶: Analog supply voltage in [mV].

uint16_t current_d¶: Digital supply current in [10^-4 A].

uint16_t current_a¶: Analog supply current in [10^-4 A].

imtq_axis_data coil_current¶: Coil currents in [10^-4 A].

imtq_axis_data coil_temp¶: Coil temperatures in [^oC].

int16_t mcu_temp¶: MCU temperature in [^oC].