Struct mai400_api::MAI400

pub struct MAI400 {
    pub conn: Arc<Mutex<Connection>>,
}

Structure for MAI-400 device instance

Fields

conn: Arc<Mutex<Connection>>

Device connection structure

Methods

impl MAI400

pub fn new(bus: &str) -> MAIResult<MAI400>

Constructor for MAI400 structure

Arguments

• conn - The underlying connection stream to use for communication with the device

Examples

use mai400_api::*;

let mai = MAI400::new("/dev/ttyS5")?;

pub fn reset(&self) -> MAIResult<()>

Request a hardware reset of the MAI-400

Errors

If this function encounters any errors, an MAIError variant will be returned.

Examples

let mai = MAI400::new("/dev/ttyS5")?;
mai.reset()?;

pub fn set_mode(&self, mode: u8, params: [i16; 4]) -> MAIResult<()>

Set the ACS mode

Arguments

Note: Arguments should be set to 0x00 when not needed for desired mode

• mode - ACS mode to enter
• params - Array of signed shorts containing the arguments for configuring the requested mode

Errors

If this function encounters any errors, an MAIError variant will be returned.

Examples

let mai = MAI400::new("/dev/ttyS5")?;
mai.set_mode(9, [1, -1, -3, 0])?;

pub fn set_mode_sun(
    &self,
    mode: u8,
    sun_angle_enable: i16,
    sun_rot_angle: f32
) -> MAIResult<()>

Set the ACS mode (Normal-Sun or Lat/Long-Sun)

Arguments

Note: Arguments should be set to 0x00 when not needed for desired mode

• mode - ACS mode to enter. Should be either Normal-Sun or Lat/Long-Sun
• sun_angle_enable - Sun angle enable (0 = no update, 1 = update)
• sun_rot_angle - Sun rotation angle, in degrees

Errors

If this function encounters any errors, an MAIError variant will be returned.

Examples

let mai = MAI400::new("/dev/ttyS5")?;
mai.set_mode_sun(7, 1, 45.0)?;

pub fn set_gps_time(&self, gps_time: u32) -> MAIResult<()>

Set the ADACS clock with the desired GPS time

Arguments

• gps_time - New clock time (elapsed seconds after Jan 6, 1980 00:00:00)

Errors

If this function encounters any errors, an MAIError variant will be returned.

Examples

let mai = MAI400::new("/dev/ttyS5")?;
// Jan 01, 2018
mai.set_gps_time(1198800018)?;

pub fn set_rv(
    &self,
    eci_pos: [f32; 3],
    eci_vel: [f32; 3],
    time_epoch: u32
) -> MAIResult<()>

Set orbital position and velocity at epoch for RK4 integration method of orbit propagation

Arguments

• eci_pos - ECI position [X, Y, Z]
• eci_vel - ECI velocity [X, Y, Z]
• time_epoch - GPS time at Epoch

Errors

If this function encounters any errors, an MAIError variant will be returned.

Examples

let mai = MAI400::new("/dev/ttyS5")?;
mai.set_rv([0.0, 0.0, 0.0], [0.0, 0.0, 0.0], 1198800018)?;

pub fn passthrough(&self, msg: &[u8]) -> MAIResult<()>

Directly send a message without formatting or checksum calculation

Arguments

• msg - Message to send

Errors

If this function encounters any errors, an MAIError variant will be returned.

Examples

let mai = MAI400::new("/dev/ttyS5")?;

let mut array = [0; 8];
array[0] = 0x90; // SYNC byte 1
array[1] = 0xEB; // SYNC byte 2
array[2] = 0x0;  // Data_len byte 1
array[3] = 0x0;  // Data_len byte 2
array[4] = 0x5A; // Msg_id
array[5] = 0x0;  // Addr
array[6] = 0x00; // CRC byte 1
array[7] = 0x00; // CRC byte 2

mai.passthrough(&array)?;

pub fn get_message(
    &self
) -> MAIResult<(Option<StandardTelemetry>, Option<RawIMU>, Option<IREHSTelemetry>)>

Wait for and read a message set from the MAI-400.

Returns a tuple potentially containing a standard telemetry message, a raw IMU telemetry message, and an IREHS telemetry packet.

Note: Messages are sent every 250ms, so, to the human eye, this should appear to be instantaneous

Errors

If this function encounters any errors, an MAIError variant will be returned.

Examples

let mai = MAI400::new("/dev/ttyS5")?;
let (std, imu, irehs) = mai.get_message()?;

if let Some(telem) = std {
    println!("Num successful commands: {}", telem.cmd_valid_cntr);
}

Trait Implementations

impl Clone for MAI400

fn clone(&self) -> MAI400

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.